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latest version before merge

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init.bin
2026-05-05 12:25:24 +03:00
parent 01c43840a5
commit 92c33b2f46
45 changed files with 33450 additions and 27415 deletions
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Core/.DS_Store
Vendored
BIN
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Core/Inc/.DS_Store
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Core/Inc/adc.h
Executable → Regular
+63 -52
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@@ -1,52 +1,63 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file adc.h
* @brief This file contains all the function prototypes for
* the adc.c file
******************************************************************************
* @attention
*
* Copyright (c) 2024 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 */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __ADC_H__
#define __ADC_H__
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
extern ADC_HandleTypeDef hadc1;
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
void MX_ADC1_Init(void);
/* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /* __ADC_H__ */
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file adc.h
* @brief This file contains all the function prototypes for
* the adc.c file
******************************************************************************
* @attention
*
* Copyright (c) 2024 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 */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __ADC_H__
#define __ADC_H__
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* USER CODE BEGIN Includes */
#include <stdint.h>
/* USER CODE END Includes */
extern ADC_HandleTypeDef hadc1;
/* USER CODE BEGIN Private defines */
typedef struct {
uint16_t in3_raw; /* Rank1: ADC_CHANNEL_3 */
uint16_t cp_raw; /* Rank2: ADC_CHANNEL_4 */
uint16_t ntc1_raw; /* Rank3: ADC_CHANNEL_8 */
uint16_t ntc2_raw; /* Rank4: ADC_CHANNEL_9 */
uint16_t temp_sensor_raw; /* Rank5: ADC_CHANNEL_TEMPSENSOR */
uint16_t vrefint_raw; /* Rank6: ADC_CHANNEL_VREFINT */
} ADC_ScanData_t;
extern volatile ADC_ScanData_t adc_data;
/* USER CODE END Private defines */
void MX_ADC1_Init(void);
/* USER CODE BEGIN Prototypes */
void ADC_ScanStart(void);
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /* __ADC_H__ */
Core/Inc/dma.h
+52
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@@ -0,0 +1,52 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file dma.h
* @brief This file contains all the function prototypes for
* the dma.c file
******************************************************************************
* @attention
*
* Copyright (c) 2026 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 */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __DMA_H__
#define __DMA_H__
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* DMA memory to memory transfer handles -------------------------------------*/
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
void MX_DMA_Init(void);
/* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /* __DMA_H__ */
Core/Inc/isr_opt.h
+11
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@@ -0,0 +1,11 @@
#ifndef ISR_OPT_H
#define ISR_OPT_H
/* GCC: быстрые функции, вызываемые из IRQ / из HAL из IRQ-контекста */
#if defined(__GNUC__)
#define ISR_FAST __attribute__((optimize("Ofast")))
#else
#define ISR_FAST
#endif
#endif /* ISR_OPT_H */
Core/Inc/main.h
+13 -3
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@@ -41,9 +41,9 @@ extern "C" {
/* Exported constants --------------------------------------------------------*/
/* USER CODE BEGIN EC */
#define FW_VERSION_MAJOR 0x01
#define FW_VERSION_MINOR 0x00
#define FW_VERSION_PATCH 10
#define FW_VERSION_MAJOR 1
#define FW_VERSION_MINOR 0
#define FW_VERSION_PATCH 15
/* USER CODE END EC */
/* Exported macro ------------------------------------------------------------*/
@@ -59,6 +59,8 @@ void Error_Handler(void);
/* USER CODE END EFP */
/* Private defines -----------------------------------------------------------*/
#define DBG1_Pin GPIO_PIN_2
#define DBG1_GPIO_Port GPIOC
#define RELAY_CP_Pin GPIO_PIN_3
#define RELAY_CP_GPIO_Port GPIOC
#define IN_SW0_Pin GPIO_PIN_1
@@ -67,6 +69,10 @@ void Error_Handler(void);
#define IN_SW1_GPIO_Port GPIOA
#define CP_ADC_Pin GPIO_PIN_4
#define CP_ADC_GPIO_Port GPIOA
#define DBG2_Pin GPIO_PIN_5
#define DBG2_GPIO_Port GPIOA
#define DBG3_Pin GPIO_PIN_6
#define DBG3_GPIO_Port GPIOA
#define CP_PWM_Pin GPIO_PIN_7
#define CP_PWM_GPIO_Port GPIOA
#define LOCK_A_Pin GPIO_PIN_4
@@ -91,6 +97,10 @@ void Error_Handler(void);
#define RELAY5_GPIO_Port GPIOE
#define AC_OK_Pin GPIO_PIN_14
#define AC_OK_GPIO_Port GPIOE
#define DBG5_Pin GPIO_PIN_10
#define DBG5_GPIO_Port GPIOB
#define DBG4_Pin GPIO_PIN_11
#define DBG4_GPIO_Port GPIOB
#define RELAY_CC_Pin GPIO_PIN_15
#define RELAY_CC_GPIO_Port GPIOA
#define RELAY_DC_Pin GPIO_PIN_3
Core/Inc/serial.h
+1
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@@ -11,6 +11,7 @@ void CCS_Init(void);
void CCS_SendEmergencyStop(void);
void CCS_SendStart(void);
void CCS_RxEventCallback(UART_HandleTypeDef *huart, uint16_t size);
void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart);
typedef enum {
CCS_DISABLED = 0,
Core/Inc/serial_control.h
+2 -1
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@@ -4,6 +4,7 @@
#include "main.h"
#include <string.h>
#include "charger_control.h"
#include "isr_opt.h"
#define USE_WEB_INTERFACE
@@ -168,7 +169,7 @@ struct SerialControl_t {
// Публичные методы
void SC_Init();
void SC_Task();
void SC_SendPacket(const uint8_t* payload, uint16_t payload_len, uint8_t response_code);
ISR_FAST void SC_SendPacket(const uint8_t* payload, uint16_t payload_len, uint8_t response_code);
// Внешняя функция обработки команд (определена в serial_handler.c)
extern void SC_CommandHandler(ReceivedCommand_t* cmd);
Core/Inc/stm32f1xx_hal_conf.h
+1 -1
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@@ -42,7 +42,7 @@
/*#define HAL_CORTEX_MODULE_ENABLED */
#define HAL_CRC_MODULE_ENABLED
/*#define HAL_DAC_MODULE_ENABLED */
/*#define HAL_DMA_MODULE_ENABLED */
#define HAL_DMA_MODULE_ENABLED
/*#define HAL_ETH_MODULE_ENABLED */
/*#define HAL_FLASH_MODULE_ENABLED */
#define HAL_GPIO_MODULE_ENABLED
Core/Inc/stm32f1xx_it.h
+2
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@@ -55,6 +55,8 @@ void SVC_Handler(void);
void DebugMon_Handler(void);
void PendSV_Handler(void);
void SysTick_Handler(void);
void DMA1_Channel1_IRQHandler(void);
void ADC1_2_IRQHandler(void);
void CAN1_RX0_IRQHandler(void);
void TIM3_IRQHandler(void);
void USART1_IRQHandler(void);
Core/Src/adc.c
+234 -135
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@@ -1,135 +1,234 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file adc.c
* @brief This file provides code for the configuration
* of the ADC instances.
******************************************************************************
* @attention
*
* Copyright (c) 2024 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 "adc.h"
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
ADC_HandleTypeDef hadc1;
/* ADC1 init function */
void MX_ADC1_Init(void)
{
/* USER CODE BEGIN ADC1_Init 0 */
/* USER CODE END ADC1_Init 0 */
ADC_ChannelConfTypeDef sConfig = {0};
/* USER CODE BEGIN ADC1_Init 1 */
/* USER CODE END ADC1_Init 1 */
/** Common config
*/
hadc1.Instance = ADC1;
hadc1.Init.ScanConvMode = ADC_SCAN_DISABLE;
hadc1.Init.ContinuousConvMode = DISABLE;
hadc1.Init.DiscontinuousConvMode = DISABLE;
hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc1.Init.NbrOfConversion = 1;
if (HAL_ADC_Init(&hadc1) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_8;
sConfig.Rank = ADC_REGULAR_RANK_1;
sConfig.SamplingTime = ADC_SAMPLETIME_1CYCLE_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN ADC1_Init 2 */
/* USER CODE END ADC1_Init 2 */
}
void HAL_ADC_MspInit(ADC_HandleTypeDef* adcHandle)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
if(adcHandle->Instance==ADC1)
{
/* USER CODE BEGIN ADC1_MspInit 0 */
/* USER CODE END ADC1_MspInit 0 */
/* ADC1 clock enable */
__HAL_RCC_ADC1_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/**ADC1 GPIO Configuration
PA3 ------> ADC1_IN3
PA4 ------> ADC1_IN4
PB0 ------> ADC1_IN8
PB1 ------> ADC1_IN9
*/
GPIO_InitStruct.Pin = GPIO_PIN_3|CP_ADC_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
GPIO_InitStruct.Pin = ADC_NTC1_Pin|ADC_NTC2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* USER CODE BEGIN ADC1_MspInit 1 */
/* USER CODE END ADC1_MspInit 1 */
}
}
void HAL_ADC_MspDeInit(ADC_HandleTypeDef* adcHandle)
{
if(adcHandle->Instance==ADC1)
{
/* USER CODE BEGIN ADC1_MspDeInit 0 */
/* USER CODE END ADC1_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_ADC1_CLK_DISABLE();
/**ADC1 GPIO Configuration
PA3 ------> ADC1_IN3
PA4 ------> ADC1_IN4
PB0 ------> ADC1_IN8
PB1 ------> ADC1_IN9
*/
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_3|CP_ADC_Pin);
HAL_GPIO_DeInit(GPIOB, ADC_NTC1_Pin|ADC_NTC2_Pin);
/* USER CODE BEGIN ADC1_MspDeInit 1 */
/* USER CODE END ADC1_MspDeInit 1 */
}
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file adc.c
* @brief This file provides code for the configuration
* of the ADC instances.
