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  1. /* USER CODE BEGIN Header */
  2. /**
  3.  ******************************************************************************
  4.  * @file           : main.c
  5.  * @brief          : Main program body
  6.  ******************************************************************************
  7.  * @attention
  8.  *
  9.  * <h2><center>&copy; Copyright (c) 2020 STMicroelectronics.
  10.  * All rights reserved.</center></h2>
  11.  *
  12.  * This software component is licensed by ST under BSD 3-Clause license,
  13.  * the "License"; You may not use this file except in compliance with the
  14.  * License. You may obtain a copy of the License at:
  15.  *                        opensource.org/licenses/BSD-3-Clause
  16.  *
  17.  ******************************************************************************
  18.  */
  19. /* USER CODE END Header */
  20. /* Includes ------------------------------------------------------------------*/
  21. #include "main.h"
  22.  
  23. /* Private includes ----------------------------------------------------------*/
  24. /* USER CODE BEGIN Includes */
  25. #include "libSerial/serial.h"
  26.  
  27. #include "display.h"
  28. /* USER CODE END Includes */
  29.  
  30. /* Private typedef -----------------------------------------------------------*/
  31. /* USER CODE BEGIN PTD */
  32.  
  33. /* USER CODE END PTD */
  34.  
  35. /* Private define ------------------------------------------------------------*/
  36. /* USER CODE BEGIN PD */
  37. /* USER CODE END PD */
  38.  
  39. /* Private macro -------------------------------------------------------------*/
  40. /* USER CODE BEGIN PM */
  41.  
  42. /* USER CODE END PM */
  43.  
  44. /* Private variables ---------------------------------------------------------*/
  45. CAN_HandleTypeDef hcan;
  46.  
  47. SPI_HandleTypeDef hspi1;
  48.  
  49. TIM_HandleTypeDef htim3;
  50. TIM_HandleTypeDef htim4;
  51.  
  52. UART_HandleTypeDef huart1;
  53.  
  54. /* USER CODE BEGIN PV */
  55.  
  56. /* USER CODE END PV */
  57.  
  58. /* Private function prototypes -----------------------------------------------*/
  59. void SystemClock_Config(void);
  60. static void MX_GPIO_Init(void);
  61. static void MX_CAN_Init(void);
  62. static void MX_SPI1_Init(void);
  63. static void MX_TIM4_Init(void);
  64. static void MX_USART1_UART_Init(void);
  65. static void MX_TIM3_Init(void);
  66. /* USER CODE BEGIN PFP */
  67.  
  68. /* USER CODE END PFP */
  69.  
  70. /* Private user code ---------------------------------------------------------*/
  71. /* USER CODE BEGIN 0 */
  72.  
  73. /* USER CODE END 0 */
  74.  
  75. /**
  76.   * @brief  The application entry point.
  77.   * @retval int
  78.   */
  79. int main(void)
  80. {
  81.   /* USER CODE BEGIN 1 */
  82.  
  83.   /* USER CODE END 1 */
  84.  
  85.   /* MCU Configuration--------------------------------------------------------*/
  86.  
  87.   /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  88.   HAL_Init();
  89.  
  90.   /* USER CODE BEGIN Init */
  91.  
  92.   /* USER CODE END Init */
  93.  
  94.   /* Configure the system clock */
  95.   SystemClock_Config();
  96.  
  97.   /* USER CODE BEGIN SysInit */
  98.  
  99.   /* USER CODE END SysInit */
  100.  
  101.   /* Initialize all configured peripherals */
  102.   MX_GPIO_Init();
  103.   MX_CAN_Init();
  104.   MX_SPI1_Init();
  105.   MX_TIM4_Init();
  106.   MX_USART1_UART_Init();
  107.   MX_TIM3_Init();
  108.   /* USER CODE BEGIN 2 */
  109.   __HAL_RCC_USART1_CLK_ENABLE();
  110.   /* setup the USART control blocks */
  111.   init_usart_ctl (&uc1, huart1.Instance);
  112.  
  113.   EnableSerialRxInterrupt (&uc1);
  114.  
