Add GPS-based timelapse tool.

GPS+ultrasonic/GPS.c

@@ -0,0 +1,263 @@
+/*
+ * GPS.c
+ *
+ * Copyright 2015 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
+ *
+ * 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 "main.h"
+#include "GPS.h"
+#include "uart.h"
+
+#define GPS_endline() do{GPS_send_string((uint8_t*)"\r\n");}while(0)
+#define U(arg)  ((uint8_t*)arg)
+
+gps_status GPS_status = GPS_WAIT;
+
+void GPS_send_string(uint8_t *str){
+	while(*str)
+		fill_uart_buff(USART2, *str++);
+}
+
+int strncmp(const uint8_t *one, const uint8_t *two, int n){
+	int diff = 0;
+	do{
+		diff = (int)(*one++) - (int)(*two++);
+	}while(--n && diff == 0);
+	return diff;
+}
+
+uint8_t *ustrchr(uint8_t *str, uint8_t symbol){
+//	uint8_t *ptr = str;
+	do{
+		if(*str == symbol) return str;
+	}while(*(++str));
+	return NULL;
+}
+
+uint8_t hex(uint8_t n){
+	return ((n < 10) ? (n+'0') : (n+'A'-10));
+}
+
+/**
+ * Check checksum
+ */
+int checksum_true(uint8_t *buf){
+	uint8_t *eol;
+	uint8_t checksum = 0, cs[3];
+	if(*buf != '$' || !(eol = ustrchr(buf, '*'))){
+		DBG("Wrong data: ");
+		DBG(buf);
+		DBG("\n");
+		return 0;
+	}
+	while(++buf != eol)
+		checksum ^= *buf;
+	++buf;
+	cs[0] = hex(checksum >> 4);
+	cs[1] = hex(checksum & 0x0f);
+	if(buf[0] == cs[0] && buf[1] == cs[1])
+		return 1;
+#ifdef EBUG
+	cs[2] = 0;
+	P("CHS, get ");
+	P(buf);
+	P(" need ");
+	P(cs);
+	usb_send('\n');
+#endif
+	return 0;
+}
+
+void send_chksum(uint8_t chs){
+	fill_uart_buff(USART2, hex(chs >> 4));
+	fill_uart_buff(USART2, hex(chs & 0x0f));
+}
+/**
+ * Calculate checksum & write message to port
+ * @param  buf - command to write (with leading $ and trailing *)
+ * return 0 if fails
+ */
+void write_with_checksum(uint8_t *buf){
+	uint8_t checksum = 0;
+	GPS_send_string(buf);
+	++buf; // skip leaders
+	do{
+		checksum ^= *buf++;
+	}while(*buf && *buf != '*');
+	send_chksum(checksum);
+	GPS_endline();
+}
+
+/**
+ * set rate for given NMEA field
+ * @param field - name of NMEA field
+ * @param rate  - rate in seconds (0 disables field)
+ * @return -1 if fails, rate if OK
+ */
+void block_field(const uint8_t *field){
+	uint8_t buf[22];
+	memcpy(buf, U("$PUBX,40,"), 9);
+	memcpy(buf+9, field, 3);
+	memcpy(buf+12, U(",0,0,0,0*"), 9);
+	buf[21] = 0;
+	write_with_checksum(buf);
+}
+
+
+/**
+ * Send starting sequences (get only RMC messages)
+ */
+void GPS_send_start_seq(){
+	const uint8_t *GPmsgs[5] = {U("GSV"), U("GSA"), U("GGA"), U("GLL"), U("VTG")};
+	int i;
+	for(i = 0; i < 5; ++i)
+		block_field(GPmsgs[i]);
+}
+/*
+uint8_t *nextpos(uint8_t **buf, int pos){
+	int i;
+	if(pos < 1) pos = 1;
+	for(i = 0; i < pos; ++i){
+		*buf = ustrchr(*buf, ',');
+		if(!*buf) break;
+		++(*buf);
+	}
+	return *buf;
+}
+#define NEXT()      do{if(!nextpos(&buf, 1)) goto ret;}while(0)
+#define SKIP(NPOS)  do{if(!nextpos(&buf, NPOS)) goto ret;}while(0)
+*/
+/**
+ * Parse answer from GPS module
+ *
+ * Recommended minimum specific GPS/Transit data
+ * $GPRMC,hhmmss,status,latitude,N,longitude,E,spd,cog,ddmmyy,mv,mvE,mode*cs
+ * 1    = UTC of position fix
+ * 2    = Data status (V=navigation receiver warning)
+ * 3    = Latitude of fix
+ * 4    = N or S
+ * 5    = Longitude of fix
+ * 6    = E or W
+ * 7    = Speed over ground in knots
+ * 8    = Cource over ground in degrees
+ * 9    = UT date
+ * 10   = Magnetic variation degrees (Easterly var. subtracts from true course)
+ * 11   = E or W
+ * 12   = Mode: N(bad), E(approx), A(auto), D(diff)
+ * 213457.00,A,4340.59415,N,04127.47560,E,2.494,,290615,,,A*7B
+ */
+void GPS_parse_answer(uint8_t *buf){
+	uint8_t *ptr;
+	if(strncmp(buf+3, U("RMC"), 3)){ // not RMC message
+		GPS_send_start_seq();
+		return;
+	}
+	if(!checksum_true(buf)){
+		DBG("Wrong chs\n");
+		return; // wrong checksum
+	}
+	buf += 7; // skip header
+	if(*buf == ','){ // time unknown
+		GPS_status = GPS_WAIT;
+		return;
+	}
+	//P("time: ");
+	ptr = ustrchr(buf, ',');
+	*ptr++ = 0;
+	//P(buf);
+	if(*ptr == 'A'){
+		GPS_status = GPS_VALID;
+		set_time(buf);
+	}else
+		GPS_status = GPS_NOT_VALID;
+//	buf = ustrchr(ptr, ',');
+//	P(" ");
+//	P("\n");
+}
+
+/*
+
+void rmc(uint8_t *buf){
+	//DBG("rmc: %s\n", buf);
+	int H, M, LO, LA, d, m, y, getdate = 0;
+	double S, longitude, lattitude, speed, track, mag;
+	char varn = 'V', north = '0', east = '0', mageast = '0', mode = 'N';
+	sscanf((char*)buf, "%2d%2d%lf", &H, &M, &S);
+	NEXT();
+	if(*buf != ',') varn = *buf;
+	if(varn != 'A')
+		PRINT("(data could be wrong)");
+	else{
+		PRINT("(data valid)");
+		if(GP->date) getdate = 1; // as only we have valid data we show it to user
+	}
+	PRINT(" time: %02d:%02d:%05.2f", H, M, S);
+	PRINT(" timediff: %g", timediff(H, M, S));
+	NEXT();
+	sscanf((char*)buf, "%2d%lf", &LA, &lattitude);
+	NEXT();
+	if(*buf != ','){
+		north = *buf;
+		lattitude = (double)LA + lattitude / 60.;
+		if(north == 'S') lattitude = -lattitude;
+		PRINT(" latt: %g", lattitude);
+		Latt_mean += lattitude;
+		Latt_sq += lattitude*lattitude;
+		++Latt_N;
+	}
+	NEXT();
+	sscanf((char*)buf, "%3d%lf", &LO, &longitude);
+	NEXT();
+	if(*buf != ','){
+		east = *buf;
+		longitude = (double)LO + longitude / 60.;
+		if(east == 'W') longitude = -longitude;
+		PRINT(" long: %g", longitude);
+		Long_mean += longitude;
+		Long_sq += longitude*longitude;
+		++Long_N;
+	}
+	NEXT();
+	if(*buf != ','){
+		sscanf((char*)buf, "%lf", &speed);
+		PRINT(" speed: %gknots", speed);
+	}
+	NEXT();
+	if(*buf != ','){
+		sscanf((char*)buf, "%lf", &track);
+		PRINT(" track: %gdeg,True", track);
+	}
+	NEXT();
+	if(sscanf((char*)buf, "%2d%2d%2d", &d, &m, &y) == 3)
+		PRINT(" date(dd/mm/yy): %02d/%02d/%02d", d, m, y);
+	if(getdate) show_date(H,M,S,d,m,y); // show date & exit
+	NEXT();
+	sscanf((char*)buf, "%lf,%c", &mag, &mageast);
+	if(mageast == 'E' || mageast == 'W'){
+		if(mageast == 'W') mag = -mag;
+		PRINT(" magnetic var: %g", mag);
+	}
+	SKIP(2);
+	if(*buf != ','){
+		mode = *buf;
+		PRINT(" mode: %c", mode);
+	}
+ret:
+	PRINT("\n");
+}
+*/

GPS+ultrasonic/GPS.h

@@ -0,0 +1,37 @@
+/*
+ * GPS.h
+ *
+ * Copyright 2015 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
+ *
+ * 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.
+ */
+
+#pragma once
+#ifndef __GPS_H__
+#define __GPS_H__
+
+typedef enum{
+	 GPS_WAIT       // wait for satellites
+	,GPS_NOT_VALID  // time known, but not valid
+	,GPS_VALID
+} gps_status;
+
+extern gps_status GPS_status;
+
+void GPS_parse_answer(uint8_t *string);
+void GPS_send_start_seq();
+
+#endif // __GPS_H__

