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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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