motor_ctl-3/Core/Src/main.c

/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  ** This notice applies to any and all portions of this file
  * that are not between comment pairs USER CODE BEGIN and
  * USER CODE END. Other portions of this file, whether 
  * inserted by the user or by software development tools
  * are owned by their respective copyright owners.
  *
  * COPYRIGHT(c) 2019 STMicroelectronics
  *
  * Redistribution and use in source and binary forms, with or without modification,
  * are permitted provided that the following conditions are met:
  *   1. Redistributions of source code must retain the above copyright notice,
  *      this list of conditions and the following disclaimer.
  *   2. Redistributions in binary form must reproduce the above copyright notice,
  *      this list of conditions and the following disclaimer in the documentation
  *      and/or other materials provided with the distribution.
  *   3. Neither the name of STMicroelectronics nor the names of its contributors
  *      may be used to endorse or promote products derived from this software
  *      without specific prior written permission.
  *
  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  *
  ******************************************************************************
  */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "stm32f1xx_hal.h"
#include "adc.h"
#include "can.h"
#include "dma.h"
#include "iwdg.h"
#include "usart.h"
#include "gpio.h"
#include "tim.h"

/* USER CODE BEGIN Includes */
#include "eeprom_flash.h"
#include "eeprom_24c02.h"
#include "var.h"
#include "tasks.h"
#include "can_process.h"
#include "motor_control.h"
#include "light_driver.h"
#include "power12V_driver.h"
#include "key_driver.h"
#include "remain_distance.h"
#include "protect_check.h"
#include "fault_check.h"
#include "app_loader.h"
#include "stm32fxx_STUlib.h"
#include "ICM20600.h"
#include "ctf_process.h"
#include "log_save.h"
#include "flash_read_protection.h"

/* USER CODE END Includes */

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

/* USER CODE BEGIN PV */
/* Private variables ---------------------------------------------------------*/
uint8_t TimeBase_10ms=0;
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);

/* USER CODE BEGIN PFP */
/* Private function prototypes -----------------------------------------------*/
void STU_TimeBase(void);
/* USER CODE END PFP */

/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  *
  * @retval None
  */
int main(void)
{
  /* USER CODE BEGIN 1 */
  IAP_Init();  //Bootloader 200ms
	
  //Flash读保护设置
  #if 1
  Flash_ReadProtection();
  #endif
		
  /* USER CODE END 1 */

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

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

  /* USER CODE BEGIN Init */
  
  /* USER CODE END Init */

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

  /* USER CODE BEGIN SysInit */
  //Light驱动IO初始化
	LightDriver_Init();
  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
	MX_TIM1_Init();
  MX_TIM2_Init();
	MX_TIM3_Init();
  MX_DMA_Init();
  MX_ADC1_Init();
  MX_ADC2_Init();
  MX_CAN_Init();
  MX_USART3_UART_Init();
	
	STU_InitRunTimeChecks();
	
  /* USER CODE BEGIN 2 */
	//ADC启动
	ADC_Start();
	HAL_Delay(20);//20ms
	
	//定时器2启动计数
	HAL_TIM_Base_Start(&htim2);
	
	//变量初始化
	Var_Init();
	
	//看门狗初始化
	#if DEBUG
  MX_IWDG_Init();
	#endif
	
	//传感器初始化
	MC_SensorInit();
	
	//EEPROM_24C02初始化
	EEPROM_24C02_Init(&I2C_Handle_EEPROM);
	
	//测试用于清除所有数据
	#if 0
	EEPROM_24C02_ClearData(&I2C_Handle_EEPROM, EEPROM_24C02_ADDR_FLAG, EEPROM_24C02_ADDR_END, 0xFF);
	EEPROM_Flash_Erase(EEPROM_FLASH_BEGIN_ADDRESS, EEPROM_FLASH_END_ADDRESS);
	#endif
	
	//EEPROM_Flash初始化	
	EEPROM_Flash_Check();
	
	//EEPROM读取参数
	if(EEPROM_24C02_Check(&I2C_Handle_EEPROM) == ACK_FAIL)//260ms
	{
	  //EEPROM读取数据失败处理
		//...
	}
	
	//掉电临时数据搬移到24C02
	IsPowerOffDataBkp_SaveFlag = EEPROM_Flash_TempCheck();
	SavePowerOffBakData(&I2C_Handle_EEPROM, IsPowerOffDataBkp_SaveFlag);//75ms
		
