236 lines
7.1 KiB
C
236 lines
7.1 KiB
C
/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* @file : main.c
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* @brief : Main program body
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2025 STMicroelectronics.
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* All rights reserved.
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*
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* This software is licensed under terms that can be found in the LICENSE file
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* in the root directory of this software component.
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* If no LICENSE file comes with this software, it is provided AS-IS.
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*
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******************************************************************************
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*/
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/* USER CODE END Header */
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/* Includes ------------------------------------------------------------------*/
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#include "main.h"
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#include "tim.h"
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#include "usart.h"
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#include "gpio.h"
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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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#include "canEmu.h"
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#include "rs_message.h"
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/* USER CODE END Includes */
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/* Private typedef -----------------------------------------------------------*/
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/* USER CODE BEGIN PTD */
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/* USER CODE END PTD */
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/* Private define ------------------------------------------------------------*/
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/* USER CODE BEGIN PD */
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/* USER CODE END PD */
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/* Private macro -------------------------------------------------------------*/
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/* USER CODE BEGIN PM */
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/* USER CODE END PM */
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/* Private variables ---------------------------------------------------------*/
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/* USER CODE BEGIN PV */
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/* USER CODE END PV */
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/* Private function prototypes -----------------------------------------------*/
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void SystemClock_Config(void);
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/* USER CODE BEGIN PFP */
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/* USER CODE END PFP */
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/* Private user code ---------------------------------------------------------*/
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/* USER CODE BEGIN 0 */
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CANEmu_HandleTypeDef hcanemu;
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int flag_manual = 0;
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/* USER CODE END 0 */
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/**
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* @brief The application entry point.
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* @retval int
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*/
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int main(void)
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{
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/* USER CODE BEGIN 1 */
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/* USER CODE END 1 */
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/* MCU Configuration--------------------------------------------------------*/
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/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
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HAL_Init();
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/* USER CODE BEGIN Init */
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/* USER CODE END Init */
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/* Configure the system clock */
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SystemClock_Config();
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/* USER CODE BEGIN SysInit */
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/* USER CODE END SysInit */
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/* Initialize all configured peripherals */
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MX_GPIO_Init();
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MX_TIM2_Init();
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MX_TIM3_Init();
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MX_USART1_UART_Init();
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/* USER CODE BEGIN 2 */
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CANEmu_Init(&hcanemu, 125000);
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hcanemu.header.StdId = 0x123;
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MODBUS_FirstInit();
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RS_Receive_IT(&hmodbus1, &MODBUS_MSG);
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/* USER CODE END 2 */
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/* Infinite loop */
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/* USER CODE BEGIN WHILE */
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int transmit_prev = hcanemu.transmit;
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while (1)
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{
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if(flag_manual == 0)
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{
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hcanemu.start_poll = MB_DATA.Coils.START_POLLING;
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hcanemu.transmit = MB_DATA.Coils.START_SINGLE_FRAME;
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hcanemu.period_ms = MB_DATA.HoldRegs.CAN_PERIOD;
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// can message
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hcanemu.header.IDE = MB_DATA.Coils.HEADER_IDE;
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hcanemu.header.RTR = MB_DATA.Coils.HEADER_RTR;
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hcanemu.bitrate_bps = (uint32_t)MB_DATA.HoldRegs.CAN_BITRATE_KBPS*1000;
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hcanemu.header.ExtId = ((uint32_t)MB_DATA.HoldRegs.CAN_ID_HI << 16) || MB_DATA.HoldRegs.CAN_ID_LO;
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hcanemu.header.StdId = hcanemu.header.ExtId;
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hcanemu.header.DLC = (uint8_t)MB_DATA.HoldRegs.CAN_DLC & 0xF;
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hcanemu.data[0] = (uint8_t)MB_DATA.HoldRegs.CAN_DATA_0;
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hcanemu.data[1] = (uint8_t)MB_DATA.HoldRegs.CAN_DATA_1;
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hcanemu.data[2] = (uint8_t)MB_DATA.HoldRegs.CAN_DATA_2;
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hcanemu.data[3] = (uint8_t)MB_DATA.HoldRegs.CAN_DATA_3;
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hcanemu.data[4] = (uint8_t)MB_DATA.HoldRegs.CAN_DATA_4;