GPS+ultrasonic/Makefile

@@ -0,0 +1,133 @@
+BINARY		= timelapse
+BOOTPORT	?= /dev/ttyUSB0
+BOOTSPEED	?= 115200
+# change this linking script depending on particular MCU model,
+# for example, if you have STM32F103VBT6, you should write:
+LDSCRIPT	= ld/stm32f103x8.ld
+LIBNAME		= opencm3_stm32f1
+DEFS		= -DSTM32F1 -DEBUG
+
+OBJDIR = mk
+INDEPENDENT_HEADERS=
+
+FP_FLAGS	?= -msoft-float
+ARCH_FLAGS	= -mthumb -mcpu=cortex-m3 $(FP_FLAGS) -mfix-cortex-m3-ldrd
+
+###############################################################################
+# Executables
+PREFIX		?= arm-none-eabi
+
+RM			:= rm -f
+RMDIR		:= rmdir
+CC			:= $(PREFIX)-gcc
+LD			:= $(PREFIX)-gcc
+AR			:= $(PREFIX)-ar
+AS			:= $(PREFIX)-as
+OBJCOPY		:= $(PREFIX)-objcopy
+OBJDUMP		:= $(PREFIX)-objdump
+GDB			:= $(PREFIX)-gdb
+STFLASH		= $(shell which st-flash)
+STBOOT		= $(shell which stm32flash)
+
+###############################################################################
+# Source files
+LDSCRIPT	?= $(BINARY).ld
+SRC			= $(wildcard *.c)
+OBJS		= $(addprefix $(OBJDIR)/, $(SRC:%.c=%.o))
+
+ifeq ($(strip $(OPENCM3_DIR)),)
+OPENCM3_DIR := /usr/local/arm-none-eabi
+$(info Using $(OPENCM3_DIR) path to library)
+endif
+
+INCLUDE_DIR	= $(OPENCM3_DIR)/include
+LIB_DIR		= $(OPENCM3_DIR)/lib
+SCRIPT_DIR	= $(OPENCM3_DIR)/scripts
+
+###############################################################################
+# C flags
+CFLAGS		+= -Os -g
+CFLAGS		+= -Wall -Wextra -Wshadow -Wimplicit-function-declaration
+CFLAGS		+= -Wredundant-decls
+# -Wmissing-prototypes -Wstrict-prototypes
+CFLAGS		+= -fno-common -ffunction-sections -fdata-sections
+
+###############################################################################
+# C & C++ preprocessor common flags
+CPPFLAGS	+= -MD
+CPPFLAGS	+= -Wall -Werror
+CPPFLAGS	+= -I$(INCLUDE_DIR) $(DEFS)
+
+###############################################################################
+# Linker flags
+LDFLAGS		+= --static -nostartfiles
+LDFLAGS		+= -L$(LIB_DIR)
+LDFLAGS		+= -T$(LDSCRIPT)
+LDFLAGS		+= -Wl,-Map=$(*).map
+LDFLAGS		+= -Wl,--gc-sections
+
+###############################################################################
+# Used libraries
+LDLIBS		+= -l$(LIBNAME)
+LDLIBS		+= -Wl,--start-group -lc -lgcc -Wl,--end-group
+
+.SUFFIXES: .elf .bin .hex .srec .list .map .images
+.SECONDEXPANSION:
+.SECONDARY:
+
+ELF		:= $(OBJDIR)/$(BINARY).elf
+LIST	:= $(OBJDIR)/$(BINARY).list
+BIN		:= $(BINARY).bin
+HEX		:= $(BINARY).hex
+
+all: bin
+
+elf: $(ELF)
+bin: $(BIN)
+hex: $(HEX)
+list: $(LIST)
+
+$(OBJDIR):
+	mkdir $(OBJDIR)
+
+$(OBJDIR)/%.o: %.c
+	@printf "  CC      $<\n"
+	$(CC) $(CFLAGS) $(CPPFLAGS) $(ARCH_FLAGS) -o $@ -c $<
+
+$(SRC) : %.c : %.h $(INDEPENDENT_HEADERS)
+	@touch $@
+
+%.h: ;
+
+$(BIN): $(ELF)
+	@printf "  OBJCOPY $(BIN)\n"
+	$(OBJCOPY) -Obinary $(ELF) $(BIN)
+
+$(HEX): $(ELF)
+	@printf "  OBJCOPY $(HEX)\n"
+	$(OBJCOPY) -Oihex $(ELF) $(HEX)
+
+$(LIST): $(ELF)
+	@printf "  OBJDUMP $(LIST)\n"
+	$(OBJDUMP) -S $(ELF) > $(LIST)
+
+$(ELF): $(OBJDIR) $(OBJS) $(LDSCRIPT) $(LIB_DIR)/lib$(LIBNAME).a
+	@printf "  LD      $(ELF)\n"
+	$(LD) $(LDFLAGS) $(ARCH_FLAGS) $(OBJS) $(LDLIBS) -o $(ELF)
+
+clean:
+	@printf "  CLEAN\n"
+	$(RM) $(OBJS) $(OBJDIR)/*.d $(ELF) $(HEX) $(LIST) $(OBJDIR)/*.map
+	$(RMDIR) $(OBJDIR)
+
+flash: $(BIN)
+	@printf "  FLASH  $(BIN)\n"
+	$(STFLASH) write $(BIN) 0x8000000
+
+boot: $(BIN)
+	@printf "  LOAD $(BIN) through bootloader\n"
+	$(STBOOT) -b$(BOOTSPEED) $(BOOTPORT) -w $(BIN)
+
+.PHONY: clean elf hex list flash boot
+
+#-include $(OBJS:.o=.d)

GPS+ultrasonic/README

@@ -0,0 +1,8 @@
+GPS-based timelapse tool
+Connect up to four sensors (ultrasonic, infrared, laser and simple switch)
+and get precision (milliseconds) time of their signals
+
+written for chinese devboard based on STM32F103RBT6
+
+Press H for help
+

GPS+ultrasonic/adc.c

@@ -0,0 +1,140 @@
+/*
+ * adc.c - functions for Sharp 2Y0A02 distance meter & photosensor
+ *
+ * Copyright 2015 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
+ *
+ * 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 "adc.h"
+#include "main.h"
+
+uint16_t ADC_value[ADC_CHANNEL_NUMBER];    // Values of ADC
+uint16_t ADC_trig_val[ADC_CHANNEL_NUMBER]; // -//- at trigger time
+
+void init_adc_sensor(){
+	// we will use ADC1 channel 0 for IR sensor & ADC1 channel 1 for laser's photoresistor
+	uint8_t adc_channel_array[ADC_CHANNEL_NUMBER] = {0,1};
+	// Make sure the ADC doesn't run during config
+	adc_off(ADC1);
+	// enable ADC & PA0/PA1 clocking
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_ADC1EN | RCC_APB2ENR_IOPAEN);
+	rcc_set_adcpre(RCC_CFGR_ADCPRE_PCLK2_DIV4);
+	gpio_set_mode(GPIOA, GPIO_MODE_INPUT, GPIO_CNF_INPUT_ANALOG, GPIO0 | GPIO1);
+	rcc_periph_clock_enable(RCC_DMA1); // enable DMA for ADC values storing
+	// Configure ADC as continuous scan mode with DMA
+	ADC1_CR1 = ADC_CR1_SCAN; // enable scan mode
+	// set sample time on channels 1&2: 239.5 cycles for better results
+	ADC1_SMPR2 = 0x3f;
+	dma_channel_reset(DMA1, DMA_CHANNEL1);
+	DMA1_CPAR1 = (uint32_t) &(ADC_DR(ADC1));
+	DMA1_CMAR1 = (uint32_t) ADC_value;
+	DMA1_CNDTR1 = ADC_CHANNEL_NUMBER;
+	DMA1_CCR1 = DMA_CCR_MINC | DMA_CCR_PSIZE_16BIT | DMA_CCR_MSIZE_16BIT
+			| DMA_CCR_CIRC | DMA_CCR_PL_HIGH | DMA_CCR_EN;
+	// continuous conv, enable ADC & DMA
+	ADC1_CR2 = ADC_CR2_CONT | ADC_CR2_ADON | ADC_CR2_DMA;
+	// set channels
+	adc_set_regular_sequence(ADC1, ADC_CHANNEL_NUMBER, adc_channel_array);
+	// reset calibration registers & start calibration
+	ADC1_CR2 |= ADC_CR2_RSTCAL;
+	while(ADC1_CR2 & ADC_CR2_RSTCAL); // wait for registers reset
+	ADC1_CR2 |= ADC_CR2_CAL;
+	while(ADC1_CR2 & ADC_CR2_CAL); // wait for calibration ends
+	// set threshold limits
+//	ADC1_HTR = ADC_WDG_HIGH;
+//	ADC1_LTR = ADC_WDG_LOW;
+	// enable analog watchdog on single regular channel 0 & enable interrupt
+	//ADC1_CR1 = ADC_CR1_AWDEN | ADC_CR1_AWDSGL | ADC_CR1_AWDIE;
+	// enable analog watchdog on all regular channels & enable interrupt
+//	ADC1_CR1 |= ADC_CR1_AWDEN | ADC_CR1_AWDIE;
+	nvic_enable_irq(NVIC_ADC1_2_IRQ);
+	ADC1_CR2 |= ADC_CR2_SWSTART;
+	// turn on ADC - to do it we need set ADC_CR2_ADON again!
+	ADC1_CR2 |= ADC_CR2_ADON;
+}
+
+adwd_stat adc_status[ADC_CHANNEL_NUMBER] = {ADWD_MID, ADWD_MID};
+
+/**
+ * watchdog works on both channels, so we need to save status of WD events
+ * to prevent repeated events on constant signal level
+ *
+void adc1_2_isr(){
+	int i;
+	if(ADC1_SR & ADC_SR_AWD){ // analog watchdog event
+		for(i = 0; i < ADC_CHANNEL_NUMBER; ++i){
+			uint16_t val = ADC_value[i];
+			adwd_stat st = adc_status[i];
+		//	if(adc_ms[i] == DIDNT_TRIGGERED){
+				if(val > ADC_WDG_HIGH){ // watchdog event on high level
+					if(st != ADWD_HI){
+						adc_ms[i] = Timer;
+						memcpy(&adc_time, &current_time, sizeof(curtime));
+						adc_status[i] = ADWD_HI;
+						ADC_trig_val[i] = val;
+					}
+				}else if(val < ADC_WDG_LOW){ // watchdog event on low level
+					if(st != ADWD_LOW){
+						adc_ms[i] = Timer;
+						memcpy(&adc_time, &current_time, sizeof(curtime));
+						adc_status[i] = ADWD_LOW;
+						ADC_trig_val[i] = val;
+					}
+				}else if(val > ADC_WDG_LOW+ADC_WDG_THRES && val < ADC_WDG_HIGH-ADC_WDG_THRES){
+					adc_status[i] = ADWD_MID;
+					if(adc_ms[i] == Timer) // remove noice
+						adc_ms[i] = DIDNT_TRIGGERED;
+				}
+		//	}
+		}
+	}
+	ADC1_SR = 0;
+}
+*/
+
+// levels for thresholding
+const uint16_t ADC_lowlevel[2] = {900, 2700};   // signal if ADC value < lowlevel
+const uint16_t ADC_highlevel[2] = {2200, 5000}; // signal if ADC value > highlevel
+const uint16_t ADC_midlevel[2] = {1400, 3000};  // when transit through midlevel set status as ADWD_MID
+
+void poll_ADC(){
+	int i;
+	for(i = 0; i < ADC_CHANNEL_NUMBER; ++i){
+		uint16_t val = ADC_value[i];
+		adwd_stat st = adc_status[i];
+		if(val > ADC_highlevel[i]){ // watchdog event on high level
+			if(st != ADWD_HI){
+				adc_ms[i] = Timer;
+				memcpy(&adc_time[i], &current_time, sizeof(curtime));
+				adc_status[i] = ADWD_HI;
+				ADC_trig_val[i] = val;
+			}
+		}else if(val < ADC_lowlevel[i]){ // watchdog event on low level
+			if(st != ADWD_LOW){
+				adc_ms[i] = Timer;
+				memcpy(&adc_time[i], &current_time, sizeof(curtime));
+				adc_status[i] = ADWD_LOW;
+				ADC_trig_val[i] = val;
+			}
+		}else if((st == ADWD_HI && val < ADC_midlevel[i]) ||
+				 (st == ADWD_LOW && val > ADC_midlevel[i])){
+			adc_status[i] = ADWD_MID;
+			if(adc_ms[i] == Timer) // remove noice
+				adc_ms[i] = DIDNT_TRIGGERED;
+		}
+	}
+}

GPS+ultrasonic/adc.h

@@ -0,0 +1,52 @@
+/*
+ * adc.h
+ *
+ * Copyright 2015 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
+ *
+ * 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.
+ */
+
+#pragma once
+#ifndef __SHARP_H__
+#define __SHARP_H__
+
+#include <stdint.h>
+
+extern uint16_t ADC_value[];
+extern uint16_t ADC_trig_val[];
+
+typedef enum{
+	ADWD_LOW,  // watchdog at low-level
+	ADWD_MID,  // normal state
+	ADWD_HI    // watchdog at high-level
+} adwd_stat;
+
+extern adwd_stat adc_status[];
+
+
+#define ADC_CHANNEL_NUMBER (2)
+
+// something near
+#define ADC_WDG_HIGH   ((uint16_t)1500)
+// nothing in front of sensor
+#define ADC_WDG_LOW    ((uint16_t)700)
+// threshold above levels
+#define ADC_WDG_THRES  ((uint16_t)200)
+
+void init_adc_sensor();
+void poll_ADC();
+
+#endif // __SHARP_H__