******************************************************************************
* @attention
*
* Copyright (c) 2024 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 "adc.h"
/* USER CODE BEGIN 0 */
#include "isr_opt.h"
static volatile uint16_t adc_dma_raw[6];
volatile ADC_ScanData_t adc_data = {0};
static volatile uint8_t adc_scan_data_ready = 0u;
void ADC_ScanStart(void)
{
if (HAL_ADC_Start_DMA(&hadc1, (uint32_t *)adc_dma_raw, 6u) != HAL_OK)
{
Error_Handler();
}
}
ISR_FAST void HAL_ADC_ConvCpltCallback(ADC_HandleTypeDef *hadc)
{
if (hadc->Instance != ADC1)
{
return;
}
adc_data.in3_raw = adc_dma_raw[0];
adc_data.cp_raw = adc_dma_raw[1];
adc_data.ntc1_raw = adc_dma_raw[2];
adc_data.ntc2_raw = adc_dma_raw[3];
adc_data.temp_sensor_raw = adc_dma_raw[4];
adc_data.vrefint_raw = adc_dma_raw[5];
adc_scan_data_ready = 1u;
}
/* USER CODE END 0 */
ADC_HandleTypeDef hadc1;
DMA_HandleTypeDef hdma_adc1;
/* ADC1 init function */
void MX_ADC1_Init(void)
{
/* USER CODE BEGIN ADC1_Init 0 */
/* USER CODE END ADC1_Init 0 */
ADC_ChannelConfTypeDef sConfig = {0};
/* USER CODE BEGIN ADC1_Init 1 */
/* USER CODE END ADC1_Init 1 */
/** Common config
*/
hadc1.Instance = ADC1;
hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE;
hadc1.Init.ContinuousConvMode = DISABLE;
hadc1.Init.DiscontinuousConvMode = DISABLE;
hadc1.Init.ExternalTrigConv = ADC_EXTERNALTRIGCONV_T3_TRGO;
hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc1.Init.NbrOfConversion = 6;
if (HAL_ADC_Init(&hadc1) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_3;
sConfig.Rank = ADC_REGULAR_RANK_1;
sConfig.SamplingTime = ADC_SAMPLETIME_41CYCLES_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_4;
sConfig.Rank = ADC_REGULAR_RANK_2;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_8;
sConfig.Rank = ADC_REGULAR_RANK_3;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_9;
sConfig.Rank = ADC_REGULAR_RANK_4;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_TEMPSENSOR;
sConfig.Rank = ADC_REGULAR_RANK_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_VREFINT;
sConfig.Rank = ADC_REGULAR_RANK_6;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN ADC1_Init 2 */
/* USER CODE END ADC1_Init 2 */
}
void HAL_ADC_MspInit(ADC_HandleTypeDef* adcHandle)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
if(adcHandle->Instance==ADC1)
{
/* USER CODE BEGIN ADC1_MspInit 0 */
/* USER CODE END ADC1_MspInit 0 */
/* ADC1 clock enable */
__HAL_RCC_ADC1_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/**ADC1 GPIO Configuration
PA3 ------> ADC1_IN3
PA4 ------> ADC1_IN4
PB0 ------> ADC1_IN8
PB1 ------> ADC1_IN9
*/
GPIO_InitStruct.Pin = GPIO_PIN_3|CP_ADC_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
GPIO_InitStruct.Pin = ADC_NTC1_Pin|ADC_NTC2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* ADC1 DMA Init */
/* ADC1 Init */
hdma_adc1.Instance = DMA1_Channel1;
hdma_adc1.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma_adc1.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_adc1.Init.MemInc = DMA_MINC_ENABLE;
hdma_adc1.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD;
hdma_adc1.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD;
hdma_adc1.Init.Mode = DMA_CIRCULAR;
hdma_adc1.Init.Priority = DMA_PRIORITY_HIGH;
if (HAL_DMA_Init(&hdma_adc1) != HAL_OK)
{
Error_Handler();
}
__HAL_LINKDMA(adcHandle,DMA_Handle,hdma_adc1);
/* ADC1 interrupt Init */
HAL_NVIC_SetPriority(ADC1_2_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(ADC1_2_IRQn);
/* USER CODE BEGIN ADC1_MspInit 1 */
/* USER CODE END ADC1_MspInit 1 */
}
}
void HAL_ADC_MspDeInit(ADC_HandleTypeDef* adcHandle)
{
if(adcHandle->Instance==ADC1)
{
/* USER CODE BEGIN ADC1_MspDeInit 0 */
/* USER CODE END ADC1_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_ADC1_CLK_DISABLE();
/**ADC1 GPIO Configuration
PA3 ------> ADC1_IN3
PA4 ------> ADC1_IN4
PB0 ------> ADC1_IN8
PB1 ------> ADC1_IN9
*/
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_3|CP_ADC_Pin);
HAL_GPIO_DeInit(GPIOB, ADC_NTC1_Pin|ADC_NTC2_Pin);
/* ADC1 DMA DeInit */
HAL_DMA_DeInit(adcHandle->DMA_Handle);
/* ADC1 interrupt Deinit */
HAL_NVIC_DisableIRQ(ADC1_2_IRQn);
/* USER CODE BEGIN ADC1_MspDeInit 1 */
/* USER CODE END ADC1_MspDeInit 1 */
}
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
Core/Src/board.c
+4 -21
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@@ -1,11 +1,10 @@
#include "main.h"
#include "board.h"
#include "adc.h"
#include "tim.h"
#include "sma_filter.h"
extern ADC_HandleTypeDef hadc1;
//TODO:
//TEMP READ
// Connector temperature sensors
@@ -89,6 +88,7 @@ uint8_t GetBoardTemp(){
void Init_Peripheral(){
HAL_ADCEx_Calibration_Start(&hadc1);
ADC_ScanStart();
RELAY_Write(RELAY_AUX0, 0);
RELAY_Write(RELAY_AUX1, 0);
@@ -130,27 +130,11 @@ float calculate_NTC_resistance(int adc_value, float Vref, float Vin, float R) {
}
int16_t CONN_ReadTemp(uint8_t ch){
ADC_LockBlocking();
//TODO
if(ch)ADC_Select_Channel(ADC_CHANNEL_8);
else ADC_Select_Channel(ADC_CHANNEL_9);
// Начало конверсии
HAL_ADC_Start(&hadc1);
// Ожидание окончания конверсии
HAL_ADC_PollForConversion(&hadc1, HAL_MAX_DELAY);
// Получение значения
uint32_t adcValue = HAL_ADC_GetValue(&hadc1);
// Остановка АЦП (по желанию)
HAL_ADC_Stop(&hadc1);
uint32_t adcValue = 0u;
adcValue = ch ? adc_data.ntc2_raw : adc_data.ntc1_raw;
int32_t adc_filtered = SMAFilter_Update(&conn_temp_adc_filter[ch ? 1u : 0u], (int32_t)adcValue);
if((uint32_t)adc_filtered > 4000u) {
ADC_Unlock();
return 20; //Термодатчик не подключен
}
@@ -161,7 +145,6 @@ int16_t CONN_ReadTemp(uint8_t ch){
float temp = pt1000_to_temperature(calculate_NTC_resistance((int)adc_filtered, Vref, Vin, R));
ADC_Unlock();
return (int16_t)temp;
}
Core/Src/cp.c
+27 -140
View File
@@ -2,131 +2,30 @@
#include "adc.h"
#include "board.h"
#include "tim.h"
#include "debug.h"
#include <stdint.h>
#include <stdlib.h>
#define MAX_DUTY 450
#define CP_EMA_ALPHA_Q8 38
#define CP_DEBOUNCE_MS_DEFAULT 10
#define CP_DEBOUNCE_MS_F 60
#define CP_DEBOUNCE_MS_F_LOW_DUTY 100
#define CP_LOW_DUTY_THRESHOLD_PERCENT 10
#define CP_A_ENTER_MV 11000
#define CP_A_EXIT_MV 10000
#define CP_B_ENTER_LOW_MV 8000
#define CP_B_ENTER_HIGH_MV 10000
#define CP_B_EXIT_LOW_MV 7500
#define CP_B_EXIT_HIGH_MV 10500
#define CP_C_ENTER_LOW_MV 5000
#define CP_C_ENTER_HIGH_MV 7000
#define CP_C_EXIT_LOW_MV 4500
#define CP_C_EXIT_HIGH_MV 7500
#define CP_D_ENTER_LOW_MV 2000
#define CP_D_ENTER_HIGH_MV 4000
#define CP_D_EXIT_LOW_MV 1500
#define CP_D_EXIT_HIGH_MV 4500
#define CP_E_ENTER_LOW_MV -1000
#define CP_E_ENTER_HIGH_MV 2000
#define CP_E_EXIT_LOW_MV -1500
#define CP_E_EXIT_HIGH_MV 2500
#define CP_F_ENTER_MV -11500
#define CP_F_EXIT_MV -10500
static int32_t cp_voltage_mv = 0;
static int32_t cp_voltage_filt_mv = 0;
static uint8_t cp_filter_initialized = 0;
static uint8_t cp_duty = 0;
CP_State_t fake_cp_state = EV_STATE_ACQUIRING;
static CP_State_t cp_stable_state = EV_STATE_ACQUIRING;
static CP_State_t cp_candidate_state = EV_STATE_ACQUIRING;
static uint32_t cp_candidate_since_ms = 0;
static uint32_t CP_ReadAdcChannel(uint32_t ch) {
uint32_t adc = 0;
ADC_Select_Channel(ch);
HAL_ADC_Start(&hadc1);
HAL_ADC_PollForConversion(&hadc1, 10);
adc = HAL_ADC_GetValue(&hadc1);
HAL_ADC_Stop(&hadc1);
return adc;
}
#define VREFINT_CAL_ADDR ((uint16_t*)0x1FFFF7BA) // для STM32F1!
