main.c

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/* USER CODE BEGIN Header */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
 
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "eedata.h"
#include "acceltemp.h"
#include "app.h"
 
/* USER CODE END Includes */
 
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
 
/* USER CODE END PTD */
 
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
 
#define CO_ENABLE_LSS
 
/* USER CODE END PD */
 
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
 
/* USER CODE END PM */
 
/* Private variables ---------------------------------------------------------*/
ADC_HandleTypeDef hadc1;
DMA_HandleTypeDef hdma_adc1;
 
CAN_HandleTypeDef hcan1;
 
I2C_HandleTypeDef hi2c2;
 
TIM_HandleTypeDef htim2;
 
/* USER CODE BEGIN PV */
CAN_FilterTypeDef   sFilterConfig;
CAN_RxHeaderTypeDef RxHeader;
CAN_TxHeaderTypeDef TxHeader;
CAN_TxHeaderTypeDef TxHeaderSDO;
CAN_TxHeaderTypeDef TxHeaderPDO;
CAN_TxHeaderTypeDef TxHeaderScan;
 
uint8_t RxData[8];
uint8_t TxData[8];
uint8_t TxDataSDO[8];
uint8_t TxDataPDO[8];
uint8_t TxDataScan[8];
 
uint32_t TxMailbox;
 
UNS16 blink = 0;
UNS8 lastRequestedAddress = 0;
 
/* USER CODE END PV */
 
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_DMA_Init(void);
static void MX_CAN1_Init(void);
static void MX_TIM2_Init(void);
static void MX_I2C2_Init(void);
static void MX_ADC1_Init(void);
/* USER CODE BEGIN PFP */
 
void initNodeIDSerialNumber( void );
void ReadMemory( void );
UNS8 ReadLocalFlashMemory(void);
UNS8 ReadEEProm(void);
UNS8 WriteEEProm ( void );
 
/* USER CODE END PFP */
 
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
 
void start_callback(CO_Data* d, UNS32 id)
{
    setState(&ObjDict_Data, Waiting);
}
 
void initNodeIDSerialNumber(void)
{
    UNS8 node = *(uint8_t*)(127 * FLASH_PAGE_SIZE); // Config data lives in the last page of flash
    if(node > 0 && node <= 0x7F)
      Status_NodeId = node;
 
    setNodeId(&ObjDict_Data, Status_NodeId);
 
    ObjDict_obj1018_Serial_Number = *(uint8_t*)(0x08004FFD) << 8 | *(uint8_t*)(0x08004FFE);
    ObjDict_obj1018_Product_Code =  *(uint8_t*)(0x08004FFF);
 
    HAL_Delay(START_DELAY_MS * (Status_NodeId - 1));
}
 
/* USER CODE END 0 */
 
int main(void)
{
 
  /* USER CODE BEGIN 1 */
 
  /* USER CODE END 1 */
 
  /* MCU Configuration--------------------------------------------------------*/
 
  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();
 
  /* USER CODE BEGIN Init */
  if (CheckRestoreFlag())
  {
      //Load custom settings from EEPROM into the OD
      RestoreValues();
  }
  else
  {
      //Use default settings from OD rather than what is stored in EEPROM
      //Then, overwrite EEPROM with these default settings
      SaveValues();
  }
  /* USER CODE END Init */
 
  /* Configure the system clock */
  SystemClock_Config();
 
  /* USER CODE BEGIN SysInit */
  initNodeIDSerialNumber();
 
  /* USER CODE END SysInit */
 
  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_DMA_Init();
  MX_CAN1_Init();
  MX_TIM2_Init();
  MX_I2C2_Init();
  MX_ADC1_Init();
  /* USER CODE BEGIN 2 */
 
  initAccelerometer();
  initTemperature();
  initDiagnostics();
  initAppTask();
 
  /* USER CODE END 2 */
 
  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    updateAccelerometer();
//  updateTemperature(); //TODO: Check w/physical temp module
    updateDiagnostics();
    updateAppTask();
    Status_TestValue++;
 
    if(blink++ > 125){
      if(getState(&ObjDict_Data) == Waiting)
      {
          ReadMemory();
      }
      blink = 0;
      //TODO: Turn off heartbeat LED
      //HAL_GPIO_WritePin();
    }
    else if(blink > 100)
    {
      //TODO: Turn on heartbeat LED
      //HAL_GPIO_WritePin();
    }
 
