// RTX에서 CAN을 활성화 시킬 때 사용 // 외부에서 사용됨 void StartCAN(void) { printf("\n>>> Initialize CAN hardware ... "); //------ set CAN card hardware setting if(InitCANHW() != ERR_OK ) { RtWprintf(L"\n>>> Hardware initialization error occurred !!"); ExitProcess(1); } CAN[0].old_irq = CAN[1].old_irq = IRQ_POLLING; if(InitCAN(0, BAUD_1M) != ERR_OK) ExitProcess(1); if(InitCAN(1, BAUD_1M) != ERR_OK) ExitProcess(1); InitMB(); // Initialize CAN message buffer RtWprintf(L"\n>>> CAN initialization O.K. "); }
int main(void) { // Check that you flashed to the correct microcontroller uint32_t chipId1 = TM_ID_GetUnique32(0); uint32_t chipId2 = TM_ID_GetUnique32(1); uint32_t chipId3 = TM_ID_GetUnique32(2); if(chipId1 != 0x00290044 || chipId2 != 0x30345117 || chipId3 != 0x37333838){ while(1); } // Configure the system clock. // The system clock is 168Mhz. RCC_HSEConfig(RCC_HSE_ON); // ENABLE HSE (HSE = 8Mhz) while(!RCC_WaitForHSEStartUp()); // Wait for HSE to stabilize SystemCoreClockUpdate(); RCC_PCLK1Config(RCC_HCLK_Div4); // Set APB1=42Mhz (168/4) // Initialize peripheral modules InitGPIO(); InitNVIC(); InitPedalIntegrity(); InitADC(); InitCAN(); // MCO_Config(); // Clock output /* Main code */ while(1) { Delay(0xFF); /* if(CAN_GetITStatus(CAN1,CAN_IT_FMP0) == SET){ CAN_Receive(CAN1,CAN_FIFO0,&msgRx); if(msgRx.StdId == 0x1){ GPIOC->ODR |= GPIO_Pin_6; } } */ } }
int main(void) { // Configure the system clock. // The system clock is 168Mhz. RCC_HSEConfig(RCC_HSE_ON); // ENABLE HSE (HSE = 8Mhz) while(!RCC_WaitForHSEStartUp()); // Wait for HSE to stabilize SystemCoreClockUpdate(); RCC_PCLK1Config(RCC_HCLK_Div4); // Set APB1=42Mhz (168/4) // Initialize peripheral modules InitCAN(); InitGPIO(); InitButtons(); InitEXTI(); InitNVIC(); InitTim(); InitSystick(); InitWatchdog(); /* Check if the IWDG reset has occoured */ /*if(RCC_GetFlagStatus(RCC_FLAG_IWDGRST) == SET){ GPIOA->ODR |= GPIO_Pin_6; //temp action RCC_ClearFlag(); }*/ while(1) { if(clk10msWheel == COMPLETE){ TxWheelrpm(); clk10msWheel = RESTART; } checkButtons(); LED_SetState(LED_GREEN, (GPIOE->IDR & BUTTON_START_GPIO_PIN) ? DISABLE : ENABLE); LED_SetState(LED_RED, (GPIOE->IDR & BUTTON_STOP_GPIO_PIN) ? ENABLE : DISABLE); } }
void cHAL::Init(void) { __HAL_RCC_GPIOA_CLK_ENABLE(); __HAL_RCC_GPIOB_CLK_ENABLE(); __HAL_RCC_GPIOC_CLK_ENABLE(); __HAL_RCC_CAN2_CLK_ENABLE(); __HAL_RCC_CAN1_CLK_ENABLE(); __HAL_RCC_USART3_CLK_ENABLE(); __HAL_RCC_UART4_CLK_ENABLE(); GPIO_InitTypeDef gi; HAL_StatusTypeDef status; //Enable UART gi.Pin = GPIO_PIN_10 | GPIO_PIN_11; //C10=TX, C11=RX gi.Mode = GPIO_MODE_AF_PP; gi.Pull = GPIO_PULLUP; gi.Speed = GPIO_SPEED_LOW; gi.Alternate = GPIO_AF7_USART3; HAL_GPIO_Init(GPIOC, &gi); InitAndTestUSART(); //Onboard LEDs gi.Mode = GPIO_MODE_OUTPUT_PP; gi.Alternate = 0; gi.Pull = GPIO_NOPULL; gi.Speed = GPIO_SPEED_LOW; gi.Pin = GPIO_PIN_7; HAL_GPIO_Init(GPIOB, &gi); LOGI(BSP::SUCCESSFUL_STRING, "GPIO for LED"); if(InitDWTCounter()) { LOGI(BSP::SUCCESSFUL_STRING, "DWTCounter"); } else { LOGE(NOT_SUCCESSFUL_STRING, "DWTCounter"); } //MP3-Player gi.Pin = GPIO_PIN_0 | GPIO_PIN_1; //A0=USART4_TX, A1=USART4_RX, Kerbe