From 20011c92dfbd5f8db440302388823a4ccc72b943 Mon Sep 17 00:00:00 2001
From: eddyem <eddyem@yandex.ru>
Date: Fri, 20 Sep 2019 18:02:32 +0300
Subject: [PATCH] fix problem with LIDAR

---
 F1-nolib/chronometer/GPS.c      |  17 ++++----
 F1-nolib/chronometer/Makefile   |   2 -
 F1-nolib/chronometer/adc.c      |   2 +-
 F1-nolib/chronometer/chrono.bin | Bin 15860 -> 15944 bytes
 F1-nolib/chronometer/flash.h    |   3 ++
 F1-nolib/chronometer/hardware.c |   4 +-
 F1-nolib/chronometer/hardware.h |  12 +++---
 F1-nolib/chronometer/lidar.c    |  13 ++++++-
 F1-nolib/chronometer/main.c     |  18 ++++-----
 F1-nolib/chronometer/str.c      |  67 +++++++++++++++++++++++++-------
 F1-nolib/chronometer/str.h      |   1 +
 F1-nolib/chronometer/time.c     |   2 +
 F1-nolib/chronometer/usart.c    |   8 +---
 13 files changed, 96 insertions(+), 53 deletions(-)

diff --git a/F1-nolib/chronometer/GPS.c b/F1-nolib/chronometer/GPS.c
index 1080c11..279baa7 100644
--- a/F1-nolib/chronometer/GPS.c
+++ b/F1-nolib/chronometer/GPS.c
@@ -58,9 +58,9 @@ static int checksum_true(const char *buf){
 
 static void send_chksum(uint8_t chs){
     usart_putchar(GPS_USART, hex(chs >> 4));
-    usart_putchar(1, hex(chs >> 4));
+    //usart_putchar(1, hex(chs >> 4));
     usart_putchar(GPS_USART, hex(chs & 0x0f));
-    usart_putchar(1, hex(chs & 0x0f));
+    //usart_putchar(1, hex(chs & 0x0f));
 }
 /**
  * Calculate checksum & write message to port
@@ -78,19 +78,19 @@ static void write_with_checksum(const char *buf){
             break;
         }
     }
-    DBG("Send:");
+    //DBG("Send:");
     uint8_t checksum = 0;
     usart_putchar(GPS_USART, '$');
-    usart_putchar(1, '$');
+    //usart_putchar(1, '$');
     GPS_send_string(buf);
-    SEND(buf);
+    //SEND(buf);
     do{
         checksum ^= *buf++;
     }while(*buf);
     usart_putchar(GPS_USART, '*');
-    usart_putchar(1, '*');
+    //usart_putchar(1, '*');
     send_chksum(checksum);
-    newline();
+    //newline();
     GPS_endline();
 }
 
@@ -155,9 +155,6 @@ void GPS_send_FullColdStart(){
  */
 void GPS_parse_answer(const char *buf){
     char *ptr;
-#if defined USART1PROXY
-    usart_send(1, buf); newline();
-#endif
     if(buf[1] == 'P') return; // answers to proprietary messages
     if(cmpstr(buf+3, "RMC", 3)){ // not RMC message
         need2startseq = 1;
diff --git a/F1-nolib/chronometer/Makefile b/F1-nolib/chronometer/Makefile
index 2836837..acfcfa0 100644
--- a/F1-nolib/chronometer/Makefile
+++ b/F1-nolib/chronometer/Makefile
@@ -12,8 +12,6 @@ LDSCRIPT	?= stm32F103xB.ld
 DEFS		= -DVERSION=\"0.1.0\"
 # debug
 #DEFS		+= -DEBUG
-# proxy GPS output over USART1
-DEFS += -DUSART1PROXY
 