GPS+ultrasonic/cdcacm.c

@@ -0,0 +1,314 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2010 Gareth McMullin <gareth@blacksphere.co.nz>
+ * Copyright 2014 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library 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 Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "cdcacm.h"
+#include "user_proto.h"
+#include "main.h"
+
+// Buffer for USB Tx
+static uint8_t USB_Tx_Buffer[USB_TX_DATA_SIZE];
+static uint8_t USB_Tx_ptr = 0;
+// connection flag
+uint8_t USB_connected = 0;
+static const struct usb_device_descriptor dev = {
+	.bLength = USB_DT_DEVICE_SIZE,
+	.bDescriptorType = USB_DT_DEVICE,
+	.bcdUSB = 0x0200,
+	.bDeviceClass = USB_CLASS_CDC,
+	.bDeviceSubClass = 0,
+	.bDeviceProtocol = 0,
+	.bMaxPacketSize0 = 64,
+	.idVendor = 0x0483,
+	.idProduct = 0x5740,
+	.bcdDevice = 0x0200,
+	.iManufacturer = 1,
+	.iProduct = 2,
+	.iSerialNumber = 3,
+	.bNumConfigurations = 1,
+};
+
+char usbdatabuf[USB_RX_DATA_SIZE]; // buffer for received data
+int usbdatalen = 0;  // lenght of received data
+
+/*
+ * This notification endpoint isn't implemented. According to CDC spec its
+ * optional, but its absence causes a NULL pointer dereference in Linux
+ * cdc_acm driver.
+ */
+static const struct usb_endpoint_descriptor comm_endp[] = {{
+	.bLength = USB_DT_ENDPOINT_SIZE,
+	.bDescriptorType = USB_DT_ENDPOINT,
+	.bEndpointAddress = 0x83,
+	.bmAttributes = USB_ENDPOINT_ATTR_INTERRUPT,
+	.wMaxPacketSize = 16,
+	.bInterval = 255,
+}};
+
+static const struct usb_endpoint_descriptor data_endp[] = {{
+	.bLength = USB_DT_ENDPOINT_SIZE,
+	.bDescriptorType = USB_DT_ENDPOINT,
+	.bEndpointAddress = 0x01,
+	.bmAttributes = USB_ENDPOINT_ATTR_BULK,
+	.wMaxPacketSize = 64,
+	.bInterval = 1,
+}, {
+	.bLength = USB_DT_ENDPOINT_SIZE,
+	.bDescriptorType = USB_DT_ENDPOINT,
+	.bEndpointAddress = 0x82,
+	.bmAttributes = USB_ENDPOINT_ATTR_BULK,
+	.wMaxPacketSize = 64,
+	.bInterval = 1,
+}};
+
+static const struct {
+	struct usb_cdc_header_descriptor header;
+	struct usb_cdc_call_management_descriptor call_mgmt;
+	struct usb_cdc_acm_descriptor acm;
+	struct usb_cdc_union_descriptor cdc_union;
+} __attribute__((packed)) cdcacm_functional_descriptors = {
+	.header = {
+		.bFunctionLength = sizeof(struct usb_cdc_header_descriptor),
+		.bDescriptorType = CS_INTERFACE,
+		.bDescriptorSubtype = USB_CDC_TYPE_HEADER,
+		.bcdCDC = 0x0110,
+	},
+	.call_mgmt = {
+		.bFunctionLength =
+			sizeof(struct usb_cdc_call_management_descriptor),
+		.bDescriptorType = CS_INTERFACE,
+		.bDescriptorSubtype = USB_CDC_TYPE_CALL_MANAGEMENT,
+		.bmCapabilities = 0,
+		.bDataInterface = 1,
+	},
+	.acm = {
+		.bFunctionLength = sizeof(struct usb_cdc_acm_descriptor),
+		.bDescriptorType = CS_INTERFACE,
+		.bDescriptorSubtype = USB_CDC_TYPE_ACM,
+		.bmCapabilities = 0,
+	},
+	.cdc_union = {
+		.bFunctionLength = sizeof(struct usb_cdc_union_descriptor),
+		.bDescriptorType = CS_INTERFACE,
+		.bDescriptorSubtype = USB_CDC_TYPE_UNION,
+		.bControlInterface = 0,
+		.bSubordinateInterface0 = 1,
+	 },
+};
+
+static const struct usb_interface_descriptor comm_iface[] = {{
+	.bLength = USB_DT_INTERFACE_SIZE,
+	.bDescriptorType = USB_DT_INTERFACE,
+	.bInterfaceNumber = 0,
+	.bAlternateSetting = 0,
+	.bNumEndpoints = 1,
+	.bInterfaceClass = USB_CLASS_CDC,
+	.bInterfaceSubClass = USB_CDC_SUBCLASS_ACM,
+	.bInterfaceProtocol = USB_CDC_PROTOCOL_AT,
+	.iInterface = 0,
+
+	.endpoint = comm_endp,
+
+	.extra = &cdcacm_functional_descriptors,
+	.extralen = sizeof(cdcacm_functional_descriptors),
+}};
+
+static const struct usb_interface_descriptor data_iface[] = {{
+	.bLength = USB_DT_INTERFACE_SIZE,
+	.bDescriptorType = USB_DT_INTERFACE,
+	.bInterfaceNumber = 1,
+	.bAlternateSetting = 0,
+	.bNumEndpoints = 2,
+	.bInterfaceClass = USB_CLASS_DATA,
+	.bInterfaceSubClass = 0,
+	.bInterfaceProtocol = 0,
+	.iInterface = 0,
+
+	.endpoint = data_endp,
+}};
+
+static const struct usb_interface ifaces[] = {{
+	.num_altsetting = 1,
+	.altsetting = comm_iface,
+}, {
+	.num_altsetting = 1,
+	.altsetting = data_iface,
+}};
+
+static const struct usb_config_descriptor config = {
+	.bLength = USB_DT_CONFIGURATION_SIZE,
+	.bDescriptorType = USB_DT_CONFIGURATION,
+	.wTotalLength = 0,
+	.bNumInterfaces = 2,
+	.bConfigurationValue = 1,
+	.iConfiguration = 0,
+	.bmAttributes = 0x80,
+	.bMaxPower = 0x32,
+
+	.interface = ifaces,
+};
+
+static const char *usb_strings[] = {
+	"Organisation, author",
+	"device",
+	"version",
+};
+
+// default line coding: B115200, 1stop, 8bits, parity none
+struct usb_cdc_line_coding linecoding = {
+	.dwDTERate   = 115200,
+	.bCharFormat = USB_CDC_1_STOP_BITS,
+	.bParityType = USB_CDC_NO_PARITY,
+	.bDataBits   = 8,
+};
+
+/* Buffer to be used for control requests. */
+uint8_t usbd_control_buffer[128];
+
+/**
+ * This function runs every time it gets a request for control parameters get/set
+ * parameter SET_LINE_CODING used to change USART1 parameters: if you want to
+ * change them, just connect through USB with required parameters
+ */
+static int cdcacm_control_request(usbd_device *usbd_dev, struct usb_setup_data *req, uint8_t **buf,
+		uint16_t *len, void (**complete)(usbd_device *usbd_dev, struct usb_setup_data *req)){
+	(void)complete;
+	(void)buf;
+	(void)usbd_dev;
+	char local_buf[10];
+	struct usb_cdc_line_coding  lc;
+
+	switch (req->bRequest) {
+	case SET_CONTROL_LINE_STATE:{
+		if(req->wValue){ // terminal is opened
+			USB_connected = 1;
+		}else{ // terminal is closed
+			USB_connected = 0;
+		}
+		/*
+		 * This Linux cdc_acm driver requires this to be implemented
+		 * even though it's optional in the CDC spec, and we don't
+		 * advertise it in the ACM functional descriptor.
+		 */
+		struct usb_cdc_notification *notif = (void *)local_buf;
+		/* We echo signals back to host as notification. */
+		notif->bmRequestType = 0xA1;
+		notif->bNotification = USB_CDC_NOTIFY_SERIAL_STATE;
+		notif->wValue = 0;
+		notif->wIndex = 0;
+		notif->wLength = 2;
+		local_buf[8] = req->wValue & 3;
+		local_buf[9] = 0;
+		usbd_ep_write_packet(usbd_dev, 0x83, local_buf, 10);
+	}break;
+	case SET_LINE_CODING:
+		if (!len || (*len != sizeof(struct usb_cdc_line_coding)))
+			return 0;
+		memcpy((void *)&lc, (void *)*buf, *len);
+		// Mark & Space parity don't support by hardware, check it
+		if(lc.bParityType == USB_CDC_MARK_PARITY || lc.bParityType == USB_CDC_SPACE_PARITY){
+			return 0; // error
+		}else{
+//			memcpy((void *)&linecoding, (void *)&lc, sizeof(struct usb_cdc_line_coding));
+//			UART_setspeed(USART1, &linecoding);
+		}
+	break;
+	case GET_LINE_CODING: // return linecoding buffer
+		if(len && *len == sizeof(struct usb_cdc_line_coding))
+			memcpy((void *)*buf, (void *)&linecoding, sizeof(struct usb_cdc_line_coding));
+		//usbd_ep_write_packet(usbd_dev, 0x83, (char*)&linecoding, sizeof(linecoding));
+	break;
+	default:
+		return 0;
+	}
+	return 1;
+}
+
+static void cdcacm_data_rx_cb(usbd_device *usbd_dev, uint8_t ep){
+	(void)ep;
+	int len = usbd_ep_read_packet(usbd_dev, 0x01, usbdatabuf + usbdatalen, USB_RX_DATA_SIZE - usbdatalen);
+	usbdatalen += len;
+	if(usbdatalen >= USB_RX_DATA_SIZE){ // buffer overflow - drop all its contents
+		usbdatalen = 0;
+	}
+}
+
+static void cdcacm_data_tx_cb(usbd_device *usbd_dev, uint8_t ep){
+	(void)ep;
+	(void)usbd_dev;
+
+	usb_send_buffer();
+}
+
+static void cdcacm_set_config(usbd_device *usbd_dev, uint16_t wValue)
+{
+	(void)wValue;
+	(void)usbd_dev;
+
+	usbd_ep_setup(usbd_dev, 0x01, USB_ENDPOINT_ATTR_BULK, USB_RX_DATA_SIZE, cdcacm_data_rx_cb);
+	usbd_ep_setup(usbd_dev, 0x82, USB_ENDPOINT_ATTR_BULK, USB_TX_DATA_SIZE, cdcacm_data_tx_cb);
+	usbd_ep_setup(usbd_dev, 0x83, USB_ENDPOINT_ATTR_INTERRUPT, 16, NULL);
+
+	usbd_register_control_callback(
+				usbd_dev,
+				USB_REQ_TYPE_CLASS | USB_REQ_TYPE_INTERFACE,
+				USB_REQ_TYPE_TYPE | USB_REQ_TYPE_RECIPIENT,
+				cdcacm_control_request);
+}
+
+static usbd_device *current_usb = NULL;
+
+usbd_device *USB_init(){
+	current_usb = usbd_init(&stm32f103_usb_driver, &dev, &config,
+		usb_strings, 3, usbd_control_buffer, sizeof(usbd_control_buffer));
+	if(!current_usb) return NULL;
+	usbd_register_set_config_callback(current_usb, cdcacm_set_config);
+	return current_usb;
+}
+
+mutex_t send_block_mutex = MUTEX_UNLOCKED;
+/**
+ * Put byte into USB buffer to send
+ * @param byte - a byte to put into a buffer
+ */
+void usb_send(uint8_t byte){
+	mutex_lock(&send_block_mutex);
+	USB_Tx_Buffer[USB_Tx_ptr++] = byte;
+	mutex_unlock(&send_block_mutex);
+	if(USB_Tx_ptr == USB_TX_DATA_SIZE){ // buffer can be overflowed - send it!
+		usb_send_buffer();
+	}
+}
+
+/**
+ * Send all data in buffer over USB
+ * this function runs when buffer is full or on SysTick
+ */
+void usb_send_buffer(){
+	if(MUTEX_LOCKED == mutex_trylock(&send_block_mutex)) return;
+	if(USB_Tx_ptr){
+		if(current_usb && USB_connected){
+			// usbd_ep_write_packet return 0 if previous packet isn't transmit yet
+			while(USB_Tx_ptr != usbd_ep_write_packet(current_usb, 0x82, USB_Tx_Buffer, USB_Tx_ptr));
+			usbd_poll(current_usb);
+		}
+		USB_Tx_ptr = 0;
+	}
+	mutex_unlock(&send_block_mutex);
+}

