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/* USER CODE BEGIN Header */
/**
 ******************************************************************************
 * @file           : main.c
 * @brief          : Main program body
 ******************************************************************************
 * @attention
 *
 * Copyright (c) 2023 STMicroelectronics.
 * All rights reserved.
 *
 * This software is licensed under terms that can be found in the LICENSE file
 * in the root directory of this software component.
 * If no LICENSE file comes with this software, it is provided AS-IS.
 *
 ******************************************************************************
 */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "FDCAN.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "commonheaderfiles.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

FDCAN_HandleTypeDef hfdcan1;

UART_HandleTypeDef huart3;

/*variables */
bool bFDCAN1_Rx = false;
// FDCAN1 Defines

FDCAN_TxHeaderTypeDef   TxHeader1;
FDCAN_RxHeaderTypeDef   RxHeader1;
uint8_t               	TxData1[8];
uint8_t               	RxData1[8];
/* functions for FDCAN.c*/

/**
 * @fn void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
 * @brief : FDCAN Rx callback function
 * @param FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs
 * @return NULL
 *@retval NULL
 */
void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
{
	if((RxFifo0ITs & FDCAN_IT_RX_FIFO0_NEW_MESSAGE) != RESET)
	{
		/* Retreive Rx messages from RX FIFO0 */
		if (HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, &RxHeader1, RxData1) != HAL_OK)
		{
			/* Reception Error */
			Error_Handler();
		}

		if (HAL_FDCAN_ActivateNotification(hfdcan, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0) != HAL_OK)
		{
			/* Notification Error */
			Error_Handler();
		}

	}
}

/**
 * @fn void FDCAN1_INIT(void)
 * @brief : FDCAN1 initialization function
 * @param NULL
 * @return NULL
 *@retval NULL
 */

void FDCAN1_INIT(void){

	// Start FDCAN1
	if(HAL_FDCAN_Start(&hfdcan1)!= HAL_OK)
	{
		Error_Handler();
	}
	// Activate the notification for new data in FIFO0 for FDCAN1
	if (HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0) != HAL_OK)
	{
		/* Notification Error */
		Error_Handler();
	}
	// Configure TX Header for FDCAN1
	TxHeader1.Identifier = 0x22;
	TxHeader1.IdType = FDCAN_STANDARD_ID;
	TxHeader1.TxFrameType = FDCAN_DATA_FRAME;
	TxHeader1.DataLength = FDCAN_DLC_BYTES_8;
	TxHeader1.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
	TxHeader1.BitRateSwitch = FDCAN_BRS_OFF;
	TxHeader1.FDFormat = FDCAN_FD_CAN;
	TxHeader1.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
	TxHeader1.MessageMarker = 0;

}

/********************************************************************/



/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_USART3_UART_Init(void);
static void MX_USB_OTG_HS_USB_Init(void);
static void MX_FDCAN1_Init(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
 * @brief  The application entry point.
 * @retval int
 */
int main(void)
{
	/* USER CODE BEGIN 1 */
	int CAN_Error_Code =-1;   //variable for CAN error code
	char Data[50] ={0};
	int  Data_Length = 0;
	/* USER CODE END 1 */

	/* MCU Configuration--------------------------------------------------------*/

	/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
	HAL_Init();

	/* USER CODE BEGIN Init */

	/* USER CODE END Init */

	/* Configure the system clock */
	SystemClock_Config();

	/* USER CODE BEGIN SysInit */

	/* USER CODE END SysInit */

	/* Initialize all configured peripherals */
	MX_GPIO_Init();
	MX_USART3_UART_Init();
	MX_USB_OTG_HS_USB_Init();
	MX_FDCAN1_Init();
	/* USER CODE BEGIN 2 */
	FDCAN1_INIT();				//FDCAN1 initialization
	//	HAL_Delay(500);

	/* USER CODE END 2 */

	/* Infinite loop */
	/* USER CODE BEGIN WHILE */
	while (1)
	{
		/* USER CODE END WHILE */

		/* USER CODE BEGIN 3 */
		/* FDCAN Transmit fucntionality */
		memcpy((char *)TxData1, "Node1 Tx",strlen("Node1 Tx"));   //copy data in TxData1 buffer
		CAN_Error_Code = HAL_FDCAN_AddMessageToTxFifoQ (&hfdcan1, &TxHeader1, TxData1); //Hal api to add data to TxQ
		Data_Length = sprintf((char *)Data, "CAN_Error_Code = %d\r\n", CAN_Error_Code); //Covert int value to char string
		UART3_Transmit_Data((uint8_t *)Data,Data_Length);		 //Transmit function for uart3 console
		HAL_Delay(5000); 										 //1sec Delay
	}
	/* USER CODE END 3 */
}