nach oben; ansicht von Pinseite, rechts von oben //VCC, RX, TX, DACR, DACL, SPK1, GND, SPK2 //Also: PA0 --> RX gi.Mode = GPIO_MODE_AF_PP; gi.Pull = GPIO_PULLUP; gi.Speed = GPIO_SPEED_LOW; gi.Alternate = GPIO_AF8_UART4; HAL_GPIO_Init(GPIOA, &gi); BELL.Instance = UART4; BELL.Init.BaudRate = 9600; BELL.Init.WordLength = UART_WORDLENGTH_8B; BELL.Init.StopBits = UART_STOPBITS_1; BELL.Init.Parity = UART_PARITY_NONE; BELL.Init.Mode = UART_MODE_TX_RX; BELL.Init.HwFlowCtl = UART_HWCONTROL_NONE; BELL.Init.OverSampling = UART_OVERSAMPLING_16; HAL_UART_Init(&BSP::BELL); LOGI(SUCCESSFUL_STRING, "UART4 for MP3-Module"); __I2C1_CLK_ENABLE(); __I2C2_CLK_ENABLE(); /* PB08 ------> I2C1_SCL PB09 ------> I2C1_SDA */ gi.Pin = GPIO_PIN_8 | GPIO_PIN_9; gi.Mode = GPIO_MODE_AF_OD; gi.Pull = GPIO_PULLUP; gi.Speed = GPIO_SPEED_MEDIUM; gi.Alternate = GPIO_AF4_I2C1; HAL_GPIO_Init(GPIOB, &gi); /* PB10 ------> I2C2_SCL PB11 ------> I2C2_SDA */ gi.Pin = GPIO_PIN_10 | GPIO_PIN_11; gi.Mode = GPIO_MODE_AF_OD; gi.Pull = GPIO_PULLUP; gi.Speed = GPIO_SPEED_MEDIUM; gi.Alternate = GPIO_AF4_I2C2; HAL_GPIO_Init(GPIOB, &gi); i2cbus[0].Instance = I2C1; i2cbus[0].Init.ClockSpeed = 100000; i2cbus[0].Init.DutyCycle = I2C_DUTYCYCLE_2; i2cbus[0].Init.OwnAddress1 = 0; i2cbus[0].Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT; i2cbus[0].Init.DualAddressMode = I2C_DUALADDRESS_DISABLED; i2cbus[0].Init.OwnAddress2 = 0; i2cbus[0].Init.GeneralCallMode = I2C_GENERALCALL_DISABLED; i2cbus[0].Init.NoStretchMode = I2C_NOSTRETCH_DISABLED; HAL_I2C_Init(&i2cbus[0]); LOGI("I2C1 configured for onboard digital io"); i2cbus[1].Instance = I2C2; i2cbus[1].Init.ClockSpeed = 100000; i2cbus[1].Init.DutyCycle = I2C_DUTYCYCLE_2; i2cbus[1].Init.OwnAddress1 = 0; i2cbus[1].Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT; i2cbus[1].Init.DualAddressMode = I2C_DUALADDRESS_DISABLED; i2cbus[1].Init.OwnAddress2 = 0; i2cbus[1].Init.GeneralCallMode = I2C_GENERALCALL_DISABLED; i2cbus[1].Init.NoStretchMode = I2C_NOSTRETCH_DISABLED; HAL_I2C_Init(&BSP::i2c2); LOGI(BSP::SUCCESSFUL_STRING, "I2C2 for 1wire and external"); if(drivers::cPCA9685::SoftwareReset(&BSP::i2c1)) { LOGI(SUCCESSFUL_STRING, "i2c1 reset"); } else { LOGE(NOT_SUCCESSFUL_STRING, "i2c1 reset"); } if(pca9685_U7.Setup())//next to CPU, all A-Pins @ GND b01 { LOGI(SUCCESSFUL_STRING, "pca9685_U7"); } else { LOGE(NOT_SUCCESSFUL_STRING, "pca9685_U7"); } if(pca9685_U9.Setup()) { LOGI(SUCCESSFUL_STRING, "pca9685_U9"); } else { LOGE(NOT_SUCCESSFUL_STRING, "pca9685_U9"); } //Interrupt-Pins for PCA9555 gi.Pin = GPIO_PIN_0|GPIO_PIN_1; gi.Mode = GPIO_MODE_INPUT; gi.Pull = GPIO_PULLUP; HAL_GPIO_Init(GPIOC, &gi); if(pca9555_U19.Setup()) { LOGI(BSP::SUCCESSFUL_STRING, "pca9555_U19"); } else { LOGE(BSP::NOT_SUCCESSFUL_STRING, "pca9555_U19"); } if(pca9555_U18.Setup()) { LOGI(BSP::SUCCESSFUL_STRING, "pca9555_U18"); } else { LOGE(BSP::NOT_SUCCESSFUL_STRING, "pca9555_U18"); } uint16_t tmp = pca9555_U18.GetInput(); inputState[WORD_I2C] = (inputState[WORD_I2C] & 0xFFFF0000) + tmp; tmp = pca9555_U19.GetInput(); inputState[WORD_I2C] = (inputState[WORD_I2C] & 0x0000FFFF) + (tmp << 16); rcSwitch.enableReceive(); if(drivers::cPCA9685::SoftwareReset(&BSP::i2c2)) { LOGI(SUCCESSFUL_STRING, "i2c2 reset"); } else { LOGE(NOT_SUCCESSFUL_STRING, "i2c2 reset"); } SearchI2C("I2C2", &i2c2); Init1wire(); //Enable Rotary Encoder Switch Input gi.Mode = GPIO_MODE_INPUT; gi.Alternate = 0; gi.Pull = GPIO_PULLUP; gi.Speed = GPIO_SPEED_LOW; gi.Pin = GPIO_PIN_13; HAL_GPIO_Init(GPIOC, &gi); LOGI(SUCCESSFUL_STRING, "GPIO for Rotary Encoder"); #ifdef DCF77 //DCF77 gi.Mode = GPIO_MODE_INPUT; gi.Alternate=0; gi.Pull=GPIO_PULLUP; gi.Speed=GPIO_SPEED_FREQ_LOW; gi.Pin=DCF77_PIN; HAL_GPIO_Init(DCF77_PORT, &gi); #endif #endif //=====PWM-Timers //=============== //Overall GPIO-Settings //All gpios enabled! gi.Mode = GPIO_MODE_AF_PP; gi.Pull = GPIO_NOPULL; gi.Speed = GPIO_SPEED_HIGH; //Overall base timer settings TIM_HandleTypeDef TimHandle; TimHandle.Init.Prescaler = 0; TimHandle.Init.Period = UINT16_MAX; TimHandle.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP; //Overall OC-settings TIM_OC_InitTypeDef sConfig; sConfig.OCMode = TIM_OCMODE_PWM1; sConfig.OCPolarity = TIM_OCPOLARITY_HIGH; sConfig.OCNPolarity = TIM_OCNPOLARITY_HIGH; sConfig.OCFastMode = TIM_OCFAST_DISABLE; sConfig.OCIdleState = TIM_OCIDLESTATE_RESET; sConfig.OCNIdleState = TIM_OCNIDLESTATE_RESET; sConfig.Pulse = 0; //===Slow Timers (84MHz) TIM4 and TIM12 //TIM1, TIM8 SystemCoreClock/1 //Others SystemCoreClock/2 //Prescaler (uint16_t) ((SystemCoreClock / 1 bzw 2) / TimerTickFrq) - 1; //Einstellungen führen zu PWM-Frequenz von 116,5Hz (rechnerisch ermittelt, per LogicAnalyzer bestätigt) #ifdef SENSACTHS07 TimHandle.Init.Prescaler = 10; //for 84MHz-Timers __TIM12_CLK_ENABLE() ; gi.Pin = GPIO_PIN_14 | GPIO_PIN_15; gi.Alternate = GPIO_AF9_TIM12; HAL_GPIO_Init(GPIOB, &gi); TimHandle.Instance = TIM12; HAL_TIM_PWM_Init(&TimHandle); HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_1); HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_2); HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_1); //PB14 O1.1 HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_2); ///PB15 O1.2 CLEAR_BIT(TIM12->CCMR1, TIM_CCMR1_OC1PE); CLEAR_BIT(TIM12->CCMR1, TIM_CCMR1_OC2PE); LOGI(BSP::SUCCESSFUL_STRING, "TIM12"); //===Fast Timers (168MHz) TIM1 and TIM8 TimHandle.Init.Prescaler = 20; __TIM8_CLK_ENABLE() ; gi.Pin = GPIO_PIN_6 | GPIO_PIN_7 | GPIO_PIN_9; gi.Alternate = GPIO_AF3_TIM8; HAL_GPIO_Init(GPIOC, &gi); TimHandle.Instance = TIM8; HAL_TIM_PWM_Init(&TimHandle); HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_1); HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_2); HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_4); HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_1); //C6 O1.3 HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_2); //C7 O1.4 HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_4); //C9 O1.5 CLEAR_BIT(TIM8->CCMR1, TIM_CCMR1_OC1PE); CLEAR_BIT(TIM8->CCMR1, TIM_CCMR1_OC2PE); CLEAR_BIT(TIM8->CCMR2, TIM_CCMR2_OC4PE); LOGI(SUCCESSFUL_STRING, "TIM8"); __TIM1_CLK_ENABLE() ; gi.Pin = GPIO_PIN_8|GPIO_PIN_9|GPIO_PIN_10; gi.Alternate = GPIO_AF1_TIM1; HAL_GPIO_Init(GPIOA, &gi); TimHandle.Instance = TIM1; TIM_ClockConfigTypeDef sClockSourceConfig; TIM_MasterConfigTypeDef sMasterConfig; TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig; HAL_TIM_Base_Init(&TimHandle); sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; HAL_TIM_ConfigClockSource(&TimHandle, &sClockSourceConfig); HAL_TIM_PWM_Init(&TimHandle); sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; HAL_TIMEx_MasterConfigSynchronization(&TimHandle, &sMasterConfig); sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; sBreakDeadTimeConfig.DeadTime = 0; sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; HAL_TIMEx_ConfigBreakDeadTime(&TimHandle, &sBreakDeadTimeConfig); HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_1); HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_2); HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_3); HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_1); //A8 O1.6 HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_2); //A9 O1.7 HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_3); //A10 O1.8 CLEAR_BIT(TIM1->CCMR1, TIM_CCMR1_OC1PE); CLEAR_BIT(TIM1->CCMR1, TIM_CCMR1_OC2PE); CLEAR_BIT(TIM1->CCMR2, TIM_CCMR2_OC3PE); LOGI(SUCCESSFUL_STRING, "TIM1"); #endif #ifdef SENSACTHS04 TimHandle.Init.Prescaler = 10; //for 84MHz-Timers __TIM4_CLK_ENABLE(); gi.Pin = GPIO_PIN_6 | GPIO_PIN_7 | GPIO_PIN_8 | GPIO_PIN_9; gi.Alternate = GPIO_AF2_TIM4; HAL_GPIO_Init(GPIOB, &gi); TimHandle.Instance = TIM4; HAL_TIM_PWM_Init(&TimHandle); HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_1); HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_2); HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_3); HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_4); HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_1); //PB6 o2.1 HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_2); //PB7 o2.2 HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_3); //PB8 o1.1 HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_4); //PB9 o1.2 TIM4->CCMR1 &= ~TIM_CCMR1_OC1PE; TIM4->CCMR1 &= ~TIM_CCMR1_OC2PE; TIM4->CCMR2 &= ~TIM_CCMR2_OC3PE; TIM4->CCMR2 &= ~TIM_CCMR2_OC4PE; LOGI(SUCCESSFUL_STRING, "TIM4"); __TIM12_CLK_ENABLE(); gi.Pin = GPIO_PIN_14 | GPIO_PIN_15; gi.Alternate = GPIO_AF9_TIM12; HAL_GPIO_Init(GPIOB, &gi); TimHandle.Instance = TIM12; HAL_TIM_PWM_Init(&TimHandle); HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_1); HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_2); HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_1); //PB14 O7.2 HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_2); ///PB15 O4.1 TIM12->CCMR1 &= ~TIM_CCMR1_OC1PE; TIM12->CCMR1 &= ~TIM_CCMR1_OC2PE; LOGI(SUCCESSFUL_STRING, "TIM12"); //===Fast Timers (168MHz) TIM1 and TIM8 TimHandle.Init.Prescaler = 20; __TIM1_CLK_ENABLE(); gi.Pin = GPIO_PIN_8; gi.Alternate = GPIO_AF1_TIM1; HAL_GPIO_Init(GPIOA, &gi); TimHandle.Instance = TIM1; HAL_TIM_PWM_Init(&TimHandle); HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_1); HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_3); HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_1); HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_3); TIM1->CCMR1 &= ~TIM_CCMR1_OC1PE; TIM1->CCMR2 &= ~TIM_CCMR2_OC3PE; LOGI(SUCCESSFUL_STRING, "TIM1"); __TIM8_CLK_ENABLE(); gi.Pin = GPIO_PIN_6 | GPIO_PIN_7 | GPIO_PIN_9; gi.Alternate = GPIO_AF3_TIM8; HAL_GPIO_Init(GPIOC, &gi); TimHandle.Instance = TIM8; HAL_TIM_PWM_Init(&TimHandle); HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_1); HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_2); HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_4); HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_1); HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_2); HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_4); TIM8->CCMR1 &= ~TIM_CCMR1_OC1PE; TIM8->CCMR1 &= ~TIM_CCMR1_OC2PE; TIM8->CCMR2 &= ~TIM_CCMR2_OC4PE; LOGI(SUCCESSFUL_STRING, "TIM8"); #endif //===SPI for Relais //PA15=LATCH,PB3=CLK PB4=MISO, PB5=MOSI //DRV8066 DIN=2, CLK(low@inak)=3, Latch@pos edge=4 __SPI3_CLK_ENABLE() ; gi.Pin = GPIO_PIN_3 | GPIO_PIN_4 | GPIO_PIN_5; gi.Mode = GPIO_MODE_AF_PP; gi.Pull = GPIO_NOPULL; gi.Speed = GPIO_SPEED_HIGH; gi.Alternate = GPIO_AF6_SPI3; HAL_GPIO_Init(GPIOB, &gi); #ifdef SENSACTHS07 BSP::spi.Init.DataSize = SPI_DATASIZE_8BIT; HAL_GPIO_WritePin(GPIOC, GPIO_PIN_14, GPIO_PIN_SET); gi.Pin = GPIO_PIN_14; gi.Mode = GPIO_MODE_OUTPUT_PP; gi.Pull = GPIO_NOPULL; gi.Speed = GPIO_SPEED_MEDIUM; HAL_GPIO_Init(GPIOC, &gi); #endif #ifdef SENSACTHS04 BSP::spi.Init.DataSize = SPI_DATASIZE_16BIT; HAL_GPIO_WritePin(GPIOA, GPIO_PIN_15, GPIO_PIN_SET); gi.Pin = GPIO_PIN_15; gi.Mode = GPIO_MODE_OUTPUT_PP; gi.Pull = GPIO_NOPULL; gi.Speed = GPIO_SPEED_MEDIUM; HAL_GPIO_Init(GPIOA, &gi); #endif BSP::spi.Instance = SPI3; BSP::spi.Init.Mode = SPI_MODE_MASTER; BSP::spi.Init.Direction = SPI_DIRECTION_2LINES; BSP::spi.Init.CLKPolarity = SPI_POLARITY_LOW; BSP::spi.Init.CLKPhase = SPI_PHASE_1EDGE; BSP::spi.Init.NSS = SPI_NSS_SOFT; BSP::spi.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_128; BSP::spi.Init.FirstBit = SPI_FIRSTBIT_MSB; BSP::spi.Init.TIMode = SPI_TIMODE_DISABLED; BSP::spi.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLED; BSP::spi.Init.CRCPolynomial = 1; status = HAL_SPI_Init(&BSP::spi); if (status != HAL_OK) { LOGE("Unable to configure SPI for Relays"); while(1) {}; } uint8_t tx[] = {0, 0, 0}; #ifdef SENSACTHS07 HAL_GPIO_WritePin(GPIOC, GPIO_PIN_14, GPIO_PIN_RESET); HAL_SPI_Transmit(&BSP::spi, tx, 3, 100); HAL_GPIO_WritePin(GPIOC, GPIO_PIN_14, GPIO_PIN_SET); LOGI(SUCCESSFUL_STRING, "SPI for DRV8860"); #endif #ifdef SENSACTHS04 HAL_GPIO_WritePin(GPIOA, GPIO_PIN_15, GPIO_PIN_RESET); if (HAL_SPI_Transmit(&BSP::spi, tx, 1, 100) == HAL_OK) { LOGI(SUCCESSFUL_STRING, "SPI for DRV8860"); } else { LOGE(NOT_SUCCESSFUL_STRING, "SPI for DRV8860"); } HAL_GPIO_WritePin(GPIOA, GPIO_PIN_15, GPIO_PIN_SET); #endif /**CAN2 GPIO Configuration PB12 ------> CAN2_RX PB13 ------> CAN2_TX */ gi.Pin = GPIO_PIN_12 | GPIO_PIN_13; gi.Mode = GPIO_MODE_AF_PP; gi.Pull = GPIO_NOPULL; gi.Speed = GPIO_SPEED_LOW; gi.Alternate = GPIO_AF9_CAN2; HAL_GPIO_Init(GPIOB, &gi); InitCAN(); return; }