  115.   cc_init ();
  116.   HAL_Delay (1000);
  117.   /* USER CODE END 2 */
  118.  
  119.   /* Infinite loop */
  120.   /* USER CODE BEGIN WHILE */
  121.   while (1)
  122.     {
  123.       cc_run ();
  124.  
  125.  
  126.       HAL_Delay (50);
  127.  
  128.     /* USER CODE END WHILE */
  129.  
  130.     /* USER CODE BEGIN 3 */
  131.     }
  132.   /* USER CODE END 3 */
  133. }
  134.  
  135. /**
  136.   * @brief System Clock Configuration
  137.   * @retval None
  138.   */
  139. void SystemClock_Config(void)
  140. {
  141.   RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  142.   RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
  143.  
  144.   /** Initializes the RCC Oscillators according to the specified parameters
  145.   * in the RCC_OscInitTypeDef structure.
  146.   */
  147.   RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  148.   RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  149.   RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  150.   RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  151.   RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  152.   RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  153.   RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL8;
  154.   if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  155.   {
  156.     Error_Handler();
  157.   }
  158.   /** Initializes the CPU, AHB and APB buses clocks
  159.   */
  160.   RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
  161.                               |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  162.   RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  163.   RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  164.   RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  165.   RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
  166.  
  167.   if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  168.   {
  169.     Error_Handler();
  170.   }
  171. }
  172.  
  173. /**
  174.   * @brief CAN Initialization Function
  175.   * @param None
  176.   * @retval None
  177.   */
  178. static void MX_CAN_Init(void)
  179. {
  180.  
  181.   /* USER CODE BEGIN CAN_Init 0 */
  182.  
  183.   /* USER CODE END CAN_Init 0 */
  184.  
  185.   /* USER CODE BEGIN CAN_Init 1 */
  186.  
  187.   /* USER CODE END CAN_Init 1 */
  188.   hcan.Instance = CAN1;
  189.   hcan.Init.Prescaler = 16;
  190.   hcan.Init.Mode = CAN_MODE_NORMAL;
  191.   hcan.Init.SyncJumpWidth = CAN_SJW_1TQ;
  192.   hcan.Init.TimeSeg1 = CAN_BS1_1TQ;
  193.   hcan.Init.TimeSeg2 = CAN_BS2_1TQ;
  194.   hcan.Init.TimeTriggeredMode = DISABLE;
  195.   hcan.Init.AutoBusOff = DISABLE;
  196.   hcan.Init.AutoWakeUp = DISABLE;
  197.   hcan.Init.AutoRetransmission = DISABLE;
  198.   hcan.Init.ReceiveFifoLocked = DISABLE;
  199.   hcan.Init.TransmitFifoPriority = DISABLE;
  200.   if (HAL_CAN_Init(&hcan) != HAL_OK)
  201.   {
  202.     Error_Handler();
  203.   }
  204.   /* USER CODE BEGIN CAN_Init 2 */
  205.  
  206.   /* USER CODE END CAN_Init 2 */
  207.  
  208. }
  209.  
  210. /**
  211.   * @brief SPI1 Initialization Function
  212.   * @param None
  213.   * @retval None
  214.   */
  215. static void MX_SPI1_Init(void)
  216. {
  217.  
  218.   /* USER CODE BEGIN SPI1_Init 0 */
  219.  
  220.   /* USER CODE END SPI1_Init 0 */
  221.  
  222.   /* USER CODE BEGIN SPI1_Init 1 */
  223.  
  224.   /* USER CODE END SPI1_Init 1 */
  225.   /* SPI1 parameter configuration*/
  226.   hspi1.Instance = SPI1;
  227.   hspi1.Init.Mode = SPI_MODE_MASTER;
  228.   hspi1.Init.Direction = SPI_DIRECTION_1LINE;
  229.   hspi1.Init.DataSize = SPI_DATASIZE_8BIT;
  230.   hspi1.Init.CLKPolarity = SPI_POLARITY_HIGH;
  231.   hspi1.Init.CLKPhase = SPI_PHASE_2EDGE;
  232.   hspi1.Init.NSS = SPI_NSS_SOFT;
  233.   hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_8;
  234.   hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
  235.   hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
  236.   hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
  237.   hspi1.Init.CRCPolynomial = 10;
  238.   if (HAL_SPI_Init(&hspi1) != HAL_OK)
  239.   {
  240.     Error_Handler();
  241.   }
  242.   /* USER CODE BEGIN SPI1_Init 2 */
  243.  