/**
 * @brief System Clock Configuration
 * @retval None
 */
void SystemClock_Config(void)
{
	RCC_OscInitTypeDef RCC_OscInitStruct = {0};
	RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

	/*AXI clock gating */
	RCC->CKGAENR = 0xFFFFFFFF;

	/** Supply configuration update enable
	 */
	HAL_PWREx_ConfigSupply(PWR_DIRECT_SMPS_SUPPLY);

	/** Configure the main internal regulator output voltage
	 */
	__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE0);

	while(!__HAL_PWR_GET_FLAG(PWR_FLAG_VOSRDY)) {}

	/** Initializes the RCC Oscillators according to the specified parameters
	 * in the RCC_OscInitTypeDef structure.
	 */
	RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI48|RCC_OSCILLATORTYPE_HSI
			|RCC_OSCILLATORTYPE_HSE;
	RCC_OscInitStruct.HSEState = RCC_HSE_BYPASS;
	RCC_OscInitStruct.HSIState = RCC_HSI_DIV1;
	RCC_OscInitStruct.HSICalibrationValue = 64;
	RCC_OscInitStruct.HSI48State = RCC_HSI48_ON;
	RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
	RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
	RCC_OscInitStruct.PLL.PLLM = 1;
	RCC_OscInitStruct.PLL.PLLN = 24;
	RCC_OscInitStruct.PLL.PLLP = 2;
	RCC_OscInitStruct.PLL.PLLQ = 4;
	RCC_OscInitStruct.PLL.PLLR = 2;
	RCC_OscInitStruct.PLL.PLLRGE = RCC_PLL1VCIRANGE_3;
	RCC_OscInitStruct.PLL.PLLVCOSEL = RCC_PLL1VCOWIDE;
	RCC_OscInitStruct.PLL.PLLFRACN = 0;
	if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
	{
		Error_Handler();
	}

	/** Initializes the CPU, AHB and APB buses clocks
	 */
	RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
			|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2
			|RCC_CLOCKTYPE_D3PCLK1|RCC_CLOCKTYPE_D1PCLK1;
	RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
	RCC_ClkInitStruct.SYSCLKDivider = RCC_SYSCLK_DIV1;
	RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV1;
	RCC_ClkInitStruct.APB3CLKDivider = RCC_APB3_DIV1;
	RCC_ClkInitStruct.APB1CLKDivider = RCC_APB1_DIV1;
	RCC_ClkInitStruct.APB2CLKDivider = RCC_APB2_DIV1;
	RCC_ClkInitStruct.APB4CLKDivider = RCC_APB4_DIV1;

	if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1) != HAL_OK)
	{
		Error_Handler();
	}
}

/**
 * @brief FDCAN1 Initialization Function
 * @param None
 * @retval None
 */
static void MX_FDCAN1_Init(void)
{