static uint8_t CP_IsInRange(int32_t v, int32_t lo, int32_t hi) {
return (v >= lo && v <= hi) ? 1u : 0u;
}
static int32_t CP_ApplyEma(int32_t raw_mv) {
if (!cp_filter_initialized) {
cp_voltage_filt_mv = raw_mv;
cp_filter_initialized = 1;
return cp_voltage_filt_mv;
}
cp_voltage_filt_mv += ((raw_mv - cp_voltage_filt_mv) * CP_EMA_ALPHA_Q8) / 256;
return cp_voltage_filt_mv;
}
static CP_State_t CP_ClassifyWithHysteresis(int32_t v, CP_State_t prev) {
switch (prev) {
case EV_STATE_A_IDLE:
if (v >= CP_A_EXIT_MV) return EV_STATE_A_IDLE;
break;
case EV_STATE_B_CONN_PREP:
if (CP_IsInRange(v, CP_B_EXIT_LOW_MV, CP_B_EXIT_HIGH_MV)) return EV_STATE_B_CONN_PREP;
break;
case EV_STATE_C_CONN_ACTIVE:
if (CP_IsInRange(v, CP_C_EXIT_LOW_MV, CP_C_EXIT_HIGH_MV)) return EV_STATE_C_CONN_ACTIVE;
break;
case EV_STATE_D_CONN_ACT_VENT:
if (CP_IsInRange(v, CP_D_EXIT_LOW_MV, CP_D_EXIT_HIGH_MV)) return EV_STATE_D_CONN_ACT_VENT;
break;
case EV_STATE_E_NO_POWER:
if (CP_IsInRange(v, CP_E_EXIT_LOW_MV, CP_E_EXIT_HIGH_MV)) return EV_STATE_E_NO_POWER;
break;
case EV_STATE_F_ERROR:
if (v <= CP_F_EXIT_MV) return EV_STATE_F_ERROR;
break;
default:
break;
}
if (v >= CP_A_ENTER_MV) return EV_STATE_A_IDLE;
if (CP_IsInRange(v, CP_B_ENTER_LOW_MV, CP_B_ENTER_HIGH_MV)) return EV_STATE_B_CONN_PREP;
if (CP_IsInRange(v, CP_C_ENTER_LOW_MV, CP_C_ENTER_HIGH_MV)) return EV_STATE_C_CONN_ACTIVE;
if (CP_IsInRange(v, CP_D_ENTER_LOW_MV, CP_D_ENTER_HIGH_MV)) return EV_STATE_D_CONN_ACT_VENT;
if (CP_IsInRange(v, CP_E_ENTER_LOW_MV, CP_E_ENTER_HIGH_MV)) return EV_STATE_E_NO_POWER;
if (v <= CP_F_ENTER_MV) return EV_STATE_F_ERROR;
return EV_STATE_ACQUIRING;
}
static uint32_t CP_GetDebounceMs(CP_State_t next_state) {
if (next_state == EV_STATE_F_ERROR) {
if (cp_duty <= CP_LOW_DUTY_THRESHOLD_PERCENT) {
return CP_DEBOUNCE_MS_F_LOW_DUTY;
}
return CP_DEBOUNCE_MS_F;
}
return CP_DEBOUNCE_MS_DEFAULT;
}
static int32_t CP_ReadVoltageMv(void)
{
uint32_t adc = 0;
int32_t v_adc_mv = 0;
int32_t v_out_mv = 0;
uint32_t adc_cp = adc_data.cp_raw;
uint32_t adc_vref = adc_data.vrefint_raw; // нужно измерять!
adc = CP_ReadAdcChannel((uint32_t)4u);
v_adc_mv = (int32_t)((adc * 3300u) / 4095u);
v_out_mv = ((v_adc_mv - 1723) * 1000) / 130;
// VREFINT в мВ (берётся из даташита или калибровки MCU)
const int32_t VREFINT_MV = 1210;
// напряжение на входе АЦП
int32_t v_adc_mv = (adc_cp * VREFINT_MV) / adc_vref;
// дальше твоя формула
int32_t v_out_mv = ((v_adc_mv - 1723) * 7704) / 1000;
return v_out_mv;
}
@@ -145,7 +44,7 @@ void CP_Init(void) {
#endif
HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_2);
HAL_TIM_OC_Start_IT(&htim3, TIM_CHANNEL_1);
HAL_TIM_OC_Start(&htim3, TIM_CHANNEL_1);
}
void CP_SetDuty(uint8_t percentage) {
@@ -166,47 +65,35 @@ uint8_t CP_GetDuty(void) {
}
int32_t CP_GetVoltage(void) {
cp_voltage_mv = CP_ReadVoltageMv();
return cp_voltage_mv;
}
CP_State_t CP_GetState(void) {
int32_t voltage_real = cp_voltage_filt_mv;
uint32_t now = HAL_GetTick();
int32_t voltage_real = CP_GetVoltage();
if(fake_cp_state != EV_STATE_ACQUIRING) {
return fake_cp_state;
}
CP_State_t instant_state = CP_ClassifyWithHysteresis(voltage_real, cp_stable_state);
if (instant_state == cp_stable_state) {
cp_candidate_state = cp_stable_state;
cp_candidate_since_ms = now;
if (voltage_real >= (12000-1000)) {
return EV_STATE_A_IDLE;
} else if (voltage_real >= (9000-1000) && voltage_real <= (9000+1000)) {
return EV_STATE_B_CONN_PREP;
} else if (voltage_real >= (6000-1000) && voltage_real <= (6000+1000)) {
return EV_STATE_C_CONN_ACTIVE;
} else if (voltage_real >= (3000-1000) && voltage_real <= (3000 + 1000)) {
return EV_STATE_D_CONN_ACT_VENT;
} else if (voltage_real >= (0-1000) && voltage_real <= (0+2000)){
return EV_STATE_E_NO_POWER;
} else if (voltage_real <= (-12000+1000)) {
return EV_STATE_F_ERROR;
} else {
if (cp_candidate_state != instant_state) {
cp_candidate_state = instant_state;
cp_candidate_since_ms = now;
} else if ((now - cp_candidate_since_ms) >= CP_GetDebounceMs(cp_candidate_state)) {
cp_stable_state = cp_candidate_state;
}
return EV_STATE_ACQUIRING;
}
return cp_stable_state;
}
void CP_Loop(void) {
(void)CP_GetState();
}
void HAL_TIM_OC_DelayElapsedCallback(TIM_HandleTypeDef *htim)
{
if (htim->Instance == TIM3 && htim->Channel == HAL_TIM_ACTIVE_CHANNEL_1) {
if (ADC_TryLock() == 0u) {
return;
}
cp_voltage_mv = CP_ReadVoltageMv();
(void)CP_ApplyEma(cp_voltage_mv);
ADC_Unlock();
}
}
Core/Src/debug.c
+4 -2
View File
@@ -150,6 +150,8 @@ int log_printf(LogLevel_t level, const char *format, ...)
#ifndef USE_WEB_INTERFACE
#include "isr_opt.h"
extern UART_HandleTypeDef huart2;
@@ -158,7 +160,7 @@ uint8_t debug_cmd_received;
uint8_t debug_rx_buffer_size = 0;
void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size){
ISR_FAST void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size){
// if(huart->Instance == USART1){
// mm_rx_interrupt(huart, Size);
@@ -168,7 +170,7 @@ void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size){
}
}
void debug_rx_interrupt(UART_HandleTypeDef *huart, uint16_t Size){
ISR_FAST void debug_rx_interrupt(UART_HandleTypeDef *huart, uint16_t Size){
debug_rx_buffer[Size] = '\0';
debug_rx_buffer_size = Size;
debug_cmd_received = 1;
Core/Src/dma.c
+55
View File
@@ -0,0 +1,55 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file dma.c
* @brief This file provides code for the configuration
* of all the requested memory to memory DMA transfers.
******************************************************************************
* @attention
*
* Copyright (c) 2026 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 "dma.h"
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/*----------------------------------------------------------------------------*/
/* Configure DMA */
/*----------------------------------------------------------------------------*/
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/**
* Enable DMA controller clock
*/
void MX_DMA_Init(void)
{
/* DMA controller clock enable */
__HAL_RCC_DMA1_CLK_ENABLE();
/* DMA interrupt init */
/* DMA1_Channel1_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
}
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */
Core/Src/gpio.c
+25 -4
View File
@@ -54,20 +54,27 @@ void MX_GPIO_Init(void)
__HAL_RCC_GPIOD_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOC, RELAY_CP_Pin|LOCK_A_Pin|LOCK_B_Pin, GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOC, DBG1_Pin|RELAY_CP_Pin|LOCK_A_Pin|LOCK_B_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOA, DBG2_Pin|DBG3_Pin|RELAY_CC_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOE, RELAY1_Pin|RELAY2_Pin|RELAY3_Pin|RELAY4_Pin
|RELAY5_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(RELAY_CC_GPIO_Port, RELAY_CC_Pin, GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOB, DBG5_Pin|DBG4_Pin|EE_WP_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOD, RELAY_DC_Pin|USART2_DIR_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(EE_WP_GPIO_Port, EE_WP_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin : DBG1_Pin */
GPIO_InitStruct.Pin = DBG1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(DBG1_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : RELAY_CP_Pin LOCK_A_Pin LOCK_B_Pin */
GPIO_InitStruct.Pin = RELAY_CP_Pin|LOCK_A_Pin|LOCK_B_Pin;
@@ -88,6 +95,13 @@ void MX_GPIO_Init(void)
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
HAL_GPIO_Init(IN_SW1_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : DBG2_Pin DBG3_Pin */
GPIO_InitStruct.Pin = DBG2_Pin|DBG3_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/*Configure GPIO pins : IN0_Pin AC_OK_Pin ISO_IN_Pin */
GPIO_InitStruct.Pin = IN0_Pin|AC_OK_Pin|ISO_IN_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
@@ -103,6 +117,13 @@ void MX_GPIO_Init(void)
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
/*Configure GPIO pins : DBG5_Pin DBG4_Pin */
GPIO_InitStruct.Pin = DBG5_Pin|DBG4_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pin : RELAY_CC_Pin */
GPIO_InitStruct.Pin = RELAY_CC_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
Core/Src/main.c
+304 -301
View File
@@ -1,301 +1,304 @@
/* USER CODE BEGIN Header */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "adc.h"
#include "can.h"
#include "crc.h"
#include "rtc.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "can.h"
#include "board.h"
#include <stdio.h>
#include "debug.h"
#include "soft_rtc.h"
#include "connector.h"
#include "serial_control.h"
#include "charger_config.h"
#include "serial.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 ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/**
* @brief Vector base address configuration. It should no longer be at the start of
* flash memory but moved forward because the first part of flash is
* reserved for the bootloader. Note that this is already done by the
* bootloader before starting this program. Unfortunately, function
* SystemInit() overwrites this change again.
* @return none.
*/
static void VectorBase_Config(void)
{
/* The constant array with vectors of the vector table is declared externally in the
* c-startup code.