 INDEPENDENT_HEADERS=
 
diff --git a/F1-nolib/chronometer/adc.c b/F1-nolib/chronometer/adc.c
index 80a98e2..9871ce6 100644
--- a/F1-nolib/chronometer/adc.c
+++ b/F1-nolib/chronometer/adc.c
@@ -86,7 +86,7 @@ uint8_t chkADCtrigger(){
     }else{ // check if thigger shot
         if(val > (int16_t)the_conf.ADC_min + ADC_THRESHOLD && val < (int16_t)the_conf.ADC_max - ADC_THRESHOLD){
             triggered = 1;
-            fillshotms(4);
+            fillshotms(ADC_TRIGGER);
         }
     }
     return triggered;
diff --git a/F1-nolib/chronometer/chrono.bin b/F1-nolib/chronometer/chrono.bin
index dd4dc4cf1cbb9f3d229c8943ee9d371d943a6d62..6e6c786e605757d90da74a21e76a3418baea5615 100755
GIT binary patch
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S(7vBC_~5EV>-eMPef&2+y{f_h

diff --git a/F1-nolib/chronometer/flash.h b/F1-nolib/chronometer/flash.h
index 7933eca..fd9b057 100644
--- a/F1-nolib/chronometer/flash.h
+++ b/F1-nolib/chronometer/flash.h
@@ -52,6 +52,9 @@ typedef struct __attribute__((packed, aligned(4))){
 #define FLAG_SAVE_EVENTS        (1 << 0)
 // strings ends with "\r\n" instead of normal "\n"
 #define FLAG_STRENDRN           (1 << 1)
+// proxy GPS messages over USART1
+#define FLAG_GPSPROXY           (1 << 2)
+
 
 /*
  * struct to save events logs
diff --git a/F1-nolib/chronometer/hardware.c b/F1-nolib/chronometer/hardware.c
index 258235f..9245f4f 100644
--- a/F1-nolib/chronometer/hardware.c
+++ b/F1-nolib/chronometer/hardware.c
@@ -42,7 +42,7 @@ static uint8_t trigstate[DIGTRIG_AMOUNT];
 // time of triggers shot
 trigtime shottime[TRIGGERS_AMOUNT];
 // Tms value when they shot
-static uint32_t shotms[TRIGGERS_AMOUNT];
+uint32_t shotms[TRIGGERS_AMOUNT];
 // trigger length (-1 if > MAX_TRIG_LEN)
 int16_t triglen[TRIGGERS_AMOUNT];
 // if trigger[N] shots, the bit N will be 1
@@ -187,7 +187,7 @@ void fillunshotms(){
                 if(pinval != trigstate[i]) rdy = 1; // trigger is OFF
             }
             if(rdy){
-                shotms[i] = Tms;
+                if(i != LIDAR_TRIGGER) shotms[i] = Tms;
                 show_trigger_shot(X);
                 trigger_shot &= ~X;
             }
diff --git a/F1-nolib/chronometer/hardware.h b/F1-nolib/chronometer/hardware.h
index 441c2b5..d53524e 100644
--- a/F1-nolib/chronometer/hardware.h
+++ b/F1-nolib/chronometer/hardware.h
@@ -41,7 +41,7 @@ extern uint8_t buzzer_on;
 #define BUZZER_OFF() pin_clear(BUZZER_port, BUZZER_pin)
 #define BUZZER_GET() (pin_read(BUZZER_port, BUZZER_pin))
 // minimal time to buzzer to cheep (ms)
-#define BUZZER_CHEEP_TIME   (500)
+#define BUZZER_CHEEP_TIME   500
 
 // PPS pin - PA1
 #define PPS_port    GPIOA
@@ -49,15 +49,15 @@ extern uint8_t buzzer_on;
 
 // PPS and triggers state
 // amount of triggers, should be less than 9; 5 - 0..2 - switches, 3 - LIDAR, 4 - ADC
-#define TRIGGERS_AMOUNT     (5)
+#define TRIGGERS_AMOUNT     5
 // number of LIDAR trigger
-#define LIDAR_TRIGGER       (3)
+#define LIDAR_TRIGGER       3
 // number of ADC trigger
-#define ADC_TRIGGER         (4)
+#define ADC_TRIGGER         4
 // amount of digital triggers (on interrupts)
-#define DIGTRIG_AMOUNT      (3)
+#define DIGTRIG_AMOUNT      3
 // max length of trigger event (ms)
-#define MAX_TRIG_LEN        (1000)
+#define MAX_TRIG_LEN        1000
 
