/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @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 ------------------------------------------------------------------*/
//Tx and Rx Message Structure
static CAN_TxHeaderTypeDef myTxMessage;
static CAN_RxHeaderTypeDef myRxMessage;
// Own and Remote IDs
uint16_t OwnID = 0x123;
uint16_t RemoteID = 0x123;
uint8_t TxData[8];
uint8_t RxData[8];
uint8_t myLEDVar = 0;
uint32_t TxMailBox;
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
void CAN_filterConfig(void);
void LED_Switch(uint8_t led);
//#define L GPIO_PIN_RESET;
//#define GPIO_PIN_SET GPIO_PIN_SET;
/* 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 ---------------------------------------------------------*/
CAN_HandleTypeDef hcan1;
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MPU_Config(void);
static void MX_GPIO_Init(void);
static void MX_CAN1_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MPU Configuration--------------------------------------------------------*/
MPU_Config();
/* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_CAN1_Init();
HAL_CAN_Start(&hcan1);
/* USER CODE BEGIN 2 */
// START LISTENING FOR CAN TRAFFIF WITH INTERUPT
// HAL_CAN_Receive_IT(&hcan1, CAN_RX_FIFO0);
HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING);
// set transmit parameters
myTxMessage.IDE =CAN_ID_STD;
myTxMessage.StdId = OwnID;
myTxMessage.RTR = CAN_RTR_DATA;
myTxMessage.DLC = 2;
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
if(HAL_GPIO_ReadPin(GPIOC, GPIO_PIN_13) == GPIO_PIN_SET)
{
//Transmit CAN Pakcet
if(myLEDVar == 3) myLEDVar=0;
LED_Switch(++myLEDVar);
TxData[0] = myLEDVar;
TxData[1] = 0x12;
HAL_CAN_AddTxMessage(&hcan1, &myTxMessage, TxData, &TxMailBox);
// if(HAL_CAN_Transmit(&hcan1, 10) !=HAL_OK)
// {
// Error_Handler();
// }
HAL_Delay(200);
}
/* USER CODE BEGIN 3 */
}
// while (1)
// {
// if(HAL_GPIO_ReadPin(GPIOC, GPIO_PIN_13) == GPIO_PIN_SET)
// {
// HAL_Delay(50); // debounce delay
// if(HAL_GPIO_ReadPin(GPIOC, GPIO_PIN_13) == GPIO_PIN_SET) // confirm button press
// {
// if(myLEDVar == 3) myLEDVar = 0;
// LED_Switch(++myLEDVar);
// TxData[0] = myLEDVar;
// TxData[1] = 0x12;
// HAL_CAN_AddTxMessage(&hcan1, &myTxMessage, TxData, &TxMailBox);
// HAL_Delay(200);
// }
// }
// }
/* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/** Configure the main internal regulator output voltage
*/
__HAL_RCC_PWR_CLK_ENABLE();
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE3);
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLM = 25;
RCC_OscInitStruct.PLL.PLLN = 336;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
RCC_OscInitStruct.PLL.PLLQ = 2;
RCC_OscInitStruct.PLL.PLLR = 2;
// 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_DIV2;
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();
// }
}
/**
* @brief CAN1 Initialization Function
* @param None
* @retval None
*/
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 = 16;
hcan1.Init.Mode = CAN_MODE_NORMAL;
hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
hcan1.Init.TimeSeg1 = CAN_BS1_4TQ;
hcan1.Init.TimeSeg2 = CAN_BS2_2TQ;
hcan1.Init.TimeTriggeredMode = DISABLE;
hcan1.Init.AutoBusOff = DISABLE;
hcan1.Init.AutoWakeUp = DISABLE;
hcan1.Init.AutoRetransmission = DISABLE;
hcan1.Init.ReceiveFifoLocked = DISABLE;
hcan1.Init.TransmitFifoPriority = DISABLE;
// if (HAL_CAN_Init(&hcan1) != HAL_OK)
// {
// Error_Handler();
// }
/* USER CODE BEGIN CAN1_Init 2 */
/* USER CODE END CAN1_Init 2 */
}
/**
* @brief GPIO Initialization Function
* @param None
* @retval None
*/
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_GPIOH_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0|GPIO_PIN_14|GPIO_PIN_6|GPIO_PIN_7, GPIO_PIN_RESET);
/*Configure GPIO pin : PC13 */
GPIO_InitStruct.Pin = GPIO_PIN_13;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/*Configure GPIO pins : PB0 PB14 PB6 PB7 */
GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_14|GPIO_PIN_6|GPIO_PIN_7;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* USER CODE BEGIN MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
}
/* USER CODE BEGIN 4 */
void CAN_filterConfig(void){
CAN_FilterTypeDef filterconfig;
filterconfig.FilterActivation = CAN_FILTER_ENABLE;
filterconfig.FilterBank = 14;
filterconfig.FilterFIFOAssignment = CAN_FILTER_FIFO0;
filterconfig.FilterIdHigh = 0x0000;
filterconfig.FilterIdLow = 0x0000;
filterconfig.FilterMaskIdHigh = 0x0000;
filterconfig.FilterMaskIdLow = 0x0000;
filterconfig.FilterMode = CAN_FILTERMODE_IDMASK;
filterconfig.FilterScale = CAN_FILTERSCALE_32BIT;
filterconfig.SlaveStartFilterBank = 14; //katanya buat nge filter si CAN1 itu mau pake filter yang mana
HAL_CAN_ConfigFilter(&hcan1, &filterconfig);
}
/* USER CODE END 4 */
void LED_Switch(uint8_t led)
{
/* Turn off all LEDs */
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0, GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_14, GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_7, GPIO_PIN_RESET);
switch(led)
{
case(1):
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0, GPIO_PIN_SET);
break;
case(2):
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_7, GPIO_PIN_SET);
break;
case(3):
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_14, GPIO_PIN_SET);
break;
default:
break;
}
}
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan1)
{
if(myRxMessage.StdId == RemoteID)
{
myLEDVar = RxData[0];
LED_Switch(myLEDVar);
}
HAL_CAN_GetRxMessage(&hcan1, CAN_RX_FIFO0, &myRxMessage, RxData);
}
/* MPU Configuration */
void MPU_Config(void)
{
MPU_Region_InitTypeDef MPU_InitStruct = {0};
/* Disables the MPU */
HAL_MPU_Disable();
/** Initializes and configures the Region and the memory to be protected
*/
MPU_InitStruct.Enable = MPU_REGION_ENABLE;
MPU_InitStruct.Number = MPU_REGION_NUMBER0;
MPU_InitStruct.BaseAddress = 0x0;
MPU_InitStruct.Size = MPU_REGION_SIZE_4GB;
MPU_InitStruct.SubRegionDisable = 0x87;
MPU_InitStruct.TypeExtField = MPU_TEX_LEVEL0;
MPU_InitStruct.AccessPermission = MPU_REGION_NO_ACCESS;
MPU_InitStruct.DisableExec = MPU_INSTRUCTION_ACCESS_DISABLE;
MPU_InitStruct.IsShareable = MPU_ACCESS_SHAREABLE;
MPU_InitStruct.IsCacheable = MPU_ACCESS_NOT_CACHEABLE;
MPU_InitStruct.IsBufferable = MPU_ACCESS_NOT_BUFFERABLE;
HAL_MPU_ConfigRegion(&MPU_InitStruct);
/* Enables the MPU */
HAL_MPU_Enable(MPU_PRIVILEGED_DEFAULT);
}
/**
* @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 */