*/
extern const unsigned long g_pfnVectors[];
/* Remap the vector table to where the vector table is located for this program. */
SCB->VTOR = (unsigned long)&g_pfnVectors[0];
}
uint8_t ED_TraceWarning(uint8_t flag, uint8_t id){
static uint8_t memory[32];
if(id > 31) return 0;
uint8_t result = 0;
if(memory[id] != flag){
result = 1;
}
memory[id] = flag;
return result;
}
void ED_Delay(uint32_t Delay)
{
uint32_t tickstart = HAL_GetTick();
uint32_t wait = Delay;
if (wait < HAL_MAX_DELAY)
{
wait += (uint32_t)(uwTickFreq);
}
while ((HAL_GetTick() - tickstart) < wait){
CCS_SerialLoop();
// CP_Loop();
CONN_Task();
LED_Task();
SC_Task();
}
}
void StopButtonControl(){
//Charging do nothing
if(!IN_ReadInput(IN_ESTOP)){
CONN.connControl = CMD_STOP;
}
}
uint8_t temp0, temp1;
static void CAN1_MinimalReInit(void)
{
HAL_CAN_Stop(&hcan1);
MX_CAN1_Init();
if (HAL_CAN_Start(&hcan1) != HAL_OK) {
Error_Handler();
}
if (HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK) {
Error_Handler();
}
}
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
int main(void)
{
/* USER CODE BEGIN 1 */
VectorBase_Config();
/* USER CODE END 1 */
/* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
HAL_RCC_DeInit();
/* 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_ADC1_Init();
MX_CAN1_Init();
MX_CAN2_Init();
MX_RTC_Init();
MX_TIM4_Init();
MX_USART2_UART_Init();
MX_CRC_Init();
MX_UART5_Init();
MX_USART1_UART_Init();
MX_USART3_UART_Init();
MX_TIM3_Init();
/* USER CODE BEGIN 2 */
Init_Peripheral();
LED_Init();
HAL_Delay(300);
CCS_Init();
SC_Init();
log_printf(LOG_INFO, "CCS module start\n");
ReadVersion();
log_printf(LOG_INFO, "Serial number: %d\n", infoPacket.serialNumber);
log_printf(LOG_INFO, "Board revision: %d\n", infoPacket.boardVersion);
log_printf(LOG_INFO, "FW version: %d.%d.%d\n", infoPacket.fw_version_major, infoPacket.fw_version_minor, infoPacket.fw_version_patch);
CAN1_MinimalReInit();
PSU_Init();
CONN_Init();
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
PSU_ReadWrite();
PSU_Task();
ED_Delay(10);
METER_CalculateEnergy();
CONN_Loop();
LED_Write();
ED_Delay(10);
StopButtonControl();
ED_Delay(50);
}
/* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE|RCC_OSCILLATORTYPE_LSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV5;
RCC_OscInitStruct.LSEState = RCC_LSE_ON;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.Prediv1Source = RCC_PREDIV1_SOURCE_PLL2;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
RCC_OscInitStruct.PLL2.PLL2State = RCC_PLL2_ON;
RCC_OscInitStruct.PLL2.PLL2MUL = RCC_PLL2_MUL8;
RCC_OscInitStruct.PLL2.HSEPrediv2Value = RCC_HSE_PREDIV2_DIV5;
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_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
{
Error_Handler();
}
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_RTC|RCC_PERIPHCLK_ADC;
PeriphClkInit.RTCClockSelection = RCC_RTCCLKSOURCE_LSE;
PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
{
Error_Handler();
}
/** Configure the Systick interrupt time
*/
__HAL_RCC_PLLI2S_ENABLE();
}
/* USER CODE BEGIN 4 */
/* 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 */
/* USER CODE BEGIN Header */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "adc.h"
#include "can.h"
#include "crc.h"
#include "dma.h"
#include "rtc.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "can.h"
#include "board.h"
#include <stdio.h>
#include "debug.h"
#include "soft_rtc.h"
#include "connector.h"
#include "serial_control.h"
#include "charger_config.h"
#include "serial.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 ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/**
* @brief Vector base address configuration. It should no longer be at the start of
* flash memory but moved forward because the first part of flash is
* reserved for the bootloader. Note that this is already done by the
* bootloader before starting this program. Unfortunately, function
* SystemInit() overwrites this change again.
* @return none.
*/
static void VectorBase_Config(void)
{
/* The constant array with vectors of the vector table is declared externally in the
* c-startup code.
*/
extern const unsigned long g_pfnVectors[];
/* Remap the vector table to where the vector table is located for this program. */
SCB->VTOR = (unsigned long)&g_pfnVectors[0];
}
uint8_t ED_TraceWarning(uint8_t flag, uint8_t id){
static uint8_t memory[32];
if(id > 31) return 0;
uint8_t result = 0;
if(memory[id] != flag){
result = 1;
}
memory[id] = flag;
return result;
}
void ED_Delay(uint32_t Delay)
{
uint32_t tickstart = HAL_GetTick();
uint32_t wait = Delay;
if (wait < HAL_MAX_DELAY)
{
wait += (uint32_t)(uwTickFreq);
}
while ((HAL_GetTick() - tickstart) < wait){
CCS_SerialLoop();
// CP_Loop();
CONN_Task();
LED_Task();
SC_Task();
}
}
void StopButtonControl(){
//Charging do nothing
if(!IN_ReadInput(IN_ESTOP)){
CONN.connControl = CMD_STOP;
}
}
uint8_t temp0, temp1;
static void CAN1_MinimalReInit(void)
{
HAL_CAN_Stop(&hcan1);
MX_CAN1_Init();
if (HAL_CAN_Start(&hcan1) != HAL_OK) {
Error_Handler();
}
if (HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK) {
Error_Handler();
}
}
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
int main(void)
{
/* USER CODE BEGIN 1 */
VectorBase_Config();
/* USER CODE END 1 */
/* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
HAL_RCC_DeInit();
/* 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_DMA_Init();
MX_ADC1_Init();
MX_CAN1_Init();
MX_CAN2_Init();
MX_RTC_Init();
MX_TIM4_Init();
MX_USART2_UART_Init();
MX_CRC_Init();
MX_UART5_Init();
MX_USART1_UART_Init();
MX_USART3_UART_Init();
MX_TIM3_Init();
/* USER CODE BEGIN 2 */
Init_Peripheral();
LED_Init();
HAL_Delay(300);
CCS_Init();
SC_Init();
log_printf(LOG_INFO, "CCS module start\n");
ReadVersion();
log_printf(LOG_INFO, "Serial number: %d\n", infoPacket.serialNumber);
log_printf(LOG_INFO, "Board revision: %d\n", infoPacket.boardVersion);
log_printf(LOG_INFO, "FW version: %d.%d.%d\n", infoPacket.fw_version_major, infoPacket.fw_version_minor, infoPacket.fw_version_patch);
CAN1_MinimalReInit();
PSU_Init();
CONN_Init();
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
PSU_ReadWrite();
PSU_Task();
ED_Delay(10);
METER_CalculateEnergy();
CONN_Loop();
LED_Write();
ED_Delay(10);
StopButtonControl();
ED_Delay(50);
}
/* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE|RCC_OSCILLATORTYPE_LSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV5;
RCC_OscInitStruct.LSEState = RCC_LSE_ON;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.Prediv1Source = RCC_PREDIV1_SOURCE_PLL2;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
RCC_OscInitStruct.PLL2.PLL2State = RCC_PLL2_ON;
RCC_OscInitStruct.PLL2.PLL2MUL = RCC_PLL2_MUL8;
RCC_OscInitStruct.PLL2.HSEPrediv2Value = RCC_HSE_PREDIV2_DIV5;
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_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
{
Error_Handler();
}
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_RTC|RCC_PERIPHCLK_ADC;
PeriphClkInit.RTCClockSelection = RCC_RTCCLKSOURCE_LSE;
PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
{
Error_Handler();
}
/** Configure the Systick interrupt time
*/
__HAL_RCC_PLLI2S_ENABLE();
}
/* USER CODE BEGIN 4 */
/* 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 */
Core/Src/psu_control.c
+2 -1
View File
@@ -8,6 +8,7 @@
#include "charger_control.h"
#include "board.h"
#include "debug.h"
#include "isr_opt.h"
PSU_02_t PSU_02;
PSU_04_t PSU_04;
@@ -39,7 +40,7 @@ static uint32_t PSU_StateTime(void){
return HAL_GetTick() - PSU0.statetick;
}
void HAL_CAN_RxFifo1MsgPendingCallback(CAN_HandleTypeDef *hcan){
ISR_FAST void HAL_CAN_RxFifo1MsgPendingCallback(CAN_HandleTypeDef *hcan){
static CAN_RxHeaderTypeDef RxHeader;
static uint8_t RxData[8] = {0,};
Core/Src/serial.c
+138 -23
View File
@@ -3,6 +3,7 @@
#include "connector.h"
#include "board.h"
#include "debug.h"
#include "isr_opt.h"
#include <stdint.h>
#include <string.h>
#include "charger_config.h"
@@ -28,7 +29,8 @@ uint8_t ev_enable_output = 0;
#define CMD_INTERVAL 10
#define MAX_TX_BUFFER_SIZE 256
#define MAX_RX_BUFFER_SIZE 256
#define EVEREST_TIMEOUT_MS 2000
#define EVEREST_TIMEOUT_MS 5000u
#define UART3_REINIT_TIMEOUT_MS 1500u
static uint8_t rx_buffer[MAX_RX_BUFFER_SIZE];
static uint8_t tx_buffer[MAX_TX_BUFFER_SIZE];
@@ -42,6 +44,8 @@ uint8_t isolation_enable = 0;
static uint32_t last_host_seen = 0;
static uint8_t everest_timed_out = 0;
static uint32_t last_everest_timeout_log_tick = 0;
