mirror of
https://github.com/eddyem/STM8_samples.git
synced 2025-12-06 18:55:15 +03:00
390 lines
10 KiB
C
390 lines
10 KiB
C
/*
|
|
* main.c
|
|
*
|
|
* Copyright 2014 Edward V. Emelianoff <eddy@sao.ru>
|
|
*
|
|
* This program is free software; you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation; either version 2 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* This program is distributed in the hope that it will be useful,
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
* GNU General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License
|
|
* along with this program; if not, write to the Free Software
|
|
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
|
|
* MA 02110-1301, USA.
|
|
*/
|
|
|
|
#include "stm8l.h"
|
|
#include "ports_definition.h"
|
|
#include "interrupts.h"
|
|
#include "main.h"
|
|
|
|
/*
|
|
* 0 0000
|
|
* 1 0001
|
|
* 2 0010
|
|
* 3 0011
|
|
* 4 0100
|
|
* 5 0101
|
|
* 6 0110
|
|
* 7 0111
|
|
* 8 1000
|
|
* 9 1001
|
|
* a 1010
|
|
* b 1011
|
|
* c 1100
|
|
* d 1101
|
|
* e 1110
|
|
* f 1111
|
|
*/
|
|
|
|
unsigned long Global_time = 0L; // global time in ms
|
|
U16 paused_val = 500; // interval between LED flashing
|
|
|
|
volatile U16 ADC_value = 0; // value of last ADC measurement
|
|
|
|
volatile U16 Pulse_length = 11; // length of ultrasonic echo pulse
|
|
U8 US_flag = 0;// 0 - conversion in progress; 1 - conversion error; 2 - conversion done; 3 - overflow
|
|
|
|
U8 UART_rx[UART_BUF_LEN]; // cycle buffer for received data
|
|
U8 UART_rx_start_i = 0; // started index of received data (from which reading starts)
|
|
U8 UART_rx_cur_i = 0; // index of current first byte in rx array (to which data will be written)
|
|
// ATTENTION! to change global variable in PROGRAM memory, it should be CONST!!!
|
|
//const U8 UART_devNUM = THIS_DEVICE_NUM; // device number, master sais it
|
|
|
|
/**
|
|
* Send one byte through UART
|
|
* @param byte - data to send
|
|
*/
|
|
void UART_send_byte(U8 byte){
|
|
UART2_DR = byte;
|
|
while(!(UART2_SR & UART_SR_TC));
|
|
}
|
|
|
|
void uart_write(char *str){
|
|
while(*str){
|
|
UART2_DR = *str++;
|
|
while(!(UART2_SR & UART_SR_TC));
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Read one byte from Rx buffer
|
|
* @param byte - where to store readed data
|
|
* @return 1 in case of non-empty buffer
|
|
*/
|
|
U8 UART_read_byte(U8 *byte){
|
|
if(UART_rx_start_i == UART_rx_cur_i) // buffer is empty
|
|
return 0;
|
|
*byte = UART_rx[UART_rx_start_i++];
|
|
check_UART_pointer(UART_rx_start_i);
|
|
return 1;
|
|
}
|
|
|
|
void printUint(U8 *val, U8 len){
|
|
unsigned long Number = 0;
|
|
U8 i = len;
|
|
char ch;
|
|
U8 decimal_buff[12]; // max len of U32 == 10 + \n + \0
|
|
if(len > 4 || len == 3 || len == 0) return;
|
|
for(i = 0; i < 12; i++)
|
|
decimal_buff[i] = 0;
|
|
decimal_buff[10] = '\n';
|
|
ch = 9;
|
|
switch(len){