	/* USER CODE BEGIN FDCAN1_Init 0 */

	/* USER CODE END FDCAN1_Init 0 */

	/* USER CODE BEGIN FDCAN1_Init 1 */

	/* USER CODE END FDCAN1_Init 1 */
	hfdcan1.Instance = FDCAN1;
	hfdcan1.Init.FrameFormat = FDCAN_FRAME_FD_NO_BRS;
	hfdcan1.Init.Mode = FDCAN_MODE_NORMAL;
	hfdcan1.Init.AutoRetransmission = ENABLE;
	hfdcan1.Init.TransmitPause = DISABLE;
	hfdcan1.Init.ProtocolException = DISABLE;
	hfdcan1.Init.NominalPrescaler = 1;
	hfdcan1.Init.NominalSyncJumpWidth = 18;
	hfdcan1.Init.NominalTimeSeg1 = 77;
	hfdcan1.Init.NominalTimeSeg2 = 18;
	hfdcan1.Init.DataPrescaler = 6;
	hfdcan1.Init.DataSyncJumpWidth = 7;
	hfdcan1.Init.DataTimeSeg1 = 8;
	hfdcan1.Init.DataTimeSeg2 = 7;
	hfdcan1.Init.MessageRAMOffset = 0;
	hfdcan1.Init.StdFiltersNbr = 1;
	hfdcan1.Init.ExtFiltersNbr = 0;
	hfdcan1.Init.RxFifo0ElmtsNbr = 1;
	hfdcan1.Init.RxFifo0ElmtSize = FDCAN_DATA_BYTES_8;
	hfdcan1.Init.RxFifo1ElmtsNbr = 0;
	hfdcan1.Init.RxFifo1ElmtSize = FDCAN_DATA_BYTES_8;
	hfdcan1.Init.RxBuffersNbr = 0;
	hfdcan1.Init.RxBufferSize = FDCAN_DATA_BYTES_8;
	hfdcan1.Init.TxEventsNbr = 0;
	hfdcan1.Init.TxBuffersNbr = 0;
	hfdcan1.Init.TxFifoQueueElmtsNbr = 1;
	hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
	hfdcan1.Init.TxElmtSize = FDCAN_DATA_BYTES_8;
	if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK)
	{
		Error_Handler();
	}
	/* USER CODE BEGIN FDCAN1_Init 2 */
	FDCAN_FilterTypeDef sFilterConfig;

	sFilterConfig.IdType = FDCAN_STANDARD_ID;
	sFilterConfig.FilterIndex = 0;
	sFilterConfig.FilterType = FDCAN_FILTER_MASK;
	sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
	sFilterConfig.FilterID1 = 0x11;
	sFilterConfig.FilterID2 = 0x11;
	sFilterConfig.RxBufferIndex = 0;
	if (HAL_FDCAN_ConfigFilter(&hfdcan1, &sFilterConfig) != HAL_OK)
	{
		/* Filter configuration Error */
		Error_Handler();
	}
	/* USER CODE END FDCAN1_Init 2 */

}

/**
 * @brief USART3 Initialization Function
 * @param None
 * @retval None
 */
static void MX_USART3_UART_Init(void)
{

	/* USER CODE BEGIN USART3_Init 0 */

	/* USER CODE END USART3_Init 0 */

	/* USER CODE BEGIN USART3_Init 1 */

	/* USER CODE END USART3_Init 1 */
	huart3.Instance = USART3;
	huart3.Init.BaudRate = 115200;
	huart3.Init.WordLength = UART_WORDLENGTH_8B;
	huart3.Init.StopBits = UART_STOPBITS_1;
	huart3.Init.Parity = UART_PARITY_NONE;
	huart3.Init.Mode = UART_MODE_TX_RX;
	huart3.Init.HwFlowCtl = UART_HWCONTROL_NONE;
	huart3.Init.OverSampling = UART_OVERSAMPLING_16;
	huart3.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
	huart3.Init.ClockPrescaler = UART_PRESCALER_DIV1;
	huart3.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
	if (HAL_UART_Init(&huart3) != HAL_OK)
	{
		Error_Handler();
	}
	if (HAL_UARTEx_SetTxFifoThreshold(&huart3, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
	{
		Error_Handler();
	}
	if (HAL_UARTEx_SetRxFifoThreshold(&huart3, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
	{
		Error_Handler();
	}
	if (HAL_UARTEx_DisableFifoMode(&huart3) != HAL_OK)
	{
		Error_Handler();
	}
	/* USER CODE BEGIN USART3_Init 2 */

	/* USER CODE END USART3_Init 2 */

}

/**
 * @brief USB_OTG_HS Initialization Function
 * @param None
 * @retval None
 */
static void MX_USB_OTG_HS_USB_Init(void)
{

	/* USER CODE BEGIN USB_OTG_HS_Init 0 */

	/* USER CODE END USB_OTG_HS_Init 0 */

	/* USER CODE BEGIN USB_OTG_HS_Init 1 */

	/* USER CODE END USB_OTG_HS_Init 1 */
	/* USER CODE BEGIN USB_OTG_HS_Init 2 */

	/* USER CODE END USB_OTG_HS_Init 2 */

}

/**
 * @brief GPIO Initialization Function
 * @param None
 * @retval None
 */
static void MX_GPIO_Init(void)
{
	GPIO_InitTypeDef GPIO_InitStruct = {0};