 #ifdef EBUG
 uint8_t gettrig(uint8_t N);
diff --git a/F1-nolib/chronometer/lidar.c b/F1-nolib/chronometer/lidar.c
index 156890d..7bd2400 100644
--- a/F1-nolib/chronometer/lidar.c
+++ b/F1-nolib/chronometer/lidar.c
@@ -24,6 +24,8 @@ uint16_t last_lidar_dist = 0;
 uint16_t last_lidar_stren = 0;
 uint16_t lidar_triggered_dist = 0;
 
+extern uint32_t shotms[];
+
 /**
  * @brief parse_lidar_data - parsing of string from lidar
  * @param txt - the string or NULL (if you want just check trigger state)
@@ -31,7 +33,16 @@ uint16_t lidar_triggered_dist = 0;
  */
 uint8_t parse_lidar_data(char *txt){
     static uint8_t triggered = 0;
-    if(!txt) return triggered;
+    if(!txt){
+        // clear trigger state after timeout -> need to monitor lidar
+        uint32_t len = Tms - shotms[LIDAR_TRIGGER];
+        //if(len > MAX_TRIG_LEN || len > (uint32_t)the_conf.trigpause[LIDAR_TRIGGER]){
+        if(len > MAX_TRIG_LEN){
+            triggered = 0;
+            DBG("MAX time gone, untrigger!");
+        }
+        return triggered;
+    }
     last_lidar_dist = txt[2] | (txt[3] << 8);
     last_lidar_stren = txt[4] | (txt[5] << 8);
     if(last_lidar_stren < LIDAR_LOWER_STREN) return 0; // weak signal
diff --git a/F1-nolib/chronometer/main.c b/F1-nolib/chronometer/main.c
index 22cd5af..e140fb0 100644
--- a/F1-nolib/chronometer/main.c
+++ b/F1-nolib/chronometer/main.c
@@ -266,7 +266,7 @@ int main(void){
         }
         // check if triggers that was recently shot are off now
         fillunshotms();
-        if(lastT > Tms || Tms - lastT > 499){
+        if(Tms - lastT > 499){
             if(need2startseq) GPS_send_start_seq();
             IWDG->KR = IWDG_REFRESH;
             switch(GPS_status){
@@ -280,17 +280,15 @@ int main(void){
                     LED1_off(); // turn off LED1 if GPS not found or time unknown
             }
             lastT = Tms;
-            if(usartrx(LIDAR_USART)){
+            /*if(usartrx(LIDAR_USART)){
                 char *txt;
                 if(usart_getline(LIDAR_USART, &txt)){
                     DBG("LIDAR:");
                     DBG(txt);
                 }
-            }
+            }*/
             IWDG->KR = IWDG_REFRESH;
-#if defined EBUG || defined USART1PROXY
             transmit_tbuf(1); // non-blocking transmission of data from UART buffer every 0.5s
-#endif
             transmit_tbuf(GPS_USART);
             transmit_tbuf(LIDAR_USART);
 #ifdef EBUG
@@ -333,7 +331,6 @@ int main(void){
             }
             IWDG->KR = IWDG_REFRESH;
         }
-#if defined EBUG || defined USART1PROXY
         if(usartrx(1)){ // usart1 received data, store in in buffer
             r = usart_getline(1, &txt);
             if(r){
@@ -348,18 +345,19 @@ int main(void){
                     transmit_tbuf(1);
                     IWDG->KR = IWDG_REFRESH;
                 }
-#else // USART1PROXY - send received data to GPS
-                usart_send(GPS_USART, txt);
-                IWDG->KR = IWDG_REFRESH;
 #endif
+                if(the_conf.defflags & FLAG_GPSPROXY){
+                    usart_send(GPS_USART, txt);
+                    IWDG->KR = IWDG_REFRESH;
+                }
             }
         }
-#endif
         if(usartrx(GPS_USART)){
             IWDG->KR = IWDG_REFRESH;
             r = usart_getline(GPS_USART, &txt);
             if(r){
                 txt[r] = 0;