GPS+ultrasonic/cdcacm.h

@@ -0,0 +1,54 @@
+/*
+ * ccdcacm.h
+ *
+ * Copyright 2014 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
+ *
+ * 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.
+ */
+
+#pragma once
+#ifndef __CCDCACM_H__
+#define __CCDCACM_H__
+
+#include <libopencm3/usb/usbd.h>
+
+// commands through EP0
+#define SEND_ENCAPSULATED_COMMAND   0x00
+#define GET_ENCAPSULATED_RESPONSE   0x01
+#define SET_COMM_FEATURE            0x02
+#define GET_COMM_FEATURE            0x03
+#define CLEAR_COMM_FEATURE          0x04
+#define SET_LINE_CODING             0x20
+#define GET_LINE_CODING             0x21
+#define SET_CONTROL_LINE_STATE      0x22
+#define SEND_BREAK                  0x23
+
+// Size of input/output buffers
+#define USB_TX_DATA_SIZE            64
+#define USB_RX_DATA_SIZE            64
+
+// USB connection flag
+extern uint8_t USB_connected;
+extern struct usb_cdc_line_coding linecoding;
+
+extern char usbdatabuf[];
+extern int usbdatalen;
+
+usbd_device *USB_init();
+void usb_send(uint8_t byte);
+void usb_send_buffer();
+
+#endif // __CCDCACM_H__

GPS+ultrasonic/hardware_ini.c

@@ -0,0 +1,121 @@
+/*
+ * hardware_ini.c - functions for HW initialisation
+ *
+ * Copyright 2014 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
+ *
+ * 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.
+ */
+
+/*
+ * All hardware-dependent initialisation & definition should be placed here
+ * and in hardware_ini.h
+ *
+ */
+
+#include "main.h"
+#include "hardware_ini.h"
+
+/**
+ * GPIO initialisaion: clocking + pins setup
+ */
+void GPIO_init(){
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN |
+			RCC_APB2ENR_IOPBEN | RCC_APB2ENR_IOPCEN | RCC_APB2ENR_IOPDEN |
+			RCC_APB2ENR_IOPEEN);
+	/*
+	 * Setup EXTI on PA4 (PPS input from GPS) - pull down
+	 * EXTI on PA5 - also pull down (trigger for time measurement)
+	 */
+	gpio_set_mode(GPIOA, GPIO_MODE_INPUT, GPIO_CNF_INPUT_PULL_UPDOWN, GPIO4 | GPIO5);
+	//AFIO_EXTICR2 = 0;
+	exti_enable_request(EXTI4 | EXTI5);
+	// trigger on rising edge
+	exti_set_trigger(EXTI4 | EXTI5, EXTI_TRIGGER_RISING);
+	nvic_enable_irq(NVIC_EXTI4_IRQ);
+	nvic_enable_irq(NVIC_EXTI9_5_IRQ);
+/*
+	// Buttons: pull-up input
+	gpio_set_mode(BTNS_PORT, GPIO_MODE_INPUT, GPIO_CNF_INPUT_PULL_UPDOWN,
+			BTN_S2_PIN | BTN_S3_PIN);
+	// turn on pull-up
+	gpio_set(BTNS_PORT, BTN_S2_PIN | BTN_S3_PIN);
+	// LEDS: opendrain output
+	gpio_set_mode(LEDS_PORT, GPIO_MODE_OUTPUT_2_MHZ, GPIO_CNF_OUTPUT_OPENDRAIN,
+			LED_D1_PIN | LED_D2_PIN);
+	// turn off LEDs
+	gpio_set(LEDS_PORT, LED_D1_PIN | LED_D2_PIN);*/
+/*
+	// USB_DISC: push-pull
+	gpio_set_mode(USB_DISC_PORT, GPIO_MODE_OUTPUT_2_MHZ,
+				GPIO_CNF_OUTPUT_PUSHPULL, USB_DISC_PIN);
+	// USB_POWER: open drain, externall pull down with R7 (22k)
+	gpio_set_mode(USB_POWER_PORT, GPIO_MODE_INPUT,
+				GPIO_CNF_INPUT_FLOAT, USB_POWER_PIN);
+*/
+}
+
+/*
+ * SysTick used for system timer with period of 1ms
+ */
+void SysTick_init(){
+	systick_set_clocksource(STK_CSR_CLKSOURCE_AHB_DIV8); // Systyck: 72/8=9MHz
+	STK_RVR = STK_RVR_DEFAULT_VAL; // 9000 pulses: 1kHz
+	systick_interrupt_enable();
+	systick_counter_enable();
+}
+
+/**
+ * PA5 interrupt - print time at button/switch trigger
+ */
+void exti9_5_isr(){
+	if(EXTI_PR & EXTI5){
+		if(trigger_ms == DIDNT_TRIGGERED){ // prevent bounce
+			trigger_ms = Timer;
+			memcpy(&trigger_time, &current_time, sizeof(curtime));
+		}
+		EXTI_PR = EXTI5;
+	}
+}
+
+/*
+// check buttons S2/S3
+void check_btns(){
+	static uint8_t oldstate[2] = {1,1}; // old buttons state
+	uint8_t newstate[2], i;
+	static uint32_t Old_timer[2] = {0,0};
+	newstate[0] = gpio_get(BTNS_PORT, BTN_S2_PIN) ? 1 : 0;
+	newstate[1] = gpio_get(BTNS_PORT, BTN_S3_PIN) ? 1 : 0;
+	for(i = 0; i < 2; i++){
+		uint8_t new = newstate[i];
+		// pause for 60ms
+		uint32_t O = Old_timer[i];
+		if(O){
+			if(Timer - O > 60 || O > Timer){
+				P("Button S");
+				usb_send('2' + i);
+				if(new) P("released");
+				else P("pressed");
+				newline();
+				oldstate[i] = new;
+				Old_timer[i] = 0;
+			}
+		}
+		else if(new != oldstate[i]){
+			Old_timer[i] = Timer;
+		}
+	}
+}
+*/

GPS+ultrasonic/hardware_ini.h

@@ -0,0 +1,76 @@
+/*
+ * hardware_ini.h
+ *
+ * Copyright 2014 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
+ *
+ * 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.
+ */
+
+#pragma once
+#ifndef __HARDWARE_INI_H__
+#define __HARDWARE_INI_H__
+
+/*
+ * Timers:
+ * SysTick - system time
+ */
+
+
+void GPIO_init();
+void SysTick_init();
+
+/*
+ * Buttons on devboard
+ */
+#define BTNS_PORT		GPIOC
+// PCO -- S2
+#define BTN_S2_PIN		GPIO0
+// PC1 -- S3
+#define BTN_S3_PIN		GPIO1
+
+/*
+ * LEDS: PB9 for D1, PB8 for D2
+ */
+#define LEDS_PORT		GPIOB
+#define LED_D1_PIN		GPIO9
+#define LED_D2_PIN		GPIO8
+
+/*
+ * USB interface
+ * connect boot1 jumper to gnd, boot0 to gnd; and reconnect boot0 to +3.3 to boot flash
+ */
+/*
+// USB_DICS (disconnect) - PC11
+#define USB_DISC_PIN		GPIO11
+#define USB_DISC_PORT		GPIOC
+// USB_POWER (high level when USB connected to PC)
+#define USB_POWER_PIN		GPIO10
+#define USB_POWER_PORT		GPIOC
+// change signal level on USB diconnect pin
+#define usb_disc_high()   gpio_set(USB_DISC_PORT, USB_DISC_PIN)
+#define usb_disc_low()    gpio_clear(USB_DISC_PORT, USB_DISC_PIN)
+// in case of n-channel FET on 1.5k pull-up change on/off disconnect means low level
+// in case of pnp bipolar transistor or p-channel FET on 1.5k pull-up disconnect means high level
+#define usb_disconnect()  usb_disc_high()
+#define usb_connect()     usb_disc_low()
+*/
+// my simple devboard have no variants for programmed connection/disconnection of USB
+#define usb_disconnect()
+#define usb_connect()
+
+void check_btns();
+
+#endif // __HARDWARE_INI_H__

GPS+ultrasonic/ld/devices.data

@@ -0,0 +1,9 @@
+stm32f103?4* stm32f1 ROM=16K RAM=6K
+stm32f103?6* stm32f1 ROM=32K RAM=10K
+stm32f103?8* stm32f1 ROM=64K RAM=20K
+stm32f103?b* stm32f1 ROM=128K RAM=20K
+stm32f103?c* stm32f1 ROM=256K RAM=48K
+stm32f103?d* stm32f1 ROM=384K RAM=64K
+stm32f103?e* stm32f1 ROM=512K RAM=64K
+stm32f103?f* stm32f1 ROM=768K RAM=96K
+stm32f103?g* stm32f1 ROM=1024K RAM=96K

GPS+ultrasonic/ld/stm32f103x4.ld

@@ -0,0 +1,31 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2012 Karl Palsson <karlp@tweak.net.au>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library 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 Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/* Linker script for STM32F100x4, 16K flash, 4K RAM. */
+
+/* Define memory regions. */
+MEMORY
+{
+	rom (rx) : ORIGIN = 0x08000000, LENGTH = 16K
+	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 6K
+}
+
+/* Include the common ld script. */
+INCLUDE libopencm3_stm32f1.ld
+

GPS+ultrasonic/ld/stm32f103x6.ld

@@ -0,0 +1,31 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2012 Karl Palsson <karlp@tweak.net.au>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library 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 Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/* Linker script for STM32F100x4, 16K flash, 4K RAM. */
+
+/* Define memory regions. */
+MEMORY
+{
+	rom (rx) : ORIGIN = 0x08000000, LENGTH =  32K
+	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 10K
+}
+
+/* Include the common ld script. */
+INCLUDE libopencm3_stm32f1.ld
+

GPS+ultrasonic/ld/stm32f103x8.ld

@@ -0,0 +1,31 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2012 Karl Palsson <karlp@tweak.net.au>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library 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 Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/* Linker script for STM32F100x4, 16K flash, 4K RAM. */
+
+/* Define memory regions. */
+MEMORY
+{
+	rom (rx) : ORIGIN = 0x08000000, LENGTH =  64K
+	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 20K
+}
+
+/* Include the common ld script. */
+INCLUDE libopencm3_stm32f1.ld
+

GPS+ultrasonic/ld/stm32f103xB.ld

@@ -0,0 +1,31 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2012 Karl Palsson <karlp@tweak.net.au>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library 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 Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/* Linker script for STM32F100x4, 16K flash, 4K RAM. */
+
+/* Define memory regions. */
+MEMORY
+{
+	rom (rx) : ORIGIN = 0x08000000, LENGTH = 128K
+	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 20K
+}
+
+/* Include the common ld script. */
+INCLUDE libopencm3_stm32f1.ld
+

GPS+ultrasonic/ld/stm32f103xC.ld

@@ -0,0 +1,31 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2012 Karl Palsson <karlp@tweak.net.au>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library 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 Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/* Linker script for STM32F100x4, 16K flash, 4K RAM. */
+
+/* Define memory regions. */
+MEMORY
+{
+	rom (rx) : ORIGIN = 0x08000000, LENGTH = 256K
+	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 48K
+}
+
+/* Include the common ld script. */
+INCLUDE libopencm3_stm32f1.ld
+

GPS+ultrasonic/ld/stm32f103xD.ld

@@ -0,0 +1,31 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2012 Karl Palsson <karlp@tweak.net.au>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library 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 Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/* Linker script for STM32F100x4, 16K flash, 4K RAM. */
+
+/* Define memory regions. */
+MEMORY
+{
+	rom (rx) : ORIGIN = 0x08000000, LENGTH = 384K
+	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 64K
+}
+
+/* Include the common ld script. */
+INCLUDE libopencm3_stm32f1.ld
+