static uint32_t uart3_last_packet_tick = 0;
static uint32_t uart3_last_reinit_tick = 0;
static CP_State_t cp_state_buffer = EV_STATE_ACQUIRING;
CCS_State_t CCS_State;
@@ -49,27 +53,97 @@ CCS_EvInfo_t CCS_EvInfo;
CONN_State_t CCS_EvseState;
CCS_ConnectorState_t CCS_ConnectorState = CCS_UNPLUGGED;
static uint8_t process_received_packet(const uint8_t* packet, uint16_t packet_len);
ISR_FAST static uint8_t process_received_packet(const uint8_t* packet, uint16_t packet_len);
static void CCS_UART3_Watchdog(void);
void CCS_RxEventCallback(UART_HandleTypeDef *huart, uint16_t size) {
if (huart != &huart3) {
ISR_FAST static void uart3_log_hal_error(uint8_t uart_num, uint32_t err) {
if (err == HAL_UART_ERROR_NONE) {
log_printf(LOG_ERR, "UART%u HAL error decode: NONE\n", uart_num);
return;
}
if (size > 0 && size <= sizeof(rx_buffer)) {
process_received_packet(rx_buffer, size);
log_printf(LOG_ERR, "UART%u HAL error decode: %s%s%s%s%s%s raw=0x%08lx\n",
uart_num,
(err & HAL_UART_ERROR_PE) ? "PE " : "",
(err & HAL_UART_ERROR_NE) ? "NE " : "",
(err & HAL_UART_ERROR_FE) ? "FE " : "",
(err & HAL_UART_ERROR_ORE) ? "ORE " : "",
(err & HAL_UART_ERROR_DMA) ? "DMA " : "",
#ifdef HAL_UART_ERROR_INVALID_CALLBACK
(err & HAL_UART_ERROR_INVALID_CALLBACK) ? "INV_CB " : "",
#else
"",
#endif
(unsigned long)err);
}
ISR_FAST static void uart3_arm_rx_or_log(const char *where) {
HAL_StatusTypeDef st = HAL_UARTEx_ReceiveToIdle_IT(&huart3, rx_buffer, sizeof(rx_buffer));
if (st == HAL_OK) {
return;
}
uint32_t err_after = HAL_UART_GetError(&huart3);
log_printf(LOG_ERR,
"UART3 RX arm failed (%s): HAL_Status=%d err_after=0x%08lx\n",
where, (int)st, (unsigned long)err_after);
uart3_log_hal_error(3u, err_after);
if (err_after != HAL_UART_ERROR_NONE) {
(void)HAL_UART_Abort_IT(&huart3);
}
}
ISR_FAST void CCS_RxEventCallback(UART_HandleTypeDef *huart, uint16_t size) {
if (huart != &huart3) {
log_printf(LOG_WARN, "UART3 RX drop: wrong huart in RxEventCallback (size=%u)\n",
(unsigned)size);
return;
}
if (size == 0u) {
log_printf(LOG_WARN, "UART3 RX drop: RxEvent size=0 (idle, no payload)\n");
uart3_arm_rx_or_log("RxEventCallback");
return;
}
if (size > sizeof(rx_buffer)) {
log_printf(LOG_ERR, "UART3 RX drop: size=%u > rx_buffer %u (overflow, not parsed)\n",
(unsigned)size, (unsigned)sizeof(rx_buffer));
uart3_arm_rx_or_log("RxEventCallback");
return;
}
uart3_last_packet_tick = HAL_GetTick();
uart3_last_reinit_tick = uart3_last_packet_tick;
process_received_packet(rx_buffer, size);
uart3_arm_rx_or_log("RxEventCallback");
}
ISR_FAST void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart) {
uint32_t error = HAL_UART_GetError(huart);
uint8_t uart_num =
(huart == &huart2) ? 2 :
(huart == &huart3) ? 3 :
(huart == &huart5) ? 5 : 0;
log_printf(LOG_ERR,
"UART%u HAL error (ISR): raw=0x%08lx — RX may be corrupted until re-arm\n",
uart_num, (unsigned long)error);
uart3_log_hal_error(uart_num, error);
(void)HAL_UART_Abort_IT(huart);
if (huart == &huart3) {
uart3_arm_rx_or_log("ErrorCallback");
}
}
void CCS_SerialLoop(void) {
static uint32_t replug_tick = 0;
static uint32_t replug_watchdog_tick = 0;
static uint32_t replug_watchdog1_tick = 0;
static uint32_t last_state_sent = 0;
if (HAL_UART_GetState(&huart3) == HAL_UART_STATE_READY) {
(void)HAL_UARTEx_ReceiveToIdle_IT(&huart3, rx_buffer, sizeof(rx_buffer));
if ((&huart3)->RxState == HAL_UART_STATE_READY) {
uart3_arm_rx_or_log("SerialLoop");
}
CCS_UART3_Watchdog();
/* Read CP once per loop and use buffered value below. */
cp_state_buffer = CP_GetState();
@@ -232,11 +306,13 @@ void CCS_Init(void){
CCS_MaxLoad.maxCurrent = PSU_MAX_CURRENT*10; //100A
CCS_MaxLoad.minCurrent = PSU_MIN_CURRENT*10; //1A
CCS_MaxLoad.maxPower = PSU_MAX_POWER; //30000W
uart3_last_packet_tick = HAL_GetTick();
uart3_last_reinit_tick = uart3_last_packet_tick;
CCS_SendResetReason();
log_printf(LOG_INFO, "CCS init\n");
}
static uint16_t crc16_ibm(const uint8_t* data, uint16_t length) {
ISR_FAST static uint16_t crc16_ibm(const uint8_t* data, uint16_t length) {
uint16_t crc = 0xFFFFu;
for (uint16_t i = 0; i < length; i++) {
crc ^= data[i];
@@ -270,7 +346,7 @@ static uint16_t CCS_BuildPacket(uint8_t cmd, const void* payload, uint16_t paylo
static void CCS_SendPacket(uint8_t cmd, const void* payload, uint16_t payload_len) {
uint16_t len = CCS_BuildPacket(cmd, payload, payload_len, tx_buffer, sizeof(tx_buffer));
if (len > 0) {
HAL_UART_Transmit(&huart3, tx_buffer, len, 1000);
HAL_UART_Transmit_IT(&huart3, tx_buffer, len);
}
last_cmd_sent = HAL_GetTick();
}
@@ -330,7 +406,7 @@ static void send_state(void) {
CCS_SendPacket(CMD_M2E_STATE, &CCS_State, sizeof(CCS_State));
}
static uint16_t expected_payload_len(uint8_t cmd) {
ISR_FAST static uint16_t expected_payload_len(uint8_t cmd) {
switch (cmd) {
case CMD_E2M_PWM_DUTY: return sizeof(e2m_pwm_duty_t);
case CMD_E2M_ENABLE_OUTPUT: return sizeof(e2m_enable_output_t);
@@ -346,7 +422,7 @@ static uint16_t expected_payload_len(uint8_t cmd) {
}
}
static void apply_command(uint8_t cmd, const uint8_t* payload, uint16_t payload_len) {
ISR_FAST static void apply_command(uint8_t cmd, const uint8_t* payload, uint16_t payload_len) {
(void)payload_len;
last_host_seen = HAL_GetTick();
everest_timed_out = 0;
@@ -369,9 +445,9 @@ static void apply_command(uint8_t cmd, const uint8_t* payload, uint16_t payload_
const e2m_reset_t* p = (const e2m_reset_t*)payload;
if (p->reset) {
log_printf(LOG_WARN, "Everest reset command\n");
CCS_SendResetReason();
HAL_Delay(10);
NVIC_SystemReset();
// CCS_SendResetReason();
// HAL_Delay(10);
// NVIC_SystemReset();
}
break;
}
@@ -411,32 +487,54 @@ static void apply_command(uint8_t cmd, const uint8_t* payload, uint16_t payload_
break;
}
default:
log_printf(LOG_WARN,
"UART3 RX warn: cmd 0x%02x CRC/len OK but no switch case (expected_payload vs apply_command)\n",
cmd);
break;
}
}
static uint8_t process_received_packet(const uint8_t* packet, uint16_t packet_len) {
if (packet_len < 3) return 0;
ISR_FAST static uint8_t process_received_packet(const uint8_t* packet, uint16_t packet_len) {
if (packet_len < 3u) {
if (packet_len == 0u) {
log_printf(LOG_WARN, "UART3 RX drop: too_short len=0 (empty chunk)\n");
} else if (packet_len == 1u) {
log_printf(LOG_WARN, "UART3 RX drop: too_short len=1 b0=0x%02x\n", packet[0]);
} else {
log_printf(LOG_WARN, "UART3 RX drop: too_short len=2 b0=0x%02x b1=0x%02x\n",
packet[0], packet[1]);
}
return 0;
}
uint8_t cmd = packet[0];
uint16_t payload_len = (uint16_t)(packet_len - 3);
uint16_t payload_len = (uint16_t)(packet_len - 3u);
uint16_t received_crc = (uint16_t)packet[packet_len - 2u] |
(uint16_t)packet[packet_len - 1u] << 8;
uint16_t calculated_crc = crc16_ibm(packet, (uint16_t)(1 + payload_len));
uint16_t calculated_crc = crc16_ibm(packet, (uint16_t)(1u + payload_len));
if (received_crc != calculated_crc) {
log_printf(LOG_ERR, "Packet CRC error\n");
log_printf(LOG_ERR,
"UART3 RX drop: crc_mismatch cmd=0x%02x total_len=%u payload_len=%u "
"crc_rx=0x%04x crc_calc=0x%04x\n",
cmd, (unsigned)packet_len, (unsigned)payload_len,
(unsigned)received_crc, (unsigned)calculated_crc);
return 0;
}
uint16_t expected_len = expected_payload_len(cmd);
if (expected_len == 0xFFFF) {
log_printf(LOG_WARN, "Unknown cmd 0x%02x\n", cmd);
if (expected_len == 0xFFFFu) {
log_printf(LOG_WARN,
"UART3 RX drop: unknown_cmd cmd=0x%02x total_len=%u payload_len=%u\n",
cmd, (unsigned)packet_len, (unsigned)payload_len);
return 0;
}
if (expected_len != payload_len) {
log_printf(LOG_ERR, "Packet len mismatch cmd=0x%02x\n", cmd);
log_printf(LOG_ERR,
"UART3 RX drop: len_mismatch cmd=0x%02x expected_payload=%u got_payload=%u "
"total_len=%u\n",
cmd, (unsigned)expected_len, (unsigned)payload_len, (unsigned)packet_len);
return 0;
}
@@ -449,3 +547,20 @@ static uint8_t process_received_packet(const uint8_t* packet, uint16_t packet_le
return 1;
}
static void CCS_UART3_Watchdog(void) {
const uint32_t now = HAL_GetTick();
const uint32_t since_last_packet = now - uart3_last_packet_tick;
if ((since_last_packet >= UART3_REINIT_TIMEOUT_MS) &&
((now - uart3_last_reinit_tick) >= UART3_REINIT_TIMEOUT_MS)) {
(void)HAL_UART_Abort_IT(&huart3);
(void)HAL_UART_DeInit(&huart3);
(void)HAL_UART_Init(&huart3);
(void)HAL_UARTEx_ReceiveToIdle_IT(&huart3, rx_buffer, sizeof(rx_buffer));
log_printf(LOG_ERR,
"UART3 RX recover: stalled (no RxEvent data for %ums), hard reinit\n",
(unsigned)UART3_REINIT_TIMEOUT_MS);
uart3_last_reinit_tick = now;
}
}
Core/Src/serial_control.c
+90 -14