|
|
case 1:
|
|
Number = *((U8*)val);
|
|
break;
|
|
case 2:
|
|
Number = *((U16*)val);
|
|
break;
|
|
case 4:
|
|
Number = *((unsigned long*)val);
|
|
break;
|
|
}
|
|
do{
|
|
i = Number % 10L;
|
|
decimal_buff[ch--] = i + '0';
|
|
Number /= 10L;
|
|
}while(Number && ch > -1);
|
|
uart_write((char*)&decimal_buff[ch+1]);
|
|
}
|
|
/*
|
|
U8 U8toHEX(U8 val){
|
|
val &= 0x0f;
|
|
if(val < 10) val += '0';
|
|
else val += 'a' - 10;
|
|
return val;
|
|
}
|
|
|
|
void printUintHEX(U8 *val, U8 len){
|
|
U8 i, V;
|
|
uart_write("0x");
|
|
for(i = 0; i < len; i++){
|
|
V = *val++;
|
|
UART_send_byte(U8toHEX(V>>4)); // MSB
|
|
UART_send_byte(U8toHEX(V)); // LSB
|
|
}
|
|
UART_send_byte('\n');
|
|
}*/
|
|
|
|
U8 readInt(int *val){
|
|
unsigned long T = Global_time;
|
|
unsigned long R = 0;
|
|
int readed;
|
|
U8 sign = 0, rb, ret = 0, bad = 0;
|
|
do{
|
|
if(!UART_read_byte(&rb)) continue;
|
|
if(rb == '-' && R == 0){ // negative number
|
|
sign = 1;
|
|
continue;
|
|
}
|
|
if(rb < '0' || rb > '9') break; // number ends with any non-digit symbol that will be omitted
|
|
ret = 1; // there's at least one digit
|
|
R = R * 10L + rb - '0';
|
|
if(R > 0x7fff){ // bad value
|
|
R = 0;
|
|
bad = 0;
|
|
}
|
|
}while(Global_time - T < 10000); // wait no longer than 10s
|
|
if(bad || !ret) return 0;
|
|
readed = (int) R;
|
|
if(sign) readed *= -1;
|
|
*val = readed;
|
|
return 1;
|
|
}
|
|
|
|
void error_msg(char *msg){
|
|
uart_write("\nERROR: ");
|
|
uart_write(msg);
|
|
UART_send_byte('\n');
|
|
}
|
|
|
|
/**
|
|
* Change variable stored in program memory
|
|
* !!! You can change only const values (non-constants are initializes on program start)
|
|
* @param addr - variable address
|
|
* @param new value
|
|
* @return 0 in case of error
|
|
*/
|
|
U8 change_progmem_value(U8 *addr, U8 val){
|
|
// unlock memory
|
|
FLASH_PUKR = EEPROM_KEY2;
|
|
FLASH_PUKR = EEPROM_KEY1;
|
|
// check bit PUL=1 in FLASH_IAPSR
|
|
if(!FLASH_IAPSR & 0x02)
|
|
return 0;
|
|
*addr = val;
|
|
// clear PUL to lock write
|
|
FLASH_IAPSR &= ~0x02;
|
|
return 1;
|
|
}
|
|
|
|
/*
|
|
U8 change_eeprom_value(U8 *addr, U8 val){
|
|
// unlock memory
|
|
FLASH_DUKR = EEPROM_KEY1;
|
|
FLASH_DUKR = EEPROM_KEY2;
|
|
// check bit DUL=1 in FLASH_IAPSR
|
|
if(!FLASH_IAPSR & 0x08)
|
|
return 0;
|
|
*addr = val;
|
|
// clear DUL to lock write
|
|
FLASH_IAPSR &= ~0x08;
|
|
return 1;
|
|
}
|
|
*/
|
|
|
|
/**
|
|
* Start measurements by ultrasonic distance meter
|
|
* @param
|
|
* @return
|
|
*/
|
|
void US_start(){
|
|
U8 i;
|
|
TIM1_CNTRH = 0; TIM1_CNTRL = 0;
|
|
TIM1_CCR2H = 0; TIM1_CCR2L = 0;
|
|
US_flag = 0;
|
|
// post initial pulse
|
|
PORT(US_OUT_PORT, ODR) |= US_OUT_PIN;
|
|
for(i = 0; i < 160; i++) nop(); // wait at least for 10us
|
|
PORT(US_OUT_PORT, ODR) &= ~US_OUT_PIN;
|
|
// Enable the captures by writing the CC1E and CC2E bits to 1 in the TIM1_CCER1 register.