GPS+ultrasonic/ld/stm32f103xE.ld

@@ -0,0 +1,31 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2012 Karl Palsson <karlp@tweak.net.au>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library 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 Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/* Linker script for STM32F100x4, 16K flash, 4K RAM. */
+
+/* Define memory regions. */
+MEMORY
+{
+	rom (rx) : ORIGIN = 0x08000000, LENGTH = 512K
+	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 64K
+}
+
+/* Include the common ld script. */
+INCLUDE libopencm3_stm32f1.ld
+

GPS+ultrasonic/ld/stm32f103xF.ld

@@ -0,0 +1,31 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2012 Karl Palsson <karlp@tweak.net.au>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library 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 Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/* Linker script for STM32F100x4, 16K flash, 4K RAM. */
+
+/* Define memory regions. */
+MEMORY
+{
+	rom (rx) : ORIGIN = 0x08000000, LENGTH = 768K
+	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 96K
+}
+
+/* Include the common ld script. */
+INCLUDE libopencm3_stm32f1.ld
+

GPS+ultrasonic/ld/stm32f103xG.ld

@@ -0,0 +1,31 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2012 Karl Palsson <karlp@tweak.net.au>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library 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 Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/* Linker script for STM32F100x4, 16K flash, 4K RAM. */
+
+/* Define memory regions. */
+MEMORY
+{
+	rom (rx) : ORIGIN = 0x08000000, LENGTH = 1024K
+	ram (rwx) : ORIGIN = 0x20000000, LENGTH =  96K
+}
+
+/* Include the common ld script. */
+INCLUDE libopencm3_stm32f1.ld
+

GPS+ultrasonic/main.c

@@ -0,0 +1,271 @@
+/*
+ * main.c
+ *
+ * Copyright 2014 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
+ *
+ * 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 "main.h"
+#include "hardware_ini.h"
+#include "cdcacm.h"
+#include "uart.h"
+#include "GPS.h"
+#include "ultrasonic.h"
+#include "adc.h"
+
+volatile uint32_t Timer = 0; // milliseconds
+volatile uint32_t msctr = 0; // global milliseconds for different purposes
+usbd_device *usbd_dev;
+volatile int32_t systick_val = 0;
+volatile int32_t timer_val = 0;
+volatile int clear_ST_on_connect = 1;
+
+volatile int need_sync = 1;
+
+volatile uint32_t last_corr_time = 0; // time of last PPS correction (seconds from midnight)
+
+// STK_CVR values for all milliseconds (RVR0) and last millisecond (RVR1)
+volatile uint32_t RVR0 = STK_RVR_DEFAULT_VAL, RVR1 = STK_RVR_DEFAULT_VAL;
+
+curtime current_time = {25,61,61};
+
+curtime trigger_time = {25, 61, 61};
+curtime adc_time[ADC_CHANNEL_NUMBER] = {{25, 61, 61}, {25, 61, 61}};
+curtime ultrasonic_time = {25, 61, 61};
+uint32_t trigger_ms = DIDNT_TRIGGERED, adc_ms[ADC_CHANNEL_NUMBER] = {DIDNT_TRIGGERED, DIDNT_TRIGGERED},
+	ultrasonic_ms = DIDNT_TRIGGERED;
+
+void time_increment(){
+	Timer = 0;
+	if(current_time.H == 25) return; // Time not initialized
+	if(++current_time.S == 60){
+		current_time.S = 0;
+		if(++current_time.M == 60){
+			current_time.M = 0;
+			if(++current_time.H == 24)
+				current_time.H = 0;
+		}
+	}
+}
+
+int main(){
+	uint8_t *string;
+	int i;
+	// RCC clocking: 8MHz oscillator -> 72MHz system
+	rcc_clock_setup_in_hse_8mhz_out_72mhz();
+
+	GPIO_init();
+
+	usb_disconnect(); // turn off USB while initializing all
+
+	// USB
+	usbd_dev = USB_init();
+
+	// SysTick is a system timer with 1ms period
+	SysTick_init();
+	UART_init(USART2); // init GPS UART
+
+	tim2_init();
+	// wait a little and then turn on USB pullup
+//	for (i = 0; i < 0x800000; i++)
+//		__asm__("nop");
+
+	usb_connect(); // turn on USB
+
+	GPS_send_start_seq();
+	init_adc_sensor();
+
+	uint32_t trigrtm = 0, adctm[2] = {0, 0}, ultrasonictm = 0;
+	while(1){
+		usbd_poll(usbd_dev);
+		poll_ultrasonic();
+		poll_ADC();
+		if(usbdatalen){ // there's something in USB buffer
+			usbdatalen = parce_incoming_buf(usbdatabuf, usbdatalen);
+		}
+		if((string = check_UART2())){
+		//	P(string);
+			GPS_parse_answer(string);
+		}
+		if(systick_val > 1000){
+			P("Systick differs by ");
+			print_int(systick_val);
+			systick_val = 0;
+			P(", timer value: ");
+			print_int(timer_val);
+			P(", RVR0 = ");
+			print_int(RVR0);
+			P(", RVR1 = ");
+			print_int(RVR1);
+			P("\n");
+			print_curtime();
+		}
+		if(trigger_ms != DIDNT_TRIGGERED && trigger_ms != Timer){
+			if(msctr - trigrtm > 500 || trigrtm > msctr){
+				trigrtm = msctr;
+				P("Trigger time: ");
+				print_time(&trigger_time, trigger_ms);
+			}
+			trigger_ms = DIDNT_TRIGGERED;
+		}
+		for(i = 0; i < ADC_CHANNEL_NUMBER; ++i){
+			if(adc_ms[i] != DIDNT_TRIGGERED && adc_ms[i] != Timer){
+				if(msctr - adctm[i] > 500 || adctm[i] > msctr){
+					/*int16_t diff = ADC_trig_val[i] - ADC_value[i];
+					if(diff < 0) diff = -diff;
+					if(diff < ADC_WDG_THRES/2){ // omit noice
+					*/
+					adctm[i] = msctr;
+					P("ADC");
+					usb_send('0'+i);
+					if(adc_status[i] == ADWD_HI) P("hi");
+					else if(adc_status[i] == ADWD_LOW) P("lo");
+					P(": value = ");
+					print_int(ADC_trig_val[i]);
+					P(" (now: ");
+					print_int(ADC_value[i]);
+					P("), time = ");
+					print_time(&adc_time[i], adc_ms[i]);
+					//}
+				}
+				adc_ms[i] = DIDNT_TRIGGERED;
+			}
+		}
+		if(ultrasonic_ms != DIDNT_TRIGGERED && ultrasonic_ms != Timer){
+			if(msctr - ultrasonictm > 500 || ultrasonictm > msctr){
+				ultrasonictm = msctr;
+				P("Ultrasonic time: ");
+				print_time(&ultrasonic_time, ultrasonic_ms);
+			}
+			ultrasonic_ms = DIDNT_TRIGGERED;
+		}
+	}
+}
+
+
+/**
+ * SysTick interrupt: increment global time & send data buffer through USB
+ */
+void sys_tick_handler(){
+	++Timer;
+	++msctr;
+	if(Timer == 999){
+		STK_RVR = RVR1;
+	}else if(Timer == 1000){
+		STK_RVR = RVR0;
+		time_increment();
+	}
+	usb_send_buffer();
+}
+// STK_CVR - current systick val
+// STK_RVR - ticks till interrupt - 1
+
+// PA4 interrupt - PPS signal
+void exti4_isr(){
+	uint32_t t = 0, ticks;
+	static uint32_t ticksavr = 0, N = 0;
+	if(EXTI_PR & EXTI4){
+		// correct
+		systick_val = STK_CVR;
+		STK_CVR = RVR0;
+		timer_val = Timer;
+		Timer = 0;
+		systick_val = STK_RVR + 1 - systick_val; // Systick counts down!
+		if(timer_val < 10) timer_val += 1000; // our closks go faster than real
+		else if(timer_val < 990){ // something wrong
+			RVR0 = RVR1 = STK_RVR_DEFAULT_VAL;
+			STK_RVR = RVR0;
+			need_sync = 1;
+			goto theend;
+		}else
+			time_increment(); // ms counter less than 1000 - we need to increment time
+		t = current_time.H * 3600 + current_time.M * 60 + current_time.S;
+		if(clear_ST_on_connect){
+			clear_ST_on_connect = 0;
+		}else{
+			//  || (last_corr_time == 86399 && t == 0)
+			if(t - last_corr_time == 1){ // PPS interval == 1s
+				ticks =  systick_val + (timer_val-1)*(RVR0 + 1) + RVR1 + 1;
+				++N;
+				ticksavr += ticks;
+				if(N > 20){
+					ticks = ticksavr / N;
+					RVR0 = ticks / 1000 - 1; // main RVR value
+					STK_RVR = RVR0;
+					RVR1 = RVR0 + ticks % 1000; // last millisecond RVR value (with fine correction)
+					N = 0;
+					ticksavr = 0;
+					need_sync = 0;
+				}
+			}else{
+				N = 0;
+				ticksavr = 0;
+			}
+		}
+	theend:
+		last_corr_time = t;
+		EXTI_PR = EXTI4;
+	}
+}
+
+// pause function, delay in ms
+void Delay(uint16_t time){
+	uint32_t waitto = msctr + time;
+	while(msctr != waitto);
+}
+
+/**
+ * set current time by buffer hhmmss
+ */
+void set_time(uint8_t *buf){
+	inline uint8_t atou(uint8_t *b){
+		return (b[0]-'0')*10 + b[1]-'0';
+	}
+	uint8_t H = atou(buf) + TIMEZONE_GMT_PLUS;
+	if(H > 23) H -= 24;
+	current_time.H = H;
+	current_time.M = atou(&buf[2]);
+	current_time.S = atou(&buf[4]);
+}
+
+/**
+ * print time: Tm - time structure, T - milliseconds
+ */
+void print_time(curtime *Tm, uint32_t T){
+	int S = Tm->S, M = Tm->M, H = Tm->H;
+	if(H < 10) usb_send('0');
+	print_int(H); usb_send(':');
+	if(M < 10) usb_send('0');
+	print_int(M); usb_send(':');
+	if(S < 10) usb_send('0');
+	print_int(S); usb_send('.');
+	if(T < 100) usb_send('0');
+	if(T < 10) usb_send('0');
+	print_int(T);
+	if(GPS_status == GPS_NOT_VALID) P(" (not valid)");
+	if(need_sync) P(" need synchronisation");
+	newline();
+}
+
+void print_curtime(){
+	uint32_t T = Timer;
+	if(current_time.H < 24 && GPS_status != GPS_WAIT){
+		P("Current time: ");
+		print_time(&current_time, T);
+	}else
+		P("Waiting for satellites\n");
+}

GPS+ultrasonic/main.h

@@ -0,0 +1,77 @@
+/*
+ * main.h
+ *
+ * Copyright 2014 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
+ *
+ * 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.
+ */
+
+
+#pragma once
+#ifndef __MAIN_H__
+#define __MAIN_H__
+
+#include <stdlib.h>
+#include <libopencm3/stm32/exti.h>
+#include <libopencm3/stm32/gpio.h>
+#include <libopencm3/stm32/usart.h>
+#include <libopencm3/cm3/nvic.h>
+#include <libopencm3/usb/cdc.h>
+#include <libopencm3/usb/usbd.h>
+#include <libopencm3/cm3/systick.h>
+#include <libopencm3/stm32/rcc.h>
+#include <libopencm3/stm32/adc.h>
+#include <libopencm3/stm32/dma.h>
+#include <libopencm3/stm32/spi.h>
+
+#include "sync.h" // mutexes
+#include "user_proto.h"
+
+extern void *memcpy(void *dest, const void *src, int n);
+
+#define _U_    __attribute__((__unused__))
+#define  U8(x)  ((uint8_t)  x)
+#define U16(x)  ((uint16_t) x)
+#define U32(x)  ((uint32_t) x)
+
+#define STK_RVR_DEFAULT_VAL  (8999)
+#define TIMEZONE_GMT_PLUS    (3)
+
+#define DIDNT_TRIGGERED (2000)
+
+typedef struct{
+	uint8_t H;
+	uint8_t M;
+	uint8_t S;
+} curtime;
+
+extern curtime current_time;
+extern volatile uint32_t Timer; // global timer (milliseconds)
+extern volatile int clear_ST_on_connect; // flag for clearing Systick counter on next PPS
+
+extern curtime trigger_time, adc_time[], ultrasonic_time;
+extern uint32_t trigger_ms, adc_ms[], ultrasonic_ms;
+
+extern volatile int need_sync;
+
+void Delay(uint16_t time);
+void set_time(uint8_t *buf);
+
+void print_time(curtime *T, uint32_t m);
+void print_curtime();
+
+#endif // __MAIN_H__
+