View File
@@ -2,12 +2,15 @@
#include "usart.h"
#include "board.h"
#include "serial.h"
#include "debug.h"
#include "isr_opt.h"
// Приватные функции
static uint32_t calculate_crc32(const uint8_t* data, uint16_t length);
static uint16_t encode_packet(const uint8_t* payload, uint16_t payload_len, uint8_t* output, uint8_t response_code);
static uint8_t parse_packet(const uint8_t* packet_data, uint16_t packet_len, ReceivedCommand_t* out_cmd);
static uint8_t process_received_packet(SerialControl_t *ctx, const uint8_t* packet_data, uint16_t packet_len);
ISR_FAST static uint32_t calculate_crc32(const uint8_t* data, uint16_t length);
ISR_FAST static uint16_t encode_packet(const uint8_t* payload, uint16_t payload_len, uint8_t* output, uint8_t response_code);
ISR_FAST static uint8_t parse_packet(const uint8_t* packet_data, uint16_t packet_len, ReceivedCommand_t* out_cmd);
ISR_FAST static uint8_t process_received_packet(SerialControl_t *ctx, const uint8_t* packet_data, uint16_t packet_len);
static void SC_UART2_Watchdog(void);
uint8_t test_crc_invalid = 0;
@@ -15,6 +18,14 @@ SerialControl_t serial_control;
// Контекст для приема пакетов по UART5 (однонаправленный UART)
static SerialControl_t serial_iso;
volatile SC_Source_t g_sc_command_source = SC_SOURCE_UART2;
static volatile uint8_t sc_uart2_timed_out = 0;
static uint32_t sc_uart2_last_packet_tick = 0;
static uint32_t sc_uart2_last_reinit_tick = 0;
/** Событие приёма по UART2 при активной передаче (см. HAL_UARTEx_RxEventCallback / SC_UART2_Watchdog). */
static volatile uint8_t sc_uart2_rx_during_tx = 0;
#define SC_UART2_REINIT_TIMEOUT_MS 500u
#define SC_UART2_PACKET_TIMEOUT_MS 5000u
StatusPacket_t statusPacket = {
.SOC = 0,
@@ -72,12 +83,28 @@ void SC_Init() {
// Обнуляем структуру
memset(&serial_control, 0, sizeof(SerialControl_t));
memset(&serial_iso, 0, sizeof(serial_iso));
sc_uart2_timed_out = 0;
sc_uart2_last_packet_tick = HAL_GetTick();
sc_uart2_last_reinit_tick = sc_uart2_last_packet_tick;
sc_uart2_rx_during_tx = 0;
}
void SC_Task() {
SC_UART2_Watchdog();
// Запуск приема в режиме прерывания с ожиданием idle
if((huart2.RxState == HAL_UART_STATE_READY) && (serial_control.command_ready == 0)) HAL_UARTEx_ReceiveToIdle_IT(&huart2, serial_control.rx_buffer, MAX_RX_BUFFER_SIZE - 1);
if((huart5.RxState == HAL_UART_STATE_READY)) HAL_UARTEx_ReceiveToIdle_IT(&huart5, serial_iso.rx_buffer, MAX_RX_BUFFER_SIZE - 1);
if ((huart2.RxState == HAL_UART_STATE_READY) && (serial_control.command_ready == 0)) {
if ((HAL_UARTEx_ReceiveToIdle_IT(&huart2, serial_control.rx_buffer, MAX_RX_BUFFER_SIZE - 1) != HAL_OK) &&
(HAL_UART_GetError(&huart2) != HAL_UART_ERROR_NONE)) {
(void)HAL_UART_Abort_IT(&huart2);
}
}
if (huart5.RxState == HAL_UART_STATE_READY) {
if ((HAL_UARTEx_ReceiveToIdle_IT(&huart5, serial_iso.rx_buffer, MAX_RX_BUFFER_SIZE - 1) != HAL_OK) &&
(HAL_UART_GetError(&huart5) != HAL_UART_ERROR_NONE)) {
(void)HAL_UART_Abort_IT(&huart5);
}
}
// Проверка таймаута отправки пакета (больше 100 мс)
if (huart2.gState == HAL_UART_STATE_BUSY_TX && serial_control.tx_tick != 0) {
@@ -94,13 +121,22 @@ void SC_Task() {
if (serial_control.command_ready && (huart2.gState != HAL_UART_STATE_BUSY_TX)) {
// HAL_Delay(2);
SC_CommandHandler(&serial_control.received_command);
HAL_UARTEx_ReceiveToIdle_IT(&huart2, serial_control.rx_buffer, MAX_RX_BUFFER_SIZE - 1);
if ((HAL_UARTEx_ReceiveToIdle_IT(&huart2, serial_control.rx_buffer, MAX_RX_BUFFER_SIZE - 1) != HAL_OK) &&
(HAL_UART_GetError(&huart2) != HAL_UART_ERROR_NONE)) {
(void)HAL_UART_Abort_IT(&huart2);
}
serial_control.command_ready = 0; // Сбрасываем флаг
}
}
void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size) {
ISR_FAST void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size) {
if (huart->Instance == huart2.Instance) {
if (huart2.gState == HAL_UART_STATE_BUSY_TX) {
sc_uart2_rx_during_tx = 1u;
}
sc_uart2_last_packet_tick = HAL_GetTick();
sc_uart2_last_reinit_tick = sc_uart2_last_packet_tick;
sc_uart2_timed_out = 0;
if(!process_received_packet(&serial_control, serial_control.rx_buffer, Size)){
SC_SendPacket(NULL, 0, RESP_INVALID);
}
@@ -117,7 +153,7 @@ void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size) {
}
}
void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart) {
ISR_FAST void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart) {
if (huart->Instance == huart2.Instance) {
HAL_GPIO_WritePin(USART2_DIR_GPIO_Port, USART2_DIR_Pin, GPIO_PIN_RESET);
serial_control.tx_tick = 0;
@@ -127,7 +163,7 @@ void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart) {
// Приватные функции реализации
// Полностью программная реализация CRC-32 (полином CRC32_POLYNOMIAL, порядок little-endian)
static uint32_t calculate_crc32(const uint8_t* data, uint16_t length) {
ISR_FAST static uint32_t calculate_crc32(const uint8_t* data, uint16_t length) {
uint32_t crc = 0xFFFFFFFFu;
for (uint16_t i = 0; i < length; i++) {
@@ -144,7 +180,7 @@ static uint32_t calculate_crc32(const uint8_t* data, uint16_t length) {
return crc ^ 0xFFFFFFFFu;
}
static uint16_t encode_packet(const uint8_t* payload, uint16_t payload_len, uint8_t* output, uint8_t response_code) {
ISR_FAST static uint16_t encode_packet(const uint8_t* payload, uint16_t payload_len, uint8_t* output, uint8_t response_code) {
uint16_t out_index = 0;
output[out_index++] = response_code;
@@ -177,7 +213,7 @@ static uint16_t encode_packet(const uint8_t* payload, uint16_t payload_len, uint
return out_index;
}
void SC_SendPacket(const uint8_t* payload, uint16_t payload_len, uint8_t response_code) {
ISR_FAST void SC_SendPacket(const uint8_t* payload, uint16_t payload_len, uint8_t response_code) {
uint16_t packet_len = encode_packet(payload, payload_len, serial_control.tx_buffer, response_code);
if (packet_len > 0) {
@@ -188,13 +224,15 @@ void SC_SendPacket(const uint8_t* payload, uint16_t payload_len, uint8_t respons
HAL_GPIO_WritePin(USART2_DIR_GPIO_Port, USART2_DIR_Pin, GPIO_PIN_SET);
sc_uart2_rx_during_tx = 0u;
HAL_UART_Transmit_IT(&huart2, serial_control.tx_buffer, packet_len);
serial_control.tx_tick = HAL_GetTick();
}
}
static uint8_t parse_packet(const uint8_t* packet_data, uint16_t packet_len, ReceivedCommand_t* out_cmd) {
ISR_FAST static uint8_t parse_packet(const uint8_t* packet_data, uint16_t packet_len, ReceivedCommand_t* out_cmd) {
// if (test_crc_invalid && (packet_data[1] != CMD_GET_STATUS)) {
// test_crc_invalid--;
// return 0;
@@ -227,7 +265,7 @@ static uint8_t parse_packet(const uint8_t* packet_data, uint16_t packet_len, Rec
return 1;
}
static uint8_t process_received_packet(SerialControl_t *ctx, const uint8_t* packet_data, uint16_t packet_len) {
ISR_FAST static uint8_t process_received_packet(SerialControl_t *ctx, const uint8_t* packet_data, uint16_t packet_len) {
if (!parse_packet(packet_data, packet_len, (ReceivedCommand_t *)&ctx->received_command)) {
return 0;
}
@@ -236,3 +274,41 @@ static uint8_t process_received_packet(SerialControl_t *ctx, const uint8_t* pack
return 1;
}
static void SC_UART2_Watchdog(void) {
const uint32_t now = HAL_GetTick();
const uint32_t since_last_packet = now - sc_uart2_last_packet_tick;
if ((huart2.gState == HAL_UART_STATE_BUSY_TX) && (sc_uart2_rx_during_tx != 0u)) {
HAL_GPIO_WritePin(USART2_DIR_GPIO_Port, USART2_DIR_Pin, GPIO_PIN_RESET);
(void)HAL_UART_Abort_IT(&huart2);
(void)HAL_UART_DeInit(&huart2);
(void)HAL_UART_Init(&huart2);
(void)HAL_UARTEx_ReceiveToIdle_IT(&huart2, serial_control.rx_buffer, MAX_RX_BUFFER_SIZE - 1);
serial_control.tx_tick = 0;
sc_uart2_rx_during_tx = 0u;
sc_uart2_last_reinit_tick = now;
log_printf(LOG_ERR, "USART2 BUSY_TX: hard reinit\n");
return;
}
if (since_last_packet >= SC_UART2_PACKET_TIMEOUT_MS) {
if (sc_uart2_timed_out == 0u) {
serial_control.command_ready = 0;
}
sc_uart2_timed_out = 1;
} else {
sc_uart2_timed_out = 0;
}
if ((since_last_packet >= SC_UART2_REINIT_TIMEOUT_MS) &&
((now - sc_uart2_last_reinit_tick) >= SC_UART2_REINIT_TIMEOUT_MS)) {
HAL_GPIO_WritePin(USART2_DIR_GPIO_Port, USART2_DIR_Pin, GPIO_PIN_RESET);
(void)HAL_UART_Abort_IT(&huart2);
(void)HAL_UART_DeInit(&huart2);
(void)HAL_UART_Init(&huart2);
(void)HAL_UARTEx_ReceiveToIdle_IT(&huart2, serial_control.rx_buffer, MAX_RX_BUFFER_SIZE - 1);
sc_uart2_last_reinit_tick = now;
log_printf(LOG_ERR, "USART2 stalled: hard reinit\n");
}
}
Core/Src/stm32f1xx_it.c
+354 -321
View File
@@ -1,321 +1,354 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file stm32f1xx_it.c
* @brief Interrupt Service Routines.