	/* GPIO Ports Clock Enable */
	__HAL_RCC_GPIOC_CLK_ENABLE();
	__HAL_RCC_GPIOF_CLK_ENABLE();
	__HAL_RCC_GPIOH_CLK_ENABLE();
	__HAL_RCC_GPIOB_CLK_ENABLE();
	__HAL_RCC_GPIOD_CLK_ENABLE();
	__HAL_RCC_GPIOG_CLK_ENABLE();
	__HAL_RCC_GPIOA_CLK_ENABLE();
	__HAL_RCC_GPIOE_CLK_ENABLE();

	/*Configure GPIO pin Output Level */
	HAL_GPIO_WritePin(USB_FS_PWR_EN_GPIO_Port, USB_FS_PWR_EN_Pin, GPIO_PIN_RESET);

	/*Configure GPIO pin Output Level */
	HAL_GPIO_WritePin(GPIOB, LD1_Pin|LD3_Pin, GPIO_PIN_RESET);

	/*Configure GPIO pin Output Level */
	HAL_GPIO_WritePin(GPIOE, GPIO_PIN_1, GPIO_PIN_RESET);

	/*Configure GPIO pin : B1_Pin */
	GPIO_InitStruct.Pin = B1_Pin;
	GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
	GPIO_InitStruct.Pull = GPIO_NOPULL;
	HAL_GPIO_Init(B1_GPIO_Port, &GPIO_InitStruct);

	/*Configure GPIO pin : USB_FS_PWR_EN_Pin */
	GPIO_InitStruct.Pin = USB_FS_PWR_EN_Pin;
	GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
	GPIO_InitStruct.Pull = GPIO_NOPULL;
	GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
	HAL_GPIO_Init(USB_FS_PWR_EN_GPIO_Port, &GPIO_InitStruct);

	/*Configure GPIO pins : LD1_Pin LD3_Pin */
	GPIO_InitStruct.Pin = LD1_Pin|LD3_Pin;
	GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
	GPIO_InitStruct.Pull = GPIO_NOPULL;
	GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
	HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

	/*Configure GPIO pin : USB_FS_OVCR_Pin */
	GPIO_InitStruct.Pin = USB_FS_OVCR_Pin;
	GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
	GPIO_InitStruct.Pull = GPIO_NOPULL;
	HAL_GPIO_Init(USB_FS_OVCR_GPIO_Port, &GPIO_InitStruct);

	/*Configure GPIO pin : USB_FS_VBUS_Pin */
	GPIO_InitStruct.Pin = USB_FS_VBUS_Pin;
	GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
	GPIO_InitStruct.Pull = GPIO_NOPULL;
	HAL_GPIO_Init(USB_FS_VBUS_GPIO_Port, &GPIO_InitStruct);

	/*Configure GPIO pin : USB_FS_ID_Pin */
	GPIO_InitStruct.Pin = USB_FS_ID_Pin;
	GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
	GPIO_InitStruct.Pull = GPIO_NOPULL;
	GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
	GPIO_InitStruct.Alternate = GPIO_AF10_OTG1_HS;
	HAL_GPIO_Init(USB_FS_ID_GPIO_Port, &GPIO_InitStruct);

	/*Configure GPIO pins : USB_FS_N_Pin USB_FS_P_Pin */
	GPIO_InitStruct.Pin = USB_FS_N_Pin|USB_FS_P_Pin;
	GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
	GPIO_InitStruct.Pull = GPIO_NOPULL;
	GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
	HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

	/*Configure GPIO pin : PE1 */
	GPIO_InitStruct.Pin = GPIO_PIN_1;
	GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
	GPIO_InitStruct.Pull = GPIO_NOPULL;
	GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
	HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);

}

/* USER CODE BEGIN 4 */
/*Uart3 transmit function*/
void UART3_Transmit_Data(uint8_t *Data,uint16_t length){


	HAL_UART_Transmit(&huart3,Data,length,10); //UART Transmit Api call

}
/* USER CODE END 4 */

/**
 * @brief  This function is executed in case of error occurrence.
 * @retval None
 */
void Error_Handler(void)
{
	/* USER CODE BEGIN Error_Handler_Debug */
	/* User can add his own implementation to report the HAL error return state */
	__disable_irq();
	while (1)
	{
	}
	/* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
 * @brief  Reports the name of the source file and the source line number
 *         where the assert_param error has occurred.
 * @param  file: pointer to the source file name
 * @param  line: assert_param error line source number
 * @retval None
 */
void assert_failed(uint8_t *file, uint32_t line)
{
	/* USER CODE BEGIN 6 */
	/* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
	/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

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