GPS+ultrasonic/sync.c

@@ -0,0 +1,93 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2012 Fergus Noble <fergusnoble@gmail.com>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library 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 Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/*
+ * TODO:
+ *   implement mutexes for other type of MCU (which doesn't have strex & ldrex)
+ */
+
+#include <libopencm3/cm3/sync.h>
+
+/* DMB is supported on CM0 */
+void __dmb()
+{
+	__asm__ volatile ("dmb");
+}
+
+/* Those are defined only on CM3 or CM4 */
+#if defined(__ARM_ARCH_7M__) || defined(__ARM_ARCH_7EM__)
+
+uint32_t __ldrex(volatile uint32_t *addr)
+{
+	uint32_t res;
+	__asm__ volatile ("ldrex %0, [%1]" : "=r" (res) : "r" (addr));
+	return res;
+}
+
+uint32_t __strex(uint32_t val, volatile uint32_t *addr)
+{
+	uint32_t res;
+	__asm__ volatile ("strex %0, %2, [%1]"
+			  : "=&r" (res) : "r" (addr), "r" (val));
+	return res;
+}
+
+void mutex_lock(mutex_t *m)
+{
+	uint32_t status = 0;
+
+	do {
+		/* Wait until the mutex is unlocked. */
+		while (__ldrex(m) != MUTEX_UNLOCKED);
+
+		/* Try to acquire it. */
+		status = __strex(MUTEX_LOCKED, m);
+
+	/* Did we get it? If not then try again. */
+	} while (status != 0);
+
+	/* Execute the mysterious Data Memory Barrier instruction! */
+	__dmb();
+}
+
+void mutex_unlock(mutex_t *m)
+{
+	/* Ensure accesses to protected resource are finished */
+	__dmb();
+
+	/* Free the lock. */
+	*m = MUTEX_UNLOCKED;
+}
+
+/*
+ * Try to lock mutex
+ * if it's already locked or there was error in STREX, return MUTEX_LOCKED
+ * else return MUTEX_UNLOCKED
+ */
+mutex_t mutex_trylock(mutex_t *m){
+	uint32_t status = 0;
+	mutex_t old_lock = __ldrex(m); // get mutex value
+	// set mutex
+	status = __strex(MUTEX_LOCKED, m);
+	if(status == 0) __dmb();
+	else old_lock = MUTEX_LOCKED;
+	return old_lock;
+}
+
+#endif

GPS+ultrasonic/sync.h

@@ -0,0 +1,53 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2012 Fergus Noble <fergusnoble@gmail.com>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library 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 Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef LIBOPENCM3_CM3_SYNC_H
+#define LIBOPENCM3_CM3_SYNC_H
+
+void __dmb(void);
+
+/* Implements synchronisation primitives as discussed in the ARM document
+ * DHT0008A (ID081709) "ARM Synchronization Primitives" and the ARM v7-M
+ * Architecture Reference Manual.
+*/
+
+/* --- Exclusive load and store instructions ------------------------------- */
+
+/* Those are defined only on CM3 or CM4 */
+#if defined(__ARM_ARCH_7M__) || defined(__ARM_ARCH_7EM__)
+
+uint32_t __ldrex(volatile uint32_t *addr);
+uint32_t __strex(uint32_t val, volatile uint32_t *addr);
+
+/* --- Convenience functions ----------------------------------------------- */
+
+/* Here we implement some simple synchronisation primitives. */
+
+typedef uint32_t mutex_t;
+
+#define MUTEX_UNLOCKED 0
+#define MUTEX_LOCKED   1
+
+void mutex_lock(mutex_t *m);
+void mutex_unlock(mutex_t *m);
+mutex_t mutex_trylock(mutex_t *m);
+
+#endif
+
+#endif

GPS+ultrasonic/uart.c

@@ -0,0 +1,262 @@
+/*
+ * uart.c - functions to work with UART
+ *
+ * Copyright 2014 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
+ *
+ * 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 "main.h"
+#include "uart.h"
+#include "cdcacm.h"
+#include "hardware_ini.h"
+
+// Buffers for Tx
+static UART_buff TX_buffer[2]; // Tx buffers for all three ports
+static UART_buff RX_buffer[2]; // Rx buffers for all three ports
+
+void fill_uart_RXbuff(uint32_t UART, uint8_t byte);
+
+/**
+ * Set UART speed
+ * @param lc - UART parameters or NULL for value from cdcacm.c (started - B115200,8,N,1)
+ */
+void UART_setspeed(uint32_t UART){
+	usart_set_baudrate(UART, 9600);
+	usart_set_databits(UART, 8);
+	usart_set_stopbits(UART, USART_STOPBITS_1);
+	usart_set_parity(UART, USART_PARITY_NONE);
+	usart_set_flow_control(UART, USART_FLOWCONTROL_NONE);
+	usart_set_mode(UART, USART_MODE_TX_RX);
+}
+
+/**
+ * Setup UART
+ */
+void UART_init(uint32_t UART){
+	uint32_t irq, rcc, rccgpio, gpioport, gpiopin;
+	switch(UART){
+		case USART2: // GPS UART
+			irq = NVIC_USART2_IRQ; // interrupt for given USART
+			rcc = RCC_USART2;      // RCC timing of USART
+			rccgpio = RCC_GPIOA;   // RCC timing of GPIO pin (for output)
+			TX_buffer[1].end = 0;  // reset counters
+			TX_buffer[1].start = 0;
+			RX_buffer[1].end = 0;
+			RX_buffer[1].start = 0;
+			// output pin setup
+			gpioport = GPIO_BANK_USART2_TX;
+			gpiopin  = GPIO_USART2_TX;
+		break;
+		case USART1:
+		default:
+			irq = NVIC_USART1_IRQ;
+			rcc = RCC_USART1;
+			rccgpio = RCC_GPIOA;
+			TX_buffer[0].end = 0;
+			TX_buffer[0].start = 0;
+			RX_buffer[0].end = 0;
+			RX_buffer[0].start = 0;
+			gpioport = GPIO_BANK_USART1_TX;
+			gpiopin  = GPIO_USART1_TX;
+	}
+	// enable clocking
+	rcc_periph_clock_enable(RCC_AFIO); // alternate functions
+	rcc_periph_clock_enable(rcc);      // USART
+	rcc_periph_clock_enable(rccgpio);  // GPIO pins
+	// enable output pin
+	gpio_set_mode(gpioport, GPIO_MODE_OUTPUT_50_MHZ,
+				GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, gpiopin);
+	// enable IRQ
+	nvic_enable_irq(irq);
+	UART_setspeed(UART);
+	// Enable UART receive interrupt
+	USART_CR1(UART) |= USART_CR1_RXNEIE;
+	// Enable UART
+	usart_enable(UART);
+}
+
+/*
+ * UART interrupts
+ */
+// common
+void UART_isr(uint32_t UART){
+	uint8_t bufidx = 0, data;
+	UART_buff *curbuff;
+	// Check if we were called because of RXNE
+	if(USART_SR(UART) & USART_SR_RXNE){
+		// parce incoming byte
+		data = usart_recv(UART);
+		fill_uart_RXbuff(UART, data);
+	}
+	// Check if we were called because of TXE -> send next byte in buffer
+	if((USART_CR1(UART) & USART_CR1_TXEIE) && (USART_SR(UART) & USART_SR_TXE)){
+		switch(UART){
+			case USART1:
+				bufidx = 0;
+			break;
+			case USART2:
+				bufidx = 1;
+			break;
+			default: // error - return
+				return;
+		}
+		curbuff = &TX_buffer[bufidx];
+		bufidx = curbuff->start; // start of data in buffer
+		if(bufidx != curbuff->end){ // there's data in buffer
+			// Put data into the transmit register
+			usart_send(UART, curbuff->buf[bufidx]);
+			if(++(curbuff->start) == UART_BUF_DATA_SIZE){ // reload start
+				curbuff->start = 0;
+			}
+		}else{ // Disable the TXE interrupt, it's no longer needed
+			USART_CR1(UART) &= ~USART_CR1_TXEIE;
+			// empty indexes
+			curbuff->start = 0;
+			curbuff->end = 0;
+		}
+	}
+}
+// particular interrupt handlers
+void usart1_isr(){
+	UART_isr(USART1);
+}
+void usart2_isr(){
+	UART_isr(USART2);
+}
+
+// put byte into Tx buffer
+void fill_uart_buff(uint32_t UART, uint8_t byte){
+	UART_buff *curbuff;
+	uint8_t bufidx = 0, endidx;
+	if(!(USART_CR1(UART) & USART_CR1_UE)) return; // UART disabled
+	USART_CR1(UART) &= ~USART_CR1_TXEIE; // disable TX interrupt while buffer filling
+	while ((USART_SR(UART) & USART_SR_TXE) == 0); // wait until last byte send
+	switch(UART){
+		case USART1:
+			bufidx = 0;
+		break;
+		case USART2:
+			bufidx = 1;
+		break;
+		default: // error - return
+			return;
+	}
+	curbuff = &TX_buffer[bufidx];
+	bufidx = curbuff->start; // start of data in buffer
+	endidx = curbuff->end; // end of data
+	curbuff->buf[endidx++] = byte; // put byte into buffer
+	// now check indexes
+	if(endidx != bufidx && endidx != UART_BUF_DATA_SIZE){ // all OK - there's enough place for data
+		(curbuff->end)++; // just increment index in buffer
+	}else{ // dangerous situation: possible overflow
+		if(endidx == UART_BUF_DATA_SIZE){ // end of buffer
+			if(bufidx != 0){ // no overflow
+				curbuff->end = 0;
+				goto end_of_fn;
+			}
+		}
+		// overflow: purge all data
+		bufidx = curbuff->start; // refresh data index
+		for(endidx = bufidx; endidx < UART_BUF_DATA_SIZE; endidx++) // first data porion
+			usart_send(UART, curbuff->buf[endidx]);
+		for(endidx = 0; endidx < bufidx; endidx++) // rest of data
+			usart_send(UART, curbuff->buf[endidx]);
+		curbuff->start = 0;
+		curbuff->end = 0;
+		return;
+	}
+	end_of_fn:
+	// enable interrupts to send data from buffer
+	USART_CR1(UART) |= USART_CR1_TXEIE;
+}
+
+/**
+ * send data over UART - one function for each uart
+ * @param byte - one byte to put in UART queue
+ */
+void uart1_send(uint8_t byte){
+	fill_uart_buff(USART1, byte);
+}
+void uart2_send(uint8_t byte){
+	fill_uart_buff(USART2, byte);
+}
+/*
+UART_buff *get_uart_buffer(uint32_t UART){
+	switch(UART){
+		case USART1:
+			return &RX_buffer[0];
+		break;
+		case USART2:
+			return &RX_buffer[1];
+		break;
+		default: // error - return
+			return NULL;
+	}
+	return NULL;
+}*/
+
+
+/**
+ * Check whether UART2 have a full text line
+ * @return string with data if data ready or NULL
+ */
+uint8_t *check_UART2(){
+	static int oldlen = 0;
+	static uint8_t buf[UART_BUF_DATA_SIZE+1];
+	UART_buff *curbuff = &RX_buffer[1];
+	uint8_t datalen = curbuff->end; // length of data in buffer - here we use param "end"
+	if(!datalen) return NULL; // buffer is empty
+	if(oldlen != datalen){
+		if(curbuff->buf[curbuff->end-1] != '\n'){ // string not full
+			oldlen = datalen;
+			return NULL;
+		}else{ // full string - copy it to buffer & clear indexes
+			memcpy(buf, curbuff->buf, datalen);
+			buf[datalen] = 0;
+			oldlen = curbuff->end = 0;
+			return buf;
+		}
+	}
+	return NULL;
+}
+
+/**
+ * Fill data in RX buffer to prepare it for further work
+ * we don't use "start" parameter here, it's 0 always
+ * @param UART - device to fill buffer
+ * @param byte - data byte
+ */
+void fill_uart_RXbuff(uint32_t UART, uint8_t byte){
+	UART_buff *curbuff;
+	uint8_t bufidx;
+	switch(UART){
+		case USART1:
+			bufidx = 0;
+		break;
+		case USART2:
+			bufidx = 1;
+		break;
+		default: // error - return
+			return;
+	}
+	curbuff = &RX_buffer[bufidx];
+	if(curbuff->end == UART_BUF_DATA_SIZE){ // end of buffer - forget about data
+		curbuff->end = 0;
+		return;
+	}
+	curbuff->buf[curbuff->end++] = byte; // put byte into buffer
+}