******************************************************************************
* @attention
*
* Copyright (c) 2024 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 "stm32f1xx_it.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN TD */
/* USER CODE END TD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/* External variables --------------------------------------------------------*/
extern CAN_HandleTypeDef hcan1;
extern CAN_HandleTypeDef hcan2;
extern TIM_HandleTypeDef htim3;
extern UART_HandleTypeDef huart5;
extern UART_HandleTypeDef huart1;
extern UART_HandleTypeDef huart2;
extern UART_HandleTypeDef huart3;
/* USER CODE BEGIN EV */
/* USER CODE END EV */
/******************************************************************************/
/* Cortex-M3 Processor Interruption and Exception Handlers */
/******************************************************************************/
/**
* @brief This function handles Non maskable interrupt.
*/
void NMI_Handler(void)
{
/* USER CODE BEGIN NonMaskableInt_IRQn 0 */
/* USER CODE END NonMaskableInt_IRQn 0 */
/* USER CODE BEGIN NonMaskableInt_IRQn 1 */
while (1)
{
}
/* USER CODE END NonMaskableInt_IRQn 1 */
}
/**
* @brief This function handles Hard fault interrupt.
*/
void HardFault_Handler(void)
{
/* USER CODE BEGIN HardFault_IRQn 0 */
/* USER CODE END HardFault_IRQn 0 */
while (1)
{
/* USER CODE BEGIN W1_HardFault_IRQn 0 */
/* USER CODE END W1_HardFault_IRQn 0 */
}
}
/**
* @brief This function handles Memory management fault.
*/
void MemManage_Handler(void)
{
/* USER CODE BEGIN MemoryManagement_IRQn 0 */
/* USER CODE END MemoryManagement_IRQn 0 */
while (1)
{
/* USER CODE BEGIN W1_MemoryManagement_IRQn 0 */
/* USER CODE END W1_MemoryManagement_IRQn 0 */
}
}
/**
* @brief This function handles Prefetch fault, memory access fault.
*/
void BusFault_Handler(void)
{
/* USER CODE BEGIN BusFault_IRQn 0 */
/* USER CODE END BusFault_IRQn 0 */
while (1)
{
/* USER CODE BEGIN W1_BusFault_IRQn 0 */
/* USER CODE END W1_BusFault_IRQn 0 */
}
}
/**
* @brief This function handles Undefined instruction or illegal state.
*/
void UsageFault_Handler(void)
{
/* USER CODE BEGIN UsageFault_IRQn 0 */
/* USER CODE END UsageFault_IRQn 0 */
while (1)
{
/* USER CODE BEGIN W1_UsageFault_IRQn 0 */
/* USER CODE END W1_UsageFault_IRQn 0 */
}
}
/**
* @brief This function handles System service call via SWI instruction.
*/
void SVC_Handler(void)
{
/* USER CODE BEGIN SVCall_IRQn 0 */
/* USER CODE END SVCall_IRQn 0 */
/* USER CODE BEGIN SVCall_IRQn 1 */
/* USER CODE END SVCall_IRQn 1 */
}
/**
* @brief This function handles Debug monitor.
*/
void DebugMon_Handler(void)
{
/* USER CODE BEGIN DebugMonitor_IRQn 0 */
/* USER CODE END DebugMonitor_IRQn 0 */
/* USER CODE BEGIN DebugMonitor_IRQn 1 */
/* USER CODE END DebugMonitor_IRQn 1 */
}
/**
* @brief This function handles Pendable request for system service.
*/
void PendSV_Handler(void)
{
/* USER CODE BEGIN PendSV_IRQn 0 */
/* USER CODE END PendSV_IRQn 0 */
/* USER CODE BEGIN PendSV_IRQn 1 */
/* USER CODE END PendSV_IRQn 1 */
}
/**
* @brief This function handles System tick timer.
*/
void SysTick_Handler(void)
{
/* USER CODE BEGIN SysTick_IRQn 0 */
/* USER CODE END SysTick_IRQn 0 */
HAL_IncTick();
/* USER CODE BEGIN SysTick_IRQn 1 */
/* USER CODE END SysTick_IRQn 1 */
}
/******************************************************************************/
/* STM32F1xx Peripheral Interrupt Handlers */
/* Add here the Interrupt Handlers for the used peripherals. */
/* For the available peripheral interrupt handler names, */
/* please refer to the startup file (startup_stm32f1xx.s). */
/******************************************************************************/
/**
* @brief This function handles CAN1 RX0 interrupt.
*/
void CAN1_RX0_IRQHandler(void)
{
/* USER CODE BEGIN CAN1_RX0_IRQn 0 */
/* USER CODE END CAN1_RX0_IRQn 0 */
HAL_CAN_IRQHandler(&hcan1);
/* USER CODE BEGIN CAN1_RX0_IRQn 1 */
/* USER CODE END CAN1_RX0_IRQn 1 */
}
/**
* @brief This function handles TIM3 global interrupt.
*/
void TIM3_IRQHandler(void)
{
/* USER CODE BEGIN TIM3_IRQn 0 */
/* USER CODE END TIM3_IRQn 0 */
HAL_TIM_IRQHandler(&htim3);
/* USER CODE BEGIN TIM3_IRQn 1 */
/* USER CODE END TIM3_IRQn 1 */
}
/**
* @brief This function handles USART1 global interrupt.
*/
void USART1_IRQHandler(void)
{
/* USER CODE BEGIN USART1_IRQn 0 */
/* USER CODE END USART1_IRQn 0 */
HAL_UART_IRQHandler(&huart1);
/* USER CODE BEGIN USART1_IRQn 1 */
/* USER CODE END USART1_IRQn 1 */
}
/**
* @brief This function handles USART2 global interrupt.
*/
void USART2_IRQHandler(void)
{
/* USER CODE BEGIN USART2_IRQn 0 */
/* USER CODE END USART2_IRQn 0 */
HAL_UART_IRQHandler(&huart2);
/* USER CODE BEGIN USART2_IRQn 1 */
/* USER CODE END USART2_IRQn 1 */
}
/**
* @brief This function handles USART3 global interrupt.
*/
void USART3_IRQHandler(void)
{
/* USER CODE BEGIN USART3_IRQn 0 */
/* USER CODE END USART3_IRQn 0 */
HAL_UART_IRQHandler(&huart3);
/* USER CODE BEGIN USART3_IRQn 1 */
/* USER CODE END USART3_IRQn 1 */
}
/**
* @brief This function handles UART5 global interrupt.
*/
void UART5_IRQHandler(void)
{
/* USER CODE BEGIN UART5_IRQn 0 */
/* USER CODE END UART5_IRQn 0 */
HAL_UART_IRQHandler(&huart5);
/* USER CODE BEGIN UART5_IRQn 1 */
/* USER CODE END UART5_IRQn 1 */
}
/**
* @brief This function handles CAN2 TX interrupt.
*/
void CAN2_TX_IRQHandler(void)
{
/* USER CODE BEGIN CAN2_TX_IRQn 0 */
/* USER CODE END CAN2_TX_IRQn 0 */
HAL_CAN_IRQHandler(&hcan2);
/* USER CODE BEGIN CAN2_TX_IRQn 1 */
/* USER CODE END CAN2_TX_IRQn 1 */
}
/**
* @brief This function handles CAN2 RX1 interrupt.
*/
void CAN2_RX1_IRQHandler(void)
{
/* USER CODE BEGIN CAN2_RX1_IRQn 0 */
/* USER CODE END CAN2_RX1_IRQn 0 */
HAL_CAN_IRQHandler(&hcan2);
/* USER CODE BEGIN CAN2_RX1_IRQn 1 */
/* USER CODE END CAN2_RX1_IRQn 1 */
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file stm32f1xx_it.c
* @brief Interrupt Service Routines.
******************************************************************************
* @attention
*
* Copyright (c) 2024 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 "stm32f1xx_it.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#if defined(__GNUC__)
#pragma GCC optimize("Ofast")
#endif
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN TD */
/* USER CODE END TD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/* External variables --------------------------------------------------------*/
extern DMA_HandleTypeDef hdma_adc1;
extern ADC_HandleTypeDef hadc1;
extern CAN_HandleTypeDef hcan1;
extern CAN_HandleTypeDef hcan2;
extern TIM_HandleTypeDef htim3;
extern UART_HandleTypeDef huart5;
extern UART_HandleTypeDef huart1;
extern UART_HandleTypeDef huart2;
extern UART_HandleTypeDef huart3;
/* USER CODE BEGIN EV */
/* USER CODE END EV */
/******************************************************************************/
/* Cortex-M3 Processor Interruption and Exception Handlers */
/******************************************************************************/
/**
* @brief This function handles Non maskable interrupt.
*/
void NMI_Handler(void)
{
/* USER CODE BEGIN NonMaskableInt_IRQn 0 */
/* USER CODE END NonMaskableInt_IRQn 0 */
/* USER CODE BEGIN NonMaskableInt_IRQn 1 */
while (1)
{
}
/* USER CODE END NonMaskableInt_IRQn 1 */
}
/**
* @brief This function handles Hard fault interrupt.