    HAL_PWR_EnterSLEEPMode(PWR_MAINREGULATOR_ON, PWR_SLEEPENTRY_WFI);
    /* USER CODE END WHILE */
 
    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}
 
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
 
  if (HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1) != HAL_OK)
  {
    Error_Handler();
  }
 
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI|RCC_OSCILLATORTYPE_MSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.MSIState = RCC_MSI_ON;
  RCC_OscInitStruct.MSICalibrationValue = 0;
  RCC_OscInitStruct.MSIClockRange = RCC_MSIRANGE_8;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
 
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV4;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
 
  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK)
  {
    Error_Handler();
  }
}
 
static 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 */
  __HAL_RCC_ADC_CLK_ENABLE(); // Enable ADC clock
 
  /* USER CODE END ADC1_Init 1 */
 
  hadc1.Instance = ADC1;
  hadc1.Init.ClockPrescaler = ADC_CLOCK_ASYNC_DIV256;
  hadc1.Init.Resolution = ADC_RESOLUTION_8B;
  hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
  hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE;
  hadc1.Init.EOCSelection = ADC_EOC_SEQ_CONV;
  hadc1.Init.LowPowerAutoWait = DISABLE;
  hadc1.Init.ContinuousConvMode = DISABLE;
  hadc1.Init.NbrOfConversion = 4;
  hadc1.Init.DiscontinuousConvMode = DISABLE;
  hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
  hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
  hadc1.Init.DMAContinuousRequests = DISABLE;
  hadc1.Init.Overrun = ADC_OVR_DATA_OVERWRITTEN;
  hadc1.Init.OversamplingMode = ENABLE;
  hadc1.Init.Oversampling.Ratio = ADC_OVERSAMPLING_RATIO_16;
  hadc1.Init.Oversampling.RightBitShift = ADC_RIGHTBITSHIFT_NONE;
  hadc1.Init.Oversampling.TriggeredMode = ADC_TRIGGEREDMODE_SINGLE_TRIGGER;
  hadc1.Init.Oversampling.OversamplingStopReset = ADC_REGOVERSAMPLING_CONTINUED_MODE;
  if (HAL_ADC_Init(&hadc1) != HAL_OK)
  {
    Error_Handler();
  }
 
  sConfig.Channel = ADC_CHANNEL_1;
  sConfig.Rank = ADC_REGULAR_RANK_1;
  sConfig.SamplingTime = ADC_SAMPLETIME_2CYCLES_5;
  sConfig.SingleDiff = ADC_SINGLE_ENDED;
  sConfig.OffsetNumber = ADC_OFFSET_NONE;
  sConfig.Offset = 0;
  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }
 
  sConfig.Channel = ADC_CHANNEL_2;
  sConfig.Rank = ADC_REGULAR_RANK_2;
  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }
 
  sConfig.Channel = ADC_CHANNEL_3;
  sConfig.Rank = ADC_REGULAR_RANK_3;
  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }
 
  sConfig.Channel = ADC_CHANNEL_4;
  sConfig.Rank = ADC_REGULAR_RANK_4;
  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN ADC1_Init 2 */
  HAL_ADCEx_Calibration_Start(&hadc1, ADC_SINGLE_ENDED); // Calibrate ADC before use
  /* USER CODE END ADC1_Init 2 */
 