+                if(the_conf.defflags & FLAG_GPSPROXY) usart_send(1, txt);
                 GPS_parse_answer(txt);
             }
         }
diff --git a/F1-nolib/chronometer/str.c b/F1-nolib/chronometer/str.c
index ff75f2a..7b34468 100644
--- a/F1-nolib/chronometer/str.c
+++ b/F1-nolib/chronometer/str.c
@@ -92,6 +92,9 @@ static void showuserconf(){
     USB_send("\nSAVE_EVENTS=");
     if(f & FLAG_SAVE_EVENTS) USB_send("1");
     else USB_send("0");
+    USB_send("\nGPSPROXY=");
+    if(f & FLAG_GPSPROXY) USB_send("1");
+    else USB_send("0");
     USB_send("\nNFREE=");
     sendu(the_conf.NLfreeWarn);
     USB_send("\n");
@@ -121,6 +124,7 @@ int parse_USBCMD(char *cmd){
                  CMD_DISTMAX   " - max distance threshold (cm)\n"
                  CMD_DUMP      "N - dump 20 last stored events (no x), all (x<1) or x\n"
                  CMD_FLASH     " - FLASH info\n"
+                 CMD_GPSPROXY  "S - GPS proxy over USART1 on/off\n"
                  CMD_GPSRESTART " - send Full Cold Restart to GPS\n"
                  CMD_GPSSTAT   " - get GPS status\n"
                  CMD_GPSSTR    " - current GPS data string\n"
@@ -149,8 +153,8 @@ int parse_USBCMD(char *cmd){
         if(the_conf.dist_min != (uint16_t)N){
             conf_modified = 1;
             the_conf.dist_min = (uint16_t) N;
-            succeed = 1;
         }
+        succeed = 1;
     }else if(CMP(cmd, CMD_DISTMAX) == 0){ // set low limit
         DBG("CMD_DISTMAX");
         GETNUM(CMD_DISTMAX);
@@ -158,8 +162,8 @@ int parse_USBCMD(char *cmd){
         if(the_conf.dist_max != (uint16_t)N){
             conf_modified = 1;
             the_conf.dist_max = (uint16_t) N;
-            succeed = 1;
         }
+        succeed = 1;
     }else if(CMP(cmd, CMD_STORECONF) == 0){ // store everything
         DBG("Store");
         if(conf_modified){
@@ -193,8 +197,10 @@ int parse_USBCMD(char *cmd){
         if(Nt > TRIGGERS_AMOUNT - 1) goto bad_number;
         if(getnum(cmd, &N)) goto bad_number;
         if(N < 0 || N > 10000) goto bad_number;
-        if(the_conf.trigpause[Nt] != N) conf_modified = 1;
-        the_conf.trigpause[Nt] = N;
+        if(the_conf.trigpause[Nt] != N){
+            conf_modified = 1;
+            the_conf.trigpause[Nt] = N;
+        }
         succeed = 1;
     }else if(CMP(cmd, CMD_TRGTIME) == 0){
         DBG("Trigger time");
@@ -245,16 +251,16 @@ int parse_USBCMD(char *cmd){
         if(the_conf.ADC_max != (int16_t)N){
             conf_modified = 1;
             the_conf.ADC_max = (int16_t) N;
-            succeed = 1;
         }
+        succeed = 1;
     }else if(CMP(cmd, CMD_ADCMIN) == 0){ // set low limit
         GETNUM(CMD_ADCMIN);
         if(N < -4096 || N > 4096) goto bad_number;
         if(the_conf.ADC_min != (int16_t)N){
             conf_modified = 1;
             the_conf.ADC_min = (int16_t) N;
-            succeed = 1;
         }
+        succeed = 1;
     }else if(CMP(cmd, CMD_GPSRESTART) == 0){
         USB_send("Send full cold restart to GPS\n");
         GPS_send_FullColdStart();
@@ -297,17 +303,25 @@ int parse_USBCMD(char *cmd){
         if(the_conf.USART_speed != (uint32_t)N){
             the_conf.USART_speed = (uint32_t)N;
             conf_modified = 1;
-            succeed = 1;
         }
+        succeed = 1;
     }else if(CMP(cmd, CMD_RESET) == 0){
         USB_send("Soft reset\n");
         NVIC_SystemReset();
     }else if(CMP(cmd, CMD_STREND) == 0){