GPS+ultrasonic/uart.h

@@ -0,0 +1,46 @@
+/*
+ * uart.h
+ *
+ * Copyright 2014 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
+ *
+ * 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.
+ */
+
+#pragma once
+#ifndef __UART_H__
+#define __UART_H__
+
+// Size of buffers
+#define UART_BUF_DATA_SIZE            128
+
+typedef struct {
+	uint8_t buf[UART_BUF_DATA_SIZE];
+	uint8_t start; // index from where to start reading
+	uint8_t end;   // index from where to start writing
+} UART_buff;
+
+void UART_init(uint32_t UART);
+void UART_setspeed(uint32_t UART);
+
+void fill_uart_buff(uint32_t UART, uint8_t byte);
+void uart1_send(uint8_t byte);
+void uart2_send(uint8_t byte);
+
+uint8_t *check_UART2();
+
+UART_buff *get_uart_buffer(uint32_t UART);
+
+#endif // __UART_H__

GPS+ultrasonic/ultrasonic.c

@@ -0,0 +1,199 @@
+/*
+ * ultrasonic.c
+ *
+ * Copyright 2015 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
+ *
+ * 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 <libopencm3/stm32/timer.h>
+#include <libopencm3/stm32/gpio.h>
+#include <libopencm3/stm32/rcc.h>
+#include <libopencm3/cm3/nvic.h>
+
+#include "ultrasonic.h"
+#include "user_proto.h"
+#include "main.h"
+
+static usmode US_mode = US_MODE_OFF;
+static int overcapture = 0;
+
+#ifndef TIM_CCMR2_CC3S_IN_TI4
+#define TIM_CCMR2_CC3S_IN_TI4		(2)
+#endif
+#ifndef TIM_CCMR2_CC4S_IN_TI4
+#define TIM_CCMR2_CC4S_IN_TI4		(1 << 8)
+#endif
+/**
+ * Init timer 2 (&remap channels 3&4 to five-tolerant ports)
+ */
+void tim2_init(){
+	// Turn off JTAG & SWD, remap TIM2_CH3/TIM2_CH4 to PB10/PB11 (five tolerant)
+	// don't forget about AFIO clock & PB clock!
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_AFIOEN | RCC_APB2ENR_IOPBEN);
+	gpio_primary_remap(AFIO_MAPR_SWJ_CFG_JTAG_OFF_SW_OFF, AFIO_MAPR_TIM2_REMAP_PARTIAL_REMAP2);
+	// setup PB10 & PB11
+	// PB10 - Trig output - push/pull
+	gpio_set_mode(GPIO_BANK_TIM2_PR2_CH3, GPIO_MODE_OUTPUT_10_MHZ,
+		GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_TIM2_PR2_CH3);
+//	gpio_set_mode(GPIO_BANK_TIM2_CH3, GPIO_MODE_OUTPUT_10_MHZ,
+//		GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_TIM2_CH3);
+	// PB11 - Echo input - floating
+//	gpio_set_mode(GPIO_BANK_TIM2_PR2_CH4, GPIO_MODE_INPUT,
+//		GPIO_CNF_INPUT_FLOAT, GPIO_TIM2_PR2_CH4);
+	rcc_periph_clock_enable(RCC_TIM2);
+	timer_reset(TIM2);
+	// timers have frequency of 1MHz -- 1us for one step
+	// 36MHz of APB1
+	timer_set_mode(TIM2, TIM_CR1_CKD_CK_INT, TIM_CR1_CMS_EDGE, TIM_CR1_DIR_UP);
+	// 72MHz div 72 = 1MHz
+	TIM2_PSC = 71;  // prescaler is (div - 1)
+	TIM2_ARR = TRIG_T;
+	TIM2_CCR3 = TRIG_L;
+//	DBG("Timer configured\n");
+}
+
+/**
+ * Send Trig signal
+ * return 0 if another measurement still in process
+ */
+void start_ultrasonic(){
+	overcapture = 0;
+	TIM2_CR1 = 0;
+	//TIM2_CR1 = TIM_CR1_URS; // Turn off timer to reconfigure, dusable UEV by UG set
+	TIM2_CCER = 0;
+	TIM2_CCMR2 = 0;
+	TIM2_DIER = 0;
+	TIM2_SR = 0; // clear all flags
+	TIM2_ARR = TRIG_T;
+	TIM2_CCR3 = TRIG_L;
+	// PWM_OUT for TIM2_CH3
+	TIM2_CCMR2 = TIM_CCMR2_CC3S_OUT | TIM_CCMR2_OC3M_PWM1;
+	// start measurement, active is high
+	TIM2_CCER = TIM_CCER_CC3E;
+	// enable CC3 IRQ
+	TIM2_DIER = TIM_DIER_CC3IE;
+	nvic_enable_irq(NVIC_TIM2_IRQ);
+	US_mode = US_MODE_TRIG;
+	// start timer in one-pulse mode without update event
+	TIM2_CR1 = TIM_CR1_OPM | TIM_CR1_CEN | TIM_CR1_UDIS;
+}
+
+/**
+ * Start measurement:
+ * TIM2_CH3 will capture high level & TIM2_CH4 will capture low
+ * The timer configured to 65536us to detect signal lost
+ */
+inline void run_measrmnt(){
+	US_mode = US_MODE_WAIT;
+	TIM2_CR1 = 0; // Turn off timer to reconfigure
+	TIM2_DIER = 0;
+	TIM2_CCER = 0;
+	TIM2_CCMR2 = 0;
+	//DBG("triggered\n");
+	TIM2_SR = 0; // clear all flags
+	TIM2_ARR = MAX_MSRMNT_LEN;
+	// TIM2_CH3 & TIM2_CH4 configured as inputs, TIM2_CH3 connected to CH4
+	TIM2_CCMR2 = TIM_CCMR2_CC3S_IN_TI4 | TIM_CCMR2_CC4S_IN_TI4;
+	// start
+	TIM2_CCER = TIM_CCER_CC4P | TIM_CCER_CC4E | TIM_CCER_CC3E;
+	// enable interrupts CH3, CH4 & update
+	TIM2_DIER = TIM_DIER_CC3IE | TIM_DIER_CC4IE | TIM_DIER_UIE;
+	// start timer in one-pulse mode
+	TIM2_CR1 = TIM_CR1_OPM | TIM_CR1_CEN;
+}
+
+void tim2_isr(){
+	// No signal
+	if(TIM2_SR & TIM_SR_UIF){ // update interrupt
+		TIM2_SR = 0;
+		overcapture = 1;
+		nvic_disable_irq(NVIC_TIM2_IRQ);
+		TIM2_DIER = 0;
+		US_mode = US_MODE_READY;
+		//DBG("overcaptured\n");
+	}
+	// end of Trig pulse or start of measurements
+	if(TIM2_SR & TIM_SR_CC3IF){ // CCR ch3 interrupt
+		if(US_mode == US_MODE_TRIG){ // triggered - run measurement
+			run_measrmnt();
+		}else if(US_mode == US_MODE_WAIT){
+			US_mode = US_MODE_MEASUREMENT;
+		}
+		TIM2_SR &= ~TIM_SR_CC3IF;
+	}
+	if(TIM2_SR & TIM_SR_CC4IF){
+		if(US_mode == US_MODE_MEASUREMENT){
+			US_mode = US_MODE_READY;
+			nvic_disable_irq(NVIC_TIM2_IRQ);
+			TIM2_DIER = 0;
+			TIM2_CR1 = 0; // turn off timer - we don't need it more
+		}
+		TIM2_SR &= ~TIM_SR_CC3IF;
+	}
+}
+
+/**
+ * Measure distance
+ * return 1 if measurements done
+ * set L to distance (in mm) or 0 in case of overcapture (no signal)
+ */
+int ultrasonic_get(uint32_t *L){
+	uint32_t D;
+	if(US_mode != US_MODE_READY)
+		return 0;
+	US_mode = US_MODE_DONE;
+	if(!overcapture){
+		D = ((uint32_t)(TIM2_CCR4 - TIM2_CCR3)) * 170;
+		*L = D / 1000;
+	}else *L = 0;
+	return 1;
+}
+
+uint32_t last_us_val = 0;
+void poll_ultrasonic(){
+	uint32_t L;
+	if(US_mode == US_MODE_OFF){
+		start_ultrasonic();
+		return;
+	}//else if(ultrasonic_ms != DIDNT_TRIGGERED) return;
+	if(ultrasonic_get(&L)){ // measurements done, check event
+		if(!overcapture){
+			if(!last_us_val){
+				last_us_val = L;
+			}else{
+				uint32_t diff = (last_us_val > L) ? last_us_val - L : L - last_us_val;
+				if(diff > MAX_LEN_DIFF){
+					if(last_us_val > L){ // someone move in front of sensor
+						ultrasonic_ms = Timer;
+						memcpy(&ultrasonic_time, &current_time, sizeof(curtime));
+						P("Pass! Was: ");
+						print_int(last_us_val);
+						P(", become: ");
+						print_int(L);
+						P("!!!\n");
+					}else{ // free space - check for noices (signal should be at least 10ms)
+						diff = (ultrasonic_ms < Timer) ? Timer - ultrasonic_ms : ultrasonic_ms - Timer;
+						if(diff < ULTRASONIC_TIMEOUT)
+							ultrasonic_ms = DIDNT_TRIGGERED;
+					}
+					last_us_val = L;
+				}
+			}
+		}
+		start_ultrasonic();
+	}
+}

GPS+ultrasonic/ultrasonic.h

@@ -0,0 +1,53 @@
+/*
+ * ultrasonic.h
+ *
+ * Copyright 2015 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
+ *
+ * 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.
+ */
+
+#pragma once
+#ifndef __ULTRASONIC_H__
+#define __ULTRASONIC_H__
+
+#include <stdint.h>
+
+void tim2_init();
+int ultrasonic_get(uint32_t *L);
+void poll_ultrasonic();
+extern uint32_t last_us_val;
+
+// Sensor mode
+typedef enum{
+	 US_MODE_OFF         // sensor is off
+	,US_MODE_DONE        // measurement done, ready for next
+	,US_MODE_TRIG        // sensor triggered
+	,US_MODE_WAIT        // wait for pulse
+	,US_MODE_MEASUREMENT // measurement in process
+	,US_MODE_READY       // measurements done
+} usmode;
+
+// trigger time: after trigger event ends, timer will be configured for capture - 20us
+#define TRIG_T     (200)
+// trigger length - 10us
+#define TRIG_L     (10)
+// max length of measurement (to detect signal absence)
+#define MAX_MSRMNT_LEN  (65535)
+// max difference of measured len for pass detection
+#define MAX_LEN_DIFF   (300)
+// minimal length of signal in ms
+#define ULTRASONIC_TIMEOUT  (10)
+#endif // __ULTRASONIC_H__