}
 
static void MX_CAN1_Init(void)
{
 
  /* USER CODE BEGIN CAN1_Init 0 */
 
  /* USER CODE END CAN1_Init 0 */
 
  /* USER CODE BEGIN CAN1_Init 1 */
 
  /* USER CODE END CAN1_Init 1 */
  hcan1.Instance = CAN1;
  hcan1.Init.Prescaler = 4;
  hcan1.Init.Mode = CAN_MODE_NORMAL;
  hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
  hcan1.Init.TimeSeg1 = CAN_BS1_6TQ;
  hcan1.Init.TimeSeg2 = CAN_BS2_3TQ;
  hcan1.Init.TimeTriggeredMode = DISABLE;
  hcan1.Init.AutoBusOff = DISABLE;
  hcan1.Init.AutoWakeUp = DISABLE;
  hcan1.Init.AutoRetransmission = ENABLE;
  hcan1.Init.ReceiveFifoLocked = DISABLE;
  hcan1.Init.TransmitFifoPriority = DISABLE;
  if (HAL_CAN_Init(&hcan1) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN CAN1_Init 2 */
    sFilterConfig.FilterBank = 0;
    sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
    sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
    sFilterConfig.FilterIdHigh = 0x0000;
    sFilterConfig.FilterIdLow = 0x0000;
    sFilterConfig.FilterMaskIdHigh = 0x0000;
    sFilterConfig.FilterMaskIdLow = 0x0000;
    sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
    sFilterConfig.FilterActivation = ENABLE;
    sFilterConfig.SlaveStartFilterBank = 14;
    if (HAL_CAN_ConfigFilter(&hcan1, &sFilterConfig) != HAL_OK)
    {
    /* Filter configuration Error */
    Error_Handler();
    }
 
    HAL_CAN_Start(&hcan1);
 
    HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING);
    HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO1_MSG_PENDING);
    HAL_CAN_ActivateNotification(&hcan1, CAN_IT_LAST_ERROR_CODE);
    HAL_CAN_ActivateNotification(&hcan1, CAN_IT_ERROR);
    HAL_CAN_ActivateNotification(&hcan1, CAN_IT_BUSOFF);
    HAL_CAN_ActivateNotification(&hcan1, CAN_IT_ERROR_WARNING);
    HAL_CAN_ActivateNotification(&hcan1, CAN_IT_ERROR_PASSIVE);
 
    ObjDict_Data.canHandle = &hcan1;
    canInit();
  /* USER CODE END CAN1_Init 2 */
 
}
 
static void MX_I2C2_Init(void)
{
 
  /* USER CODE BEGIN I2C2_Init 0 */
 
  /* USER CODE END I2C2_Init 0 */
 
  /* USER CODE BEGIN I2C2_Init 1 */
 
  /* USER CODE END I2C2_Init 1 */
  hi2c2.Instance = I2C2;
  hi2c2.Init.Timing = 0x00000000;
  hi2c2.Init.OwnAddress1 = 0;
  hi2c2.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
  hi2c2.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
  hi2c2.Init.OwnAddress2 = 0;
  hi2c2.Init.OwnAddress2Masks = I2C_OA2_NOMASK;
  hi2c2.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
  hi2c2.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
  if (HAL_I2C_Init(&hi2c2) != HAL_OK)
  {
    Error_Handler();
  }
 
  if (HAL_I2CEx_ConfigAnalogFilter(&hi2c2, I2C_ANALOGFILTER_ENABLE) != HAL_OK)
  {
    Error_Handler();
  }
 
  if (HAL_I2CEx_ConfigDigitalFilter(&hi2c2, 0) != HAL_OK)
  {
    Error_Handler();
  }
 
  HAL_I2CEx_EnableFastModePlus(I2C_FASTMODEPLUS_I2C2);
  /* USER CODE BEGIN I2C2_Init 2 */
 
  /* USER CODE END I2C2_Init 2 */
 
}
 
static void MX_TIM2_Init(void)
{
 
  /* USER CODE BEGIN TIM2_Init 0 */
 
  /* USER CODE END TIM2_Init 0 */
 
  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
  TIM_MasterConfigTypeDef sMasterConfig = {0};
 
  /* USER CODE BEGIN TIM2_Init 1 */
 
  /* USER CODE END TIM2_Init 1 */
  htim2.Instance = TIM2;
  htim2.Init.Prescaler = 39;
  htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim2.Init.Period = 65535;
  htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
  if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
  {
    Error_Handler();
  }
  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
  if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_OC4REF;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN TIM2_Init 2 */
  if(HAL_TIM_Base_Start_IT(&htim2) != HAL_OK) {Error_Handler();}
 
  CLEAR_BIT(TIM2->CR1, TIM_CR1_CEN); //Disable the timer
  TIM2->CNT = 1; // Set count to 1
 