         char c = cmd[sizeof(CMD_STREND) - 1];
         succeed = 1;
-        if(c == 'n' || c == 'N') the_conf.defflags &= ~FLAG_STRENDRN;
-        else if(c == 'r' || c == 'R') the_conf.defflags |= FLAG_STRENDRN;
-        else{
+        if(c == 'n' || c == 'N'){
+            if(the_conf.defflags & FLAG_STRENDRN){
+                conf_modified = 1;
+                the_conf.defflags &= ~FLAG_STRENDRN;
+            }
+        }else if(c == 'r' || c == 'R'){
+            if(!(the_conf.defflags & FLAG_STRENDRN)){
+                conf_modified = 1;
+                the_conf.defflags |= FLAG_STRENDRN;
+            }
+        }else{
             succeed = 0;
             USB_send("Bad letter, should be 'n' or 'r'\n");
         }
@@ -332,8 +346,17 @@ int parse_USBCMD(char *cmd){
         sendu(maxLnum - 1);
         USB_send("\n");
     }else if(CMP(cmd, CMD_SAVEEVTS) == 0){
-        if('0' == cmd[sizeof(CMD_SAVEEVTS) - 1]) the_conf.defflags &= ~FLAG_SAVE_EVENTS;
-        else the_conf.defflags |= FLAG_SAVE_EVENTS;
+        if('0' == cmd[sizeof(CMD_SAVEEVTS) - 1]){
+            if(the_conf.defflags & FLAG_SAVE_EVENTS){
+                conf_modified = 1;
+                the_conf.defflags &= ~FLAG_SAVE_EVENTS;
+            }
+        }else{
+            if(!(the_conf.defflags & FLAG_SAVE_EVENTS)){
+                conf_modified = 1;
+                the_conf.defflags |= FLAG_SAVE_EVENTS;
+            }
+        }
         succeed = 1;
     }else if(CMP(cmd, CMD_DUMP) == 0){
         if(getnum(cmd+sizeof(CMD_DUMP)-1, &N)) N = -20; // default - without N
@@ -343,11 +366,27 @@ int parse_USBCMD(char *cmd){
     }else if(CMP(cmd, CMD_NFREE) == 0){
         GETNUM(CMD_NFREE);
         if(N < 0 || N > 0xffff) goto bad_number;
-        the_conf.NLfreeWarn = (uint16_t)N;
+        if(the_conf.NLfreeWarn != (uint16_t)N){
+            conf_modified = 1;
+            the_conf.NLfreeWarn = (uint16_t)N;
+        }
         succeed = 1;
     }else if(CMP(cmd, CMD_DELLOGS) == 0){
         if(store_log(NULL)) USB_send("Error during erasing flash\n");
         else USB_send("All logs erased\n");
+    }else if(CMP(cmd, CMD_GPSPROXY) == 0){
+        if(cmd[sizeof(CMD_GPSPROXY) - 1] == '0'){
+            if(the_conf.defflags & FLAG_GPSPROXY){
+                conf_modified = 1;
+                the_conf.defflags &= ~FLAG_GPSPROXY;
+            }
+        }else{
+            if(!(the_conf.defflags & FLAG_GPSPROXY)){
+                conf_modified = 1;
+                the_conf.defflags |= FLAG_GPSPROXY;
+            }
+        }
+        succeed = 1;
     }else return 1;
     /*else if(CMP(cmd, CMD_) == 0){
         ;
@@ -377,7 +416,7 @@ char *get_trigger_shot(int number, const event_log *logdata){
     if(logdata->trigno == LIDAR_TRIGGER){
         bptr = strcp(bptr, "LIDAR, dist=");
         bptr = strcp(bptr, u2str(logdata->lidar_dist));
-        bptr = strcp(bptr, ", TRIG" STR(LIDAR_TRIGGER) "=");
+        bptr = strcp(bptr, ", TRIG" STR(LIDAR_TRIGGER));
     }else{
         bptr = strcp(bptr, "TRIG");
         *bptr++ = '0' + logdata->trigno;
diff --git a/F1-nolib/chronometer/str.h b/F1-nolib/chronometer/str.h
index 7e9780f..f4f1d3b 100644
--- a/F1-nolib/chronometer/str.h
+++ b/F1-nolib/chronometer/str.h
@@ -51,6 +51,7 @@
 #define CMD_DUMP        "dump"
 #define CMD_NFREE       "nfree"
 #define CMD_DELLOGS     "deletelogs"
+#define CMD_GPSPROXY    "gpsproxy"
 