  244.   /* USER CODE END SPI1_Init 2 */
  245.  
  246. }
  247.  
  248. /**
  249.   * @brief TIM3 Initialization Function
  250.   * @param None
  251.   * @retval None
  252.   */
  253. static void MX_TIM3_Init(void)
  254. {
  255.  
  256.   /* USER CODE BEGIN TIM3_Init 0 */
  257.  
  258.   /* USER CODE END TIM3_Init 0 */
  259.  
  260.   TIM_MasterConfigTypeDef sMasterConfig = {0};
  261.   TIM_OC_InitTypeDef sConfigOC = {0};
  262.  
  263.   /* USER CODE BEGIN TIM3_Init 1 */
  264.  
  265.   /* USER CODE END TIM3_Init 1 */
  266.   htim3.Instance = TIM3;
  267.   htim3.Init.Prescaler = 640;
  268.   htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
  269.   htim3.Init.Period = 10000;
  270.   htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  271.   htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  272.   if (HAL_TIM_OC_Init(&htim3) != HAL_OK)
  273.   {
  274.     Error_Handler();
  275.   }
  276.   if (HAL_TIM_OnePulse_Init(&htim3, TIM_OPMODE_SINGLE) != HAL_OK)
  277.   {
  278.     Error_Handler();
  279.   }
  280.   sMasterConfig.MasterOutputTrigger = TIM_TRGO_ENABLE;
  281.   sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  282.   if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
  283.   {
  284.     Error_Handler();
  285.   }
  286.   sConfigOC.OCMode = TIM_OCMODE_TIMING;
  287.   sConfigOC.Pulse = 9999;
  288.   sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
  289.   sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
  290.   if (HAL_TIM_OC_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
  291.   {
  292.     Error_Handler();
  293.   }
  294.   /* USER CODE BEGIN TIM3_Init 2 */
  295.  
  296.   /* USER CODE END TIM3_Init 2 */
  297.  
  298. }
  299.  
  300. /**
  301.   * @brief TIM4 Initialization Function
  302.   * @param None
  303.   * @retval None
  304.   */
  305. static void MX_TIM4_Init(void)
  306. {
  307.  
  308.   /* USER CODE BEGIN TIM4_Init 0 */
  309.  
  310.   /* USER CODE END TIM4_Init 0 */
  311.  
  312.   TIM_Encoder_InitTypeDef sConfig = {0};
  313.   TIM_MasterConfigTypeDef sMasterConfig = {0};
  314.  
  315.   /* USER CODE BEGIN TIM4_Init 1 */
  316.  
  317.   /* USER CODE END TIM4_Init 1 */
  318.   htim4.Instance = TIM4;
  319.   htim4.Init.Prescaler = 0;
  320.   htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
  321.   htim4.Init.Period = 65535;
  322.   htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  323.   htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  324.   sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
  325.   sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
  326.   sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
  327.   sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
  328.   sConfig.IC1Filter = 8;
  329.   sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
  330.   sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
  331.   sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
  332.   sConfig.IC2Filter = 8;
  333.   if (HAL_TIM_Encoder_Init(&htim4, &sConfig) != HAL_OK)
  334.   {
  335.     Error_Handler();
  336.   }
  337.   sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  338.   sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  339.   if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
  340.   {
  341.     Error_Handler();
  342.   }
  343.   /* USER CODE BEGIN TIM4_Init 2 */
  344.  
  345.   /* USER CODE END TIM4_Init 2 */
  346.  
  347. }
  348.  
  349. /**
  350.   * @brief USART1 Initialization Function
  351.   * @param None
  352.   * @retval None
  353.   */
  354. static void MX_USART1_UART_Init(void)
  355. {
  356.  