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hcanemu.data[5] = (uint8_t)MB_DATA.HoldRegs.CAN_DATA_5;
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hcanemu.data[6] = (uint8_t)MB_DATA.HoldRegs.CAN_DATA_6;
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hcanemu.data[7] = (uint8_t)MB_DATA.HoldRegs.CAN_DATA_7;
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// errors
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hcanemu.errors.FF_SRS = MB_DATA.Coils.FLIP_SRS;
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hcanemu.errors.FF_IDE = MB_DATA.Coils.FLIP_IDE;
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hcanemu.errors.FF_RTR = MB_DATA.Coils.FLIP_RTR;
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hcanemu.errors.FF_R1 = MB_DATA.Coils.FLIP_R1;
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hcanemu.errors.FF_R0 = MB_DATA.Coils.FLIP_R0;
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hcanemu.errors.MSGID = MB_DATA.Coils.FLIP_MSGID_BIT;
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hcanemu.errors.DATA = MB_DATA.Coils.FLIP_DATA_BIT;
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hcanemu.errors.CRC_ERR = MB_DATA.Coils.FLIP_CRC_BIT;
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hcanemu.errors.STUFF_BITS = MB_DATA.Coils.DISABLE_STUFF_BITS;
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}
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if(hcanemu.start_poll)
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{
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hcanemu.transmit = 0;
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HAL_Delay(hcanemu.period_ms);
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CANEmu_SendFrame(&hcanemu);
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}
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else if((hcanemu.transmit == 1) && (transmit_prev == 0))
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{
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CANEmu_SendFrame(&hcanemu);
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}
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transmit_prev = hcanemu.transmit;
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/* USER CODE END WHILE */
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/* USER CODE BEGIN 3 */
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}
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/* USER CODE END 3 */
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}
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/**
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* @brief System Clock Configuration
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* @retval None
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*/
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void SystemClock_Config(void)
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{
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RCC_OscInitTypeDef RCC_OscInitStruct = {0};
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RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
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/** Initializes the RCC Oscillators according to the specified parameters
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* in the RCC_OscInitTypeDef structure.
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*/
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RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
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RCC_OscInitStruct.HSEState = RCC_HSE_ON;
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RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
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RCC_OscInitStruct.HSIState = RCC_HSI_ON;
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RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
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RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
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RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
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if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
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{
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Error_Handler();
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}
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/** Initializes the CPU, AHB and APB buses clocks
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*/
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RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
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|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
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RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
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RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
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RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
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RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
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if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
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{
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Error_Handler();
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}
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}
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/* USER CODE BEGIN 4 */
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/* USER CODE END 4 */
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/**
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* @brief This function is executed in case of error occurrence.
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* @retval None
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*/
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void Error_Handler(void)
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{
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/* USER CODE BEGIN Error_Handler_Debug */
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/* User can add his own implementation to report the HAL error return state */
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__disable_irq();
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while (1)
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{
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}
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/* USER CODE END Error_Handler_Debug */
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}
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#ifdef USE_FULL_ASSERT
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/**
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* @brief Reports the name of the source file and the source line number
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* where the assert_param error has occurred.
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* @param file: pointer to the source file name
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* @param line: assert_param error line source number
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* @retval None
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*/
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void assert_failed(uint8_t *file, uint32_t line)
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{
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/* USER CODE BEGIN 6 */
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/* User can add his own implementation to report the file name and line number,
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ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
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/* USER CODE END 6 */
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}
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#endif /* USE_FULL_ASSERT */
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