 extern uint8_t showGPSstr;
 
diff --git a/F1-nolib/chronometer/time.c b/F1-nolib/chronometer/time.c
index d10ed81..bb0778e 100644
--- a/F1-nolib/chronometer/time.c
+++ b/F1-nolib/chronometer/time.c
@@ -62,10 +62,12 @@ void time_increment(){
                 current_time.H = 0;
         }
     }
+    /*
 #ifdef EBUG
     SEND("time_increment():  ");
     SEND(get_time(&current_time, 0));
 #endif
+    */
 }
 
 static char *puttwo(uint8_t N, char *buf){
diff --git a/F1-nolib/chronometer/usart.c b/F1-nolib/chronometer/usart.c
index 101f657..ce4241e 100644
--- a/F1-nolib/chronometer/usart.c
+++ b/F1-nolib/chronometer/usart.c
@@ -96,7 +96,7 @@ void usart_send(int n, const char *str){
         tbuf[n][tbufno[n]][odatalen[n][tbufno[n]]++] = *str++;
     }
 }
-#if defined EBUG || defined USART1PROXY
+#if defined EBUG
 // only for USART1
 void newline(){
     usart_putchar(1, '\n');
@@ -170,9 +170,7 @@ static void usart_setup(int n, uint32_t BRR){
 
 void usarts_setup(){
     RCC->AHBENR |= RCC_AHBENR_DMA1EN;
-#if defined EBUG || defined USART1PROXY
     usart_setup(1, 72000000 / the_conf.USART_speed); // debug console or GPS proxy
-#endif
     usart_setup(2, 36000000 / 9600); // GPS
     usart_setup(3, 36000000 / 115200); // LIDAR
 }
@@ -217,11 +215,9 @@ void usart_isr(int n, USART_TypeDef *USART){
     }
 }
 
-#if defined EBUG || defined USART1PROXY
 void usart1_isr(){
     usart_isr(1, USART1);
 }
-#endif
 
 // GPS_USART
 void usart2_isr(){
@@ -279,14 +275,12 @@ void hexdump(uint8_t *arr, uint16_t len){
 }
 #endif
 
-#if defined EBUG || defined USART1PROXY
 void dma1_channel4_isr(){ // USART1
     if(DMA1->ISR & DMA_ISR_TCIF4){ // Tx
         DMA1->IFCR = DMA_IFCR_CTCIF4; // clear TC flag
         txrdy[1] = 1;
     }
 }
-#endif
 
 void dma1_channel7_isr(){ // USART2
     if(DMA1->ISR & DMA_ISR_TCIF7){ // Tx