  SetAlarm(NULL, 0, start_callback, 0, 0); // Begin the timer
 
  /* USER CODE END TIM2_Init 2 */
 
}
 
static 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);
 
}
 
static void MX_GPIO_Init(void)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};
  /* USER CODE BEGIN MX_GPIO_Init_1 */
  /* USER CODE END MX_GPIO_Init_1 */
 
  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOC_CLK_ENABLE();
  __HAL_RCC_GPIOB_CLK_ENABLE();
  __HAL_RCC_GPIOA_CLK_ENABLE();
 
  /*Configure GPIO pin : I2C2_INT_Pin */
  GPIO_InitStruct.Pin = I2C2_INT_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(I2C2_INT_GPIO_Port, &GPIO_InitStruct);
 
  /* USER CODE BEGIN MX_GPIO_Init_2 */
  /* USER CODE END MX_GPIO_Init_2 */
}
 
/* USER CODE BEGIN 4 */
 
 
 
void ReadMemory(void)
{
    // clear status
    if (memorySelect > 0 )
      statusByteMemory = 0;
 
    if (memorySelect == 1)
      statusByteMemory = ReadLocalFlashMemory();
    else if (memorySelect == 4)
      statusByteMemory = ReadEEProm();
    else if (memorySelect == 8)
      statusByteMemory = WriteEEProm();
    else if (memorySelect != 0)
      statusByteMemory = 4;
 
    memorySelect = 0;
}
UNS8 ReadLocalFlashMemory(void)
{
  UNS8 RMDataSize = sizeof(ReadMemoryData);
  UNS16 recordSize = FLASH_RECORD_SIZE;
 
  if (AddressRequest > (FLASH_SIZE - recordSize))
    return 2;
 
  if (lastRequestedAddress != AddressRequest || (triggerReadMemory == 1))
  {
    // set pattern to clear if read
    memset( ReadMemoryData, 0xA5, sizeof(ReadMemoryData));
    ReadLocalFlashData( AddressRequest, ReadMemoryData, recordSize );
    // now copy requested address into the top of the array
    ReadMemoryData[RMDataSize - 4] = (UNS8) AddressRequest;
    ReadMemoryData[RMDataSize - 3] = (UNS8)(AddressRequest >> 8);
    ReadMemoryData[RMDataSize - 2] = (UNS8)(AddressRequest >> 16);
    ReadMemoryData[RMDataSize - 1] = (UNS8)(AddressRequest >> 24);
 
    lastRequestedAddress = AddressRequest;
    triggerReadMemory = 0;
    return 0;
  }
  return 1;
}
UNS8 ReadEEProm(void)
{
  UNS8 RMDataSize = sizeof(ReadMemoryData);
  UNS16 recordSize = EEPROM_RECORD_SIZE;
 
  if (AddressRequest > (MAX_EEPROM_MEMORY - recordSize))
    return 2;
 
  if (lastRequestedAddress != AddressRequest || (triggerReadMemory == 1))
  {
    // set pattern to clear if read
    memset( ReadMemoryData, 0xA5, sizeof(ReadMemoryData));
    EEPROM_read( (UNS16)AddressRequest, ReadMemoryData, recordSize );
    // now copy requested address into the top of the array
    ReadMemoryData[RMDataSize - 4] = (UNS8) AddressRequest;
    ReadMemoryData[RMDataSize - 3] = (UNS8)(AddressRequest >> 8);
    ReadMemoryData[RMDataSize - 2] = (UNS8)(AddressRequest >> 16);
    ReadMemoryData[RMDataSize - 1] = (UNS8)(AddressRequest >> 24);
 
    lastRequestedAddress = AddressRequest;
    triggerReadMemory = 0;
    return 0;
  }
  return 1;
}
 
UNS8 WriteEEProm ( void )
{
  UNS8 status = 0;
 
  if (AddressRequest > MAX_EEPROM_MEMORY) // nominal address space
  {
    return 2;
  }
  else
  {
    EEPROM_open();
    EEPROM_write((UNS16)AddressRequest, &writeByteMemory, 1);
    EEPROM_commit();
  }
 
  return status;
 
}
 
/* USER CODE END 4 */
 
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
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 */