  357.   /* USER CODE BEGIN USART1_Init 0 */
  358.  
  359.   /* USER CODE END USART1_Init 0 */
  360.  
  361.   /* USER CODE BEGIN USART1_Init 1 */
  362.  
  363.   /* USER CODE END USART1_Init 1 */
  364.   huart1.Instance = USART1;
  365.   huart1.Init.BaudRate = 115200;
  366.   huart1.Init.WordLength = UART_WORDLENGTH_8B;
  367.   huart1.Init.StopBits = UART_STOPBITS_1;
  368.   huart1.Init.Parity = UART_PARITY_NONE;
  369.   huart1.Init.Mode = UART_MODE_TX_RX;
  370.   huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  371.   huart1.Init.OverSampling = UART_OVERSAMPLING_16;
  372.   if (HAL_UART_Init(&huart1) != HAL_OK)
  373.   {
  374.     Error_Handler();
  375.   }
  376.   /* USER CODE BEGIN USART1_Init 2 */
  377.  
  378.   /* USER CODE END USART1_Init 2 */
  379.  
  380. }
  381.  
  382. /**
  383.   * @brief GPIO Initialization Function
  384.   * @param None
  385.   * @retval None
  386.   */
  387. static void MX_GPIO_Init(void)
  388. {
  389.   GPIO_InitTypeDef GPIO_InitStruct = {0};
  390.  
  391.   /* GPIO Ports Clock Enable */
  392.   __HAL_RCC_GPIOC_CLK_ENABLE();
  393.   __HAL_RCC_GPIOD_CLK_ENABLE();
  394.   __HAL_RCC_GPIOA_CLK_ENABLE();
  395.   __HAL_RCC_GPIOB_CLK_ENABLE();
  396.  
  397.   /*Configure GPIO pin Output Level */
  398.   HAL_GPIO_WritePin(GPIOC, SPI_CD_Pin|SPI_RESET_Pin, GPIO_PIN_RESET);
  399.  
  400.   /*Configure GPIO pin Output Level */
  401.   HAL_GPIO_WritePin(SPI_NSS1_GPIO_Port, SPI_NSS1_Pin, GPIO_PIN_RESET);
  402.  
  403.   /*Configure GPIO pins : SPI_CD_Pin SPI_RESET_Pin */
  404.   GPIO_InitStruct.Pin = SPI_CD_Pin|SPI_RESET_Pin;
  405.   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  406.   GPIO_InitStruct.Pull = GPIO_NOPULL;
  407.   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  408.   HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
  409.  
  410.   /*Configure GPIO pin : SPI_NSS1_Pin */
  411.   GPIO_InitStruct.Pin = SPI_NSS1_Pin;
  412.   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  413.   GPIO_InitStruct.Pull = GPIO_NOPULL;
  414.   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  415.   HAL_GPIO_Init(SPI_NSS1_GPIO_Port, &GPIO_InitStruct);
  416.  
  417. }
  418.  
  419. /* USER CODE BEGIN 4 */
  420.  
  421. /* USER CODE END 4 */
  422.  
  423. /**
  424.   * @brief  This function is executed in case of error occurrence.
  425.   * @retval None
  426.   */
  427. void Error_Handler(void)
  428. {
  429.   /* USER CODE BEGIN Error_Handler_Debug */
  430.   /* User can add his own implementation to report the HAL error return state */
  431.  
  432.   /* USER CODE END Error_Handler_Debug */
  433. }
  434.  
  435. #ifdef  USE_FULL_ASSERT
  436. /**
  437.   * @brief  Reports the name of the source file and the source line number
  438.   *         where the assert_param error has occurred.
  439.   * @param  file: pointer to the source file name
  440.   * @param  line: assert_param error line source number
  441.   * @retval None
  442.   */
  443. void assert_failed(uint8_t *file, uint32_t line)
  444. {
  445.   /* USER CODE BEGIN 6 */
  446.   /* User can add his own implementation to report the file name and line number,
  447.      tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  448.   /* USER CODE END 6 */
  449. }
  450. #endif /* USE_FULL_ASSERT */
  451.  
  452. /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
  453.