*/
void HardFault_Handler(void)
{
/* USER CODE BEGIN HardFault_IRQn 0 */
/* USER CODE END HardFault_IRQn 0 */
while (1)
{
/* USER CODE BEGIN W1_HardFault_IRQn 0 */
/* USER CODE END W1_HardFault_IRQn 0 */
}
}
/**
* @brief This function handles Memory management fault.
*/
void MemManage_Handler(void)
{
/* USER CODE BEGIN MemoryManagement_IRQn 0 */
/* USER CODE END MemoryManagement_IRQn 0 */
while (1)
{
/* USER CODE BEGIN W1_MemoryManagement_IRQn 0 */
/* USER CODE END W1_MemoryManagement_IRQn 0 */
}
}
/**
* @brief This function handles Prefetch fault, memory access fault.
*/
void BusFault_Handler(void)
{
/* USER CODE BEGIN BusFault_IRQn 0 */
/* USER CODE END BusFault_IRQn 0 */
while (1)
{
/* USER CODE BEGIN W1_BusFault_IRQn 0 */
/* USER CODE END W1_BusFault_IRQn 0 */
}
}
/**
* @brief This function handles Undefined instruction or illegal state.
*/
void UsageFault_Handler(void)
{
/* USER CODE BEGIN UsageFault_IRQn 0 */
/* USER CODE END UsageFault_IRQn 0 */
while (1)
{
/* USER CODE BEGIN W1_UsageFault_IRQn 0 */
/* USER CODE END W1_UsageFault_IRQn 0 */
}
}
/**
* @brief This function handles System service call via SWI instruction.
*/
void SVC_Handler(void)
{
/* USER CODE BEGIN SVCall_IRQn 0 */
/* USER CODE END SVCall_IRQn 0 */
/* USER CODE BEGIN SVCall_IRQn 1 */
/* USER CODE END SVCall_IRQn 1 */
}
/**
* @brief This function handles Debug monitor.
*/
void DebugMon_Handler(void)
{
/* USER CODE BEGIN DebugMonitor_IRQn 0 */
/* USER CODE END DebugMonitor_IRQn 0 */
/* USER CODE BEGIN DebugMonitor_IRQn 1 */
/* USER CODE END DebugMonitor_IRQn 1 */
}
/**
* @brief This function handles Pendable request for system service.
*/
void PendSV_Handler(void)
{
/* USER CODE BEGIN PendSV_IRQn 0 */
/* USER CODE END PendSV_IRQn 0 */
/* USER CODE BEGIN PendSV_IRQn 1 */
/* USER CODE END PendSV_IRQn 1 */
}
/**
* @brief This function handles System tick timer.
*/
void SysTick_Handler(void)
{
/* USER CODE BEGIN SysTick_IRQn 0 */
/* USER CODE END SysTick_IRQn 0 */
HAL_IncTick();
/* USER CODE BEGIN SysTick_IRQn 1 */
/* USER CODE END SysTick_IRQn 1 */
}
/******************************************************************************/
/* STM32F1xx Peripheral Interrupt Handlers */
/* Add here the Interrupt Handlers for the used peripherals. */
/* For the available peripheral interrupt handler names, */
/* please refer to the startup file (startup_stm32f1xx.s). */
/******************************************************************************/
/**
* @brief This function handles DMA1 channel1 global interrupt.
*/
void DMA1_Channel1_IRQHandler(void)
{
/* USER CODE BEGIN DMA1_Channel1_IRQn 0 */
HAL_GPIO_WritePin(DBG4_GPIO_Port, DBG4_Pin, GPIO_PIN_SET);
/* USER CODE END DMA1_Channel1_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_adc1);
/* USER CODE BEGIN DMA1_Channel1_IRQn 1 */
HAL_GPIO_WritePin(DBG4_GPIO_Port, DBG4_Pin, GPIO_PIN_RESET);
/* USER CODE END DMA1_Channel1_IRQn 1 */
}
/**
* @brief This function handles ADC1 and ADC2 global interrupts.
*/
void ADC1_2_IRQHandler(void)
{
/* USER CODE BEGIN ADC1_2_IRQn 0 */
HAL_GPIO_WritePin(DBG4_GPIO_Port, DBG4_Pin, GPIO_PIN_SET);
/* USER CODE END ADC1_2_IRQn 0 */
HAL_ADC_IRQHandler(&hadc1);
/* USER CODE BEGIN ADC1_2_IRQn 1 */
HAL_GPIO_WritePin(DBG4_GPIO_Port, DBG4_Pin, GPIO_PIN_RESET);
/* USER CODE END ADC1_2_IRQn 1 */
}
/**
* @brief This function handles CAN1 RX0 interrupt.
*/
void CAN1_RX0_IRQHandler(void)
{
/* USER CODE BEGIN CAN1_RX0_IRQn 0 */
HAL_GPIO_WritePin(DBG5_GPIO_Port, DBG5_Pin, GPIO_PIN_SET);
/* USER CODE END CAN1_RX0_IRQn 0 */
HAL_CAN_IRQHandler(&hcan1);
/* USER CODE BEGIN CAN1_RX0_IRQn 1 */
HAL_GPIO_WritePin(DBG5_GPIO_Port, DBG5_Pin, GPIO_PIN_RESET);
/* USER CODE END CAN1_RX0_IRQn 1 */
}
/**
* @brief This function handles TIM3 global interrupt.
*/
void TIM3_IRQHandler(void)
{
/* USER CODE BEGIN TIM3_IRQn 0 */
HAL_GPIO_WritePin(DBG4_GPIO_Port, DBG4_Pin, GPIO_PIN_SET);
/* USER CODE END TIM3_IRQn 0 */
HAL_TIM_IRQHandler(&htim3);
/* USER CODE BEGIN TIM3_IRQn 1 */
HAL_GPIO_WritePin(DBG4_GPIO_Port, DBG4_Pin, GPIO_PIN_RESET);
/* USER CODE END TIM3_IRQn 1 */
}
/**
* @brief This function handles USART1 global interrupt.
*/
void USART1_IRQHandler(void)
{
/* USER CODE BEGIN USART1_IRQn 0 */
/* USER CODE END USART1_IRQn 0 */
HAL_UART_IRQHandler(&huart1);
/* USER CODE BEGIN USART1_IRQn 1 */
/* USER CODE END USART1_IRQn 1 */
}
/**
* @brief This function handles USART2 global interrupt.
*/
void USART2_IRQHandler(void)
{
/* USER CODE BEGIN USART2_IRQn 0 */
HAL_GPIO_WritePin(DBG2_GPIO_Port, DBG2_Pin, GPIO_PIN_SET);
/* USER CODE END USART2_IRQn 0 */
HAL_UART_IRQHandler(&huart2);
/* USER CODE BEGIN USART2_IRQn 1 */
HAL_GPIO_WritePin(DBG2_GPIO_Port, DBG2_Pin, GPIO_PIN_RESET);
/* USER CODE END USART2_IRQn 1 */
}
/**
* @brief This function handles USART3 global interrupt.
*/
void USART3_IRQHandler(void)
{
/* USER CODE BEGIN USART3_IRQn 0 */
HAL_GPIO_WritePin(DBG3_GPIO_Port, DBG3_Pin, GPIO_PIN_SET);
/* USER CODE END USART3_IRQn 0 */
HAL_UART_IRQHandler(&huart3);
/* USER CODE BEGIN USART3_IRQn 1 */
HAL_GPIO_WritePin(DBG3_GPIO_Port, DBG3_Pin, GPIO_PIN_RESET);
/* USER CODE END USART3_IRQn 1 */
}
/**
* @brief This function handles UART5 global interrupt.
*/
void UART5_IRQHandler(void)
{
/* USER CODE BEGIN UART5_IRQn 0 */
HAL_GPIO_WritePin(DBG1_GPIO_Port, DBG1_Pin, GPIO_PIN_SET);
/* USER CODE END UART5_IRQn 0 */
HAL_UART_IRQHandler(&huart5);
/* USER CODE BEGIN UART5_IRQn 1 */
HAL_GPIO_WritePin(DBG1_GPIO_Port, DBG1_Pin, GPIO_PIN_RESET);
/* USER CODE END UART5_IRQn 1 */
}
/**
* @brief This function handles CAN2 TX interrupt.
*/
void CAN2_TX_IRQHandler(void)
{
/* USER CODE BEGIN CAN2_TX_IRQn 0 */
HAL_GPIO_WritePin(DBG5_GPIO_Port, DBG5_Pin, GPIO_PIN_SET);
/* USER CODE END CAN2_TX_IRQn 0 */
HAL_CAN_IRQHandler(&hcan2);
/* USER CODE BEGIN CAN2_TX_IRQn 1 */
HAL_GPIO_WritePin(DBG5_GPIO_Port, DBG5_Pin, GPIO_PIN_RESET);
/* USER CODE END CAN2_TX_IRQn 1 */
}
/**
* @brief This function handles CAN2 RX1 interrupt.
*/
void CAN2_RX1_IRQHandler(void)
{
/* USER CODE BEGIN CAN2_RX1_IRQn 0 */
HAL_GPIO_WritePin(DBG5_GPIO_Port, DBG5_Pin, GPIO_PIN_SET);
/* USER CODE END CAN2_RX1_IRQn 0 */
HAL_CAN_IRQHandler(&hcan2);
/* USER CODE BEGIN CAN2_RX1_IRQn 1 */
HAL_GPIO_WritePin(DBG5_GPIO_Port, DBG5_Pin, GPIO_PIN_RESET);
/* USER CODE END CAN2_RX1_IRQn 1 */
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
Core/Src/tim.c
+13 -3
View File
@@ -57,20 +57,30 @@ void MX_TIM3_Init(void)
{
Error_Handler();
}
if (HAL_TIM_OC_Init(&htim3) != HAL_OK)
{
Error_Handler();
}
if (HAL_TIM_PWM_Init(&htim3) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterOutputTrigger = TIM_TRGO_OC1;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 0;
sConfigOC.OCMode = TIM_OCMODE_TIMING;
sConfigOC.Pulse = 1;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
if (HAL_TIM_OC_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 0;
if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
Core/Startup/startup_stm32f107vctx.s
+1
View File
@@ -252,6 +252,7 @@ g_pfnVectors:
.word 0
.word BootRAM /* @0x1E0. This is for boot in RAM mode for
STM32F10x Connectivity line Devices. */
.word 0x66666666 /* Reserved for OpenBLT checksum*/
/*******************************************************************************
*