|
|
TIM1_CCER1 |= 0x11;
|
|
TIM1_CR1 = TIM_CR1_CEN; // turn on timer
|
|
}
|
|
|
|
/**
|
|
* Check ultrasonic flag value and send message
|
|
* @param
|
|
* @return
|
|
*/
|
|
void US_check(){
|
|
unsigned long L;
|
|
if(!US_flag) return;
|
|
if(US_flag == 1){ // error - write message
|
|
error_msg("measurement overcapture");
|
|
}else if(US_flag == 3){ // overflow
|
|
error_msg("TIM1 overflow");
|
|
}else{ // all OK - write measured length
|
|
Pulse_length = ((U16)TIM1_CCR2H << 8) | TIM1_CCR2L;
|
|
printUint((U8*)&Pulse_length,2);
|
|
// sound velocity == 340m/s in normal conditions
|
|
// So distance = pulse * 1e-6(us) * 340 / 2
|
|
// in millimeters this is equal of pulse*170/1000
|
|
L = ((unsigned long) Pulse_length) * 170L;
|
|
L /= 1000L;
|
|
uart_write("Distance (mm): ");
|
|
printUint((U8*)&L, 4);
|
|
}
|
|
US_flag = 0;
|
|
}
|
|
|
|
int main(){
|
|
unsigned long T = 0L;
|
|
//int Ival;
|
|
// unsigned long ul;
|
|
// U16 u16;
|
|
U8 rb;
|
|
|
|
CFG_GCR |= 1; // disable SWIM
|
|
|
|
// Configure clocking
|
|
CLK_CKDIVR = 0; // F_HSI = 16MHz, f_CPU = 16MHz
|
|
|
|
// Timer 4 (8 bit) used as system tick timer
|
|
// prescaler == 128 (2^7), Tfreq = 125kHz
|
|
// period = 1ms, so ARR = 125
|
|
TIM4_PSCR = 7;
|
|
TIM4_ARR = 125;
|
|
// interrupts: update
|
|
TIM4_IER = TIM_IER_UIE;
|
|
// auto-reload + interrupt on overflow + enable
|
|
TIM4_CR1 = TIM_CR1_APRE | TIM_CR1_URS | TIM_CR1_CEN;
|
|
|
|
// Configure Timer1 for measurement of US pulse width:
|
|
// main frequency: 1MHz
|
|
// prescaler = f_{in}/f_{tim1} - 1
|
|
// set Timer1 to 1MHz: 16/1 - 1 = 15
|
|
TIM1_PSCRH = 0;
|
|
TIM1_PSCRL = 15; // LSB should be written last as it updates prescaler
|
|
// capture/compare channel
|
|
// channel CC1 (0->1) stores low pulse length,
|
|
// channel CC2 (1->0) stores time period between two consequent zero-transitions
|
|
TIM1_IER = TIM_IER_CC2IE | TIM_IER_CC1IE | TIM_IER_UIE;// enable interrupt on CC2 & overflow
|
|
// 1. Select the active input capture or trigger input for TIM1_CCR1 by writing the CC1S bits
|
|
// to 01 in the TIM1_CCMR1 register (TI1FP1 selected).
|
|
// IC1F = 0 - no filter
|
|
// IC1PSC = 0 - no prescaler
|
|
// TIM1_CCMR1: IC1F[3:0] | IC1PSC[1:0] | CC1S[1:0]
|
|
TIM1_CCMR1 = 1;
|
|
// 3. Select the active input for TIM1_CCR2 by writing the CC2S bits to 10 in the
|
|
// TIM1_CCMR2 register (TI1FP2 selected).
|
|
TIM1_CCMR2 = 2;
|
|
// 2. Select the active polarity for TI1FP1 (used for both capture and counter clear in
|
|
// TIMx_CCR1) by writing the CC1P bit to 0 (TI1FP1 active on rising edge).
|
|
// 4. Select the active polarity for TI1FP2 (used for capture in TIM1_CCR2) by writing the
|
|
// CC2P bit to 1 (TI1FP2 active on falling edge).
|
|
// TIM1_CCER1: CC2NP | CC2NE | CC2P | CC2E | CC1NP | CC1NE | CC1P | CC1E
|
|
TIM1_CCER1 = 0x20;
|
|
// 5. Select the valid trigger input by writing the TS bits to 101 in the
|
|
// TIM1_SMCR register (TI1FP1 selected).