	//擦除临时掉电数据存储区域为0xFF，关机前写入时无需擦除
	EEPROM_Flash_Erase(EEPROM_FLASH_ADDR_TEMP_BEGIN_ADDRESS, EEPROM_FLASH_ADDR_TEMP_END_ADDRESS);//100ms
	
	//MC控制初始化
	MC_Init();//145ms
	
	//检查电机是否授权
	#if 0	
	Read_Ctf_Info(&MC_ErrorCode);
	#endif
	
	//外部设备授权校验
	#if 0
		#if 1 //校验电池
		MC_DeviceCheck(&BMS_CheckInfo, &MC_ErrorCode);
		#endif
		
		#if 0 //校验按键
		MC_DeviceCheck(&PBU_CheckInfo, &MC_ErrorCode);
		#endif
		
		#if 1 //校验仪表
		MC_DeviceCheck(&HMI_CheckInfo, &MC_ErrorCode);
		#endif
	#endif
	
	//初始化完成标志
	IsInitFinish_Flag = TRUE;

  /* USER CODE END 2 */

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

		/* USER CODE END WHILE */
			#if 1 // 测试运行周期	
			static uint8_t RunPeriodTestCnt = 0;
			RunPeriodTestCnt++;
			if(RunPeriodTestCnt > 200)
			{
		  	RunPeriodTestCnt = 0;
			}
			#endif

			//CAN数据解析及处理
			CanRx_Process();
			
			//UART数据解析及处理
			UartRx_Process();
			
			//CAN设备通信状态检测
	    MC_CanRxCheck_Process(MC_ConfigParam1.NoPBU_Flag, PBU_ConfigParam.NoHMI_Flag, MC_WorkMode, &MC_ControlCode.GearSt);
			
			//UART设备通信状态检测
			MC_UartRxCheck_Process();
			
			//速度传感器采集及计算
			if(MC_ConfigParam1.SpeedSignal == MC_SPEED_CADENCE_CAL) //0xAA, 根据踏频估算
			{
				if(MC_RunInfo.CadenceDir != MC_Cadence_Forward) //脚踏向后或停止时，采用电机转速
				{
					SpeedCal_ByCadence(MC_RunInfo.MotorSpeed / 11, &MC_SpeedSensorData.Speed_Data, MC_ConfigParam1.TeethNum_F, MC_ConfigParam1.TeethNum_B, MC_ConfigParam1.WheelSize + MC_ConfigParam1.WheelSizeAdj, &MC_RunInfo.BikeSpeed);			
				}
				else //脚踏向前时，取大值
				{
					SpeedCal_ByCadence((MC_RunInfo.MotorSpeed / 11 > MC_RunInfo.Cadence) ?  MC_RunInfo.MotorSpeed / 11 : MC_RunInfo.Cadence, &MC_SpeedSensorData.Speed_Data, MC_ConfigParam1.TeethNum_F, MC_ConfigParam1.TeethNum_B, MC_ConfigParam1.WheelSize + MC_ConfigParam1.WheelSizeAdj, &MC_RunInfo.BikeSpeed);			
				}
				
			}
			else if(MC_ConfigParam1.SpeedSignal == MC_SPEED_COMMUNICATION) //0xEE, 根据通信获取的车轮旋转周期
			{
			  SpeedCal_ByCommunication(&MC_SpeedSensorData, &MC_RunInfo.BikeSpeed, MC_ConfigParam1.WheelSize + MC_ConfigParam1.WheelSizeAdj);
			}
			else
			{	
				SpeedSensor_Process(&MC_SpeedSensorData, &MC_RunInfo.BikeSpeed, MC_ConfigParam1.WheelSize + MC_ConfigParam1.WheelSizeAdj, (MC_ConfigParam1.SpeedSensorPoles == 0) ? 1: MC_ConfigParam1.SpeedSensorPoles);
			}
			
			//检测变速信号
			GearSensor_Check(&IsGearSensorTrig_Flag);
			
			//检测刹车信号
			Break_Check(&IsBreakTrig_Flag);
						
			//续航里程计算
			if(HAL_GetTick() > 2000)
			{
				static uint8_t RD_RemainDis_InitFinished = 0x00;
				if(RD_RemainDis_InitFinished == 0x00)
				{
					RD_RemainDis_InitFinished = 0x01;
					//续航里程计算变量初始化
					RD_RemainDis_Init(MC_ConfigParam1.WheelSize + MC_ConfigParam1.WheelSizeAdj, IsComOK_BMS.IsOK_Flag, MC_RunInfo.BusVoltage / 10, MC_MotorParam.Rate_Voltage, BMS_RunInfo.RC);	
				}
				RD_CalculateRemainDis(MC_SpeedSensorData.WheelTurnCount, BMS_RunInfo.RC, BMS_RunInfo.SOC, MC_RunInfo.BusCurrent);
				RD_SaveAndUpdateInfo(MC_ControlCode.GearSt, MC_CalParam.AssistRunMode);
			}
			