|
|
// 6. Configure the clock/trigger controller in reset mode by writing the
|
|
// SMS bits to 100 in the TIM1_SMCR register
|
|
// TIM1_SMCR: MSM | TS[2:0] | (reserved) | SMS[2:0]
|
|
TIM1_SMCR = 0x54;
|
|
|
|
|
|
//TIM1_CR1 = 0;
|
|
|
|
|
|
|
|
// Configure ADC
|
|
// select PD2[AIN3] & enable interrupt for EOC
|
|
ADC_CSR = 0x23;
|
|
ADC_TDRL = 0x08; // disable Schmitt triger for AIN3
|
|
// right alignment
|
|
ADC_CR2 = 0x08; // don't forget: first read ADC_DRL!
|
|
// f_{ADC} = f/18 & continuous non-buffered conversion & wake it up
|
|
ADC_CR1 = 0x73;
|
|
ADC_CR1 = 0x73; // turn on ADC (this needs second write operation)
|
|
|
|
// Configure pins
|
|
// PC2 - PP output (on-board LED)
|
|
PORT(LED_PORT, DDR) |= LED_PIN;
|
|
PORT(LED_PORT, CR1) |= LED_PIN;
|
|
// PD5 - UART2_TX -- pseudo open-drain output; don't forget an pullup resistor!
|
|
PORT(UART_PORT, DDR) |= UART_TX_PIN;
|
|
PORT(UART_PORT, ODR) &= ~UART_TX_PIN; // turn off N push-down
|
|
//PORT(UART_PORT, CR1) |= UART_TX_PIN;
|
|
// Ultrasonic
|
|
// out, PP
|
|
PORT(US_OUT_PORT, DDR) |= US_OUT_PIN;
|
|
PORT(US_OUT_PORT, CR1) |= US_OUT_PIN;
|
|
//
|
|
|
|
// Configure UART
|
|
// 9 bit, no parity, 1 stop (UART_CR3 = 0 - reset value)
|
|
// 57600 on 16MHz: BRR1=0x11, BRR2=0x06
|
|
UART2_BRR1 = 0x11; UART2_BRR2 = 0x06;
|
|
UART2_CR1 = UART_CR1_M; // M = 1 -- 9bits
|
|
UART2_CR2 = UART_CR2_TEN | UART_CR2_REN | UART_CR2_RIEN; // Allow RX, generate ints on rx
|
|
|
|
// enable all interrupts
|
|
enableInterrupts();
|
|
// Loop
|
|
do{
|
|
if((Global_time - T > paused_val) || (T > Global_time)){
|
|
T = Global_time;
|
|
PORT(LED_PORT, ODR) ^= LED_PIN; // blink on-board LED
|
|
}
|
|
if(US_flag) US_check(); // end of measurement with ultrasonic?
|
|
if(UART_read_byte(&rb)){ // buffer isn't empty
|
|
switch(rb){
|
|
case 'h': // help
|
|
case 'H':
|
|
uart_write("\nPROTO:\n"
|
|
"+/-\tLED period\n"
|
|
"A\tprint ADC value\n"
|
|
"D\tmeasure distance by US\n"
|
|
);
|
|
break;
|
|
case '+':
|
|
paused_val += 100;
|
|
if(paused_val > 10000)
|
|
paused_val = 500; // but not more than 10s
|
|
break;
|
|
case '-':
|
|
paused_val -= 100;
|
|
if(paused_val < 100) // but not less than 0.1s
|
|
paused_val = 500;
|
|
break;
|
|
case 'A':
|
|
// ul = ADC_value * 3300L;
|
|
// u16 = (U16)(ul >> 10); // 0..3300 - U in mv
|
|
// printUint((U8*)&u16,2);
|
|
printUint((U8*)&ADC_value,2);
|
|
break;
|
|
case 'D':
|
|
US_start();
|
|
break;
|
|
/* case 'N':
|
|
if(readInt(&Ival) && Ival > 0 && Ival < 256)
|
|
if(!change_progmem_value(&UART_devNUM, (unsigned int) Ival))
|
|
error_msg("can't change val");
|
|
break;
|
|
*/
|
|
default:
|
|
break;
|
|
}
|
|
}
|
|
}while(1);
|
|
}
|
|
|
|
|