			//更新电机运行信息
			MC_RunInfo_Update();
			
			//计算运行总时间
			MC_RunTime_Cal(&MC_RunLog1.RunTime);
			
			//温度历史数据记录
			MC_TemperatureLogProcess();
			
			//根据踏频计算限流系数
			MC_CadenceLimit_K = MC_CadenceLimit_Cal(MC_RunInfo.Cadence, MC_RunInfo.BusCurrent, MC_RunInfo.T_Coil);
			
			//Flash数据存储更新处理
			if(MC_CalParam.Foc_Flag == RESET)
			{
				EEPROM_Flash_DataUpdate(&IsFlashSaveDataUpdate);
			}
			
			//故障日志存储更新处理
			if(MC_CalParam.Foc_Flag == RESET)
			{
			  ErrorLogSave_Process(&MC_ErrorLogSaveInfo, &IsErrorLogSaveInfoUpdateFlag);
				RunLogSave_Process(&RunLogSaveIndex);
			}
			
			#if 1
			//故障检测
			MC_Fault_Check_Process();
			
			//保护判断
			MC_Protect_Check_Process();
			#endif
			
			//发送故障码
			MC_SendErrorCode_Process(MC_ErrorCode);
			
			//配置模式，主动发送电机运行信息
			#if 1
			MC_SendRunInfo_Process(MC_WorkMode);
			#endif
			
			//定时发送传感器数据给TE
			MC_TE_SensorData_Process(&MC_TE_SensorData);
			
			//指拨模式计算函数
			SpdProportion_calculate();
			
      //车姿态处理函数
		  BikeAttitude_Process();

      //MCU自检
			STU_TimeBase();
			STU_DoRunTimeChecks();
			
			//看门狗清零
			#if DEBUG
			HAL_IWDG_Refresh(&hiwdg);
			#endif
		/* USER CODE BEGIN 3 */

  }
  /* USER CODE END 3 */

}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{

  RCC_OscInitTypeDef RCC_OscInitStruct;
  RCC_ClkInitTypeDef RCC_ClkInitStruct;
  RCC_PeriphCLKInitTypeDef PeriphClkInit;

    /**Initializes the CPU, AHB and APB busses clocks 
    */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_LSI|RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.LSIState = RCC_LSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }

    /**Initializes the CPU, AHB and APB busses 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(__FILE__, __LINE__);
  }

  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC;
  PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }

    /**Configure the Systick interrupt time 
    */
  HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);

    /**Configure the Systick 
    */
  HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);

  /* SysTick_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
}

/* USER CODE BEGIN 4 */
void STU_TimeBase(void)
{  
	STU_TestStatus  ram_test;
	if(TimeBase_10ms >= 10 )
	{
		TimeBase_10ms = 0;
		
		TimeBaseFlag = 0xAAAAAAAAuL;
    TimeBaseFlagInv = 0x55555555uL;
		
		/*--------------------------------------------------------------------------*/
			/* --------------------- RAM functional test -------------------*/
			/*--------------------------------------------------------------------------*/
			__disable_irq();
			ram_test = STU_RamRun();
			__enable_irq();
			
			switch ( ram_test )
      {
				 case TEST_RUNNING:
					 break;
				 case TEST_OK:
					 break;
				 case TEST_FAILURE:
         case CLASS_C_DATA_FAIL:
         default:
					 FailSafePOR();
           break;
			}
	}
}
/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @param  file: The file name as string.
  * @param  line: The line in file as a number.
  * @retval None
  */
void _Error_Handler(char *file, int line)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  while(1)
  {
    MC_MotorStop(&MC_StarFlag);
		Power12V_Driver_Process(RESET);
		Disable_PwmGpio_Out();
		
		//Debug，输出当前错误信息
		#if 1
		uint8_t PrintData[32] = {0,};
		memcpy((uint8_t*)PrintData, file, strlen(file));
		memcpy((uint8_t*)(PrintData + strlen(file)), (uint8_t*)" , ", 3);
		memcpy((uint8_t*)(PrintData + strlen(file) + 3), &line, sizeof(line));
		SendData(ID_MC_BC, MODE_REPORT , 0xFF20, PrintData);		
		HAL_Delay(200);
		#endif
  }
  /* 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,
     tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

/**
  * @}
  */

/**
  * @}
  */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/