GPS+ultrasonic/user_proto.c

@@ -0,0 +1,221 @@
+/*
+ * user_proto.c
+ *
+ * Copyright 2014 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
+ *
+ * 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 "cdcacm.h"
+#include "main.h"
+#include "hardware_ini.h"
+#include "GPS.h"
+#include "ultrasonic.h"
+#include "adc.h"
+
+// integer value given by user
+static volatile int32_t User_value = 0;
+enum{
+	UVAL_START,		// user start to write integer value
+	UVAL_ENTERED,	// value entered but not printed
+	UVAL_BAD		// entered bad value
+};
+uint8_t Uval_ready = UVAL_BAD;
+
+int read_int(char *buf, int cnt);
+
+intfun I = NULL; // function to process entered integer
+
+#define READINT() do{i += read_int(&buf[i+1], len-i-1);}while(0)
+
+void help(){
+	P("A\tshow ADC values\n");
+	P("C\tclear SysTick on PPS\n");
+	P("H\tshow this help\n");
+	P("I\tInit ADC sensors\n");
+	P("S\tSend GPS starting sequence\n");
+	P("T\tshow current approx. time\n");
+	P("U\tshow last measured distance by US\n");
+}
+
+/**
+ * show entered integer value
+ */
+uint8_t show_int(int32_t v){
+	newline();
+	print_int(v);
+	newline();
+	return 0;
+}
+
+/**
+ * parce command buffer buf with length len
+ * return 0 if buffer processed or len if there's not enough data in buffer
+ */
+int parce_incoming_buf(char *buf, int len){
+	uint8_t command;
+	//uint32_t utmp;
+	int i = 0, j;
+	if(Uval_ready == UVAL_START){ // we are in process of user's value reading
+		i += read_int(buf, len);
+	}
+	if(Uval_ready == UVAL_ENTERED){
+		//print_int(User_value); // printout readed integer value for error control
+		Uval_ready = UVAL_BAD; // clear Uval
+		I(User_value);
+		return 0;
+	}
+	for(; i < len; i++){
+		command = buf[i];
+		if(!command) continue; // omit zero
+		switch (command){
+			case 'A':
+				for(j=0; j<ADC_CHANNEL_NUMBER; ++j){
+					P("ADC");
+					usb_send('0'+j);
+					P(" val = ");
+					print_int(ADC_value[j]);
+					newline();
+				}
+			break;
+			case 'C':
+				clear_ST_on_connect = 1;
+			break;
+			case 'H': // show help
+				help();
+			break;
+			case 'I': // enter integer & show its value
+				init_adc_sensor();
+			break;
+			case 'S':
+				GPS_send_start_seq();
+			break;
+			case 'T':
+				print_curtime();
+			break;
+			case 'U':
+				P("Ultra: ");
+				print_int(last_us_val);
+				newline();
+			break;
+			case '\n': // show newline, space and tab as is
+			case '\r':
+			case ' ':
+			case '\t':
+			break;
+			default:
+				command = '?'; // echo '?' on unknown command in byte mode
+		}
+		usb_send(command); // echo readed byte
+	}
+	return 0; // all data processed - 0 bytes leave in buffer
+}
+
+/**
+ * Send char array wrd thru USB or UART
+ */
+void prnt(uint8_t *wrd){
+	if(!wrd) return;
+	while(*wrd) usb_send(*wrd++);
+}
+
+/**
+ * Read from TTY integer value given by user (in DEC).
+ *    Reading stops on first non-numeric symbol.
+ *    To work with symbol terminals reading don't stops on buffer's end,
+ *    it waits for first non-numeric char.
+ *    When working on string terminals, terminate string by '\n', 0 or any other symbol
+ * @param buf - buffer to read from
+ * @param cnt - buffer length
+ * @return amount of readed symbols
+ */
+int read_int(char *buf, int cnt){
+	int readed = 0, i;
+	static int enteredDigits; // amount of entered digits
+	static int sign; // sign of readed value
+	if(Uval_ready){ // this is first run
+		Uval_ready = UVAL_START; // clear flag
+		enteredDigits = 0; // 0 digits entered
+		User_value = 0; // clear value
+		sign = 1; // clear sign
+	}
+	if(!cnt) return 0;
+	for(i = 0; i < cnt; i++, readed++){
+		uint8_t chr = buf[i];
+		if(chr == '-'){
+			if(enteredDigits == 0){ // sign should be first
+				sign = -1;
+				continue;
+			}else{ // '-' after number - reject entered value
+				Uval_ready = UVAL_BAD;
+				break;
+			}
+		}
+		if(chr < '0' || chr > '9'){
+			if(enteredDigits)
+				Uval_ready = UVAL_ENTERED;
+			else
+				Uval_ready = UVAL_BAD; // bad symbol
+			break;
+		}
+		User_value = User_value * 10 + (int32_t)(chr - '0');
+		enteredDigits++;
+	}
+	if(Uval_ready == UVAL_ENTERED) // reading has met an non-numeric character
+		User_value *= sign;
+	return readed;
+}
+
+/**
+ * Print buff as hex values
+ * @param buf - buffer to print
+ * @param l   - buf length
+ * @param s   - function to send a byte
+ */
+void print_hex(uint8_t *buff, uint8_t l){
+	void putc(uint8_t c){
+		if(c < 10)
+			usb_send(c + '0');
+		else
+			usb_send(c + 'a' - 10);
+	}
+	usb_send('0'); usb_send('x'); // prefix 0x
+	while(l--){
+		putc(buff[l] >> 4);
+		putc(buff[l] & 0x0f);
+	}
+}
+
+/**
+ * Print decimal integer value
+ * @param N - value to print
+ * @param s - function to send a byte
+ */
+void print_int(int32_t N){
+	uint8_t buf[10], L = 0;
+	if(N < 0){
+		usb_send('-');
+		N = -N;
+	}
+	if(N){
+		while(N){
+			buf[L++] = N % 10 + '0';
+			N /= 10;
+		}
+		while(L--) usb_send(buf[L]);
+	}else usb_send('0');
+}
+

GPS+ultrasonic/user_proto.h

@@ -0,0 +1,47 @@
+/*
+ * user_proto.h
+ *
+ * Copyright 2014 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
+ *
+ * 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.
+ */
+
+#pragma once
+#ifndef __USER_PROTO_H__
+#define __USER_PROTO_H__
+
+#include "cdcacm.h"
+
+// shorthand for prnt
+#define P(arg)   do{prnt((uint8_t*)arg);}while(0)
+// debug message - over USB
+#ifdef EBUG
+	#define DBG(a)    do{prnt((uint8_t*)a);}while(0)
+#else
+	#define DBG(a)
+#endif
+
+typedef uint8_t (*intfun)(int32_t);
+
+void prnt(uint8_t *wrd);
+#define newline()   usb_send('\n')
+
+void print_int(int32_t N);
+void print_hex(uint8_t *buff, uint8_t l);
+
+int parce_incoming_buf(char *buf, int len);
+
+#endif // __USER_PROTO_H__

ultrasonic/Makefile

@@ -0,0 +1,133 @@
+BINARY		= ultrasonic
+BOOTPORT	?= /dev/ttyUSB0
+BOOTSPEED	?= 115200
+# change this linking script depending on particular MCU model,
+# for example, if you have STM32F103VBT6, you should write:
+LDSCRIPT	= ld/stm32f103x8.ld
+LIBNAME		= opencm3_stm32f1
+DEFS		= -DSTM32F1 -DEBUG
+
+OBJDIR = mk
+INDEPENDENT_HEADERS=
+
+FP_FLAGS	?= -msoft-float
+ARCH_FLAGS	= -mthumb -mcpu=cortex-m3 $(FP_FLAGS) -mfix-cortex-m3-ldrd
+
+###############################################################################
+# Executables
+PREFIX		?= arm-none-eabi
+
+RM			:= rm -f
+RMDIR		:= rmdir
+CC			:= $(PREFIX)-gcc
+LD			:= $(PREFIX)-gcc
+AR			:= $(PREFIX)-ar
+AS			:= $(PREFIX)-as
+OBJCOPY		:= $(PREFIX)-objcopy
+OBJDUMP		:= $(PREFIX)-objdump
+GDB			:= $(PREFIX)-gdb
+STFLASH		= $(shell which st-flash)
+STBOOT		= $(shell which stm32flash)
+
+###############################################################################
+# Source files
+LDSCRIPT	?= $(BINARY).ld
+SRC			= $(wildcard *.c)
+OBJS		= $(addprefix $(OBJDIR)/, $(SRC:%.c=%.o))
+
+ifeq ($(strip $(OPENCM3_DIR)),)
+OPENCM3_DIR := /usr/local/arm-none-eabi
+$(info Using $(OPENCM3_DIR) path to library)
+endif
+
+INCLUDE_DIR	= $(OPENCM3_DIR)/include
+LIB_DIR		= $(OPENCM3_DIR)/lib
+SCRIPT_DIR	= $(OPENCM3_DIR)/scripts
+
+###############################################################################
+# C flags
+CFLAGS		+= -Os -g
+CFLAGS		+= -Wall -Wextra -Wshadow -Wimplicit-function-declaration
+CFLAGS		+= -Wredundant-decls
+# -Wmissing-prototypes -Wstrict-prototypes
+CFLAGS		+= -fno-common -ffunction-sections -fdata-sections
+
+###############################################################################
+# C & C++ preprocessor common flags
+CPPFLAGS	+= -MD
+CPPFLAGS	+= -Wall -Werror
+CPPFLAGS	+= -I$(INCLUDE_DIR) $(DEFS)
+
+###############################################################################
+# Linker flags
+LDFLAGS		+= --static -nostartfiles
+LDFLAGS		+= -L$(LIB_DIR)
+LDFLAGS		+= -T$(LDSCRIPT)
+LDFLAGS		+= -Wl,-Map=$(*).map
+LDFLAGS		+= -Wl,--gc-sections
+
+###############################################################################
+# Used libraries
+LDLIBS		+= -l$(LIBNAME)
+LDLIBS		+= -Wl,--start-group -lc -lgcc -Wl,--end-group
+
+.SUFFIXES: .elf .bin .hex .srec .list .map .images
+.SECONDEXPANSION:
+.SECONDARY:
+
+ELF		:= $(OBJDIR)/$(BINARY).elf
+LIST	:= $(OBJDIR)/$(BINARY).list
+BIN		:= $(BINARY).bin
+HEX		:= $(BINARY).hex
+
+all: bin
+
+elf: $(ELF)
+bin: $(BIN)
+hex: $(HEX)
+list: $(LIST)
+
+$(OBJDIR):
+	mkdir $(OBJDIR)
+
+$(OBJDIR)/%.o: %.c
+	@printf "  CC      $<\n"
+	$(CC) $(CFLAGS) $(CPPFLAGS) $(ARCH_FLAGS) -o $@ -c $<
+
+$(SRC) : %.c : %.h $(INDEPENDENT_HEADERS)
+	@touch $@
+
+%.h: ;
+
+$(BIN): $(ELF)
+	@printf "  OBJCOPY $(BIN)\n"
+	$(OBJCOPY) -Obinary $(ELF) $(BIN)
+
+$(HEX): $(ELF)
+	@printf "  OBJCOPY $(HEX)\n"
+	$(OBJCOPY) -Oihex $(ELF) $(HEX)
+
+$(LIST): $(ELF)
+	@printf "  OBJDUMP $(LIST)\n"
+	$(OBJDUMP) -S $(ELF) > $(LIST)
+
+$(ELF): $(OBJDIR) $(OBJS) $(LDSCRIPT) $(LIB_DIR)/lib$(LIBNAME).a
+	@printf "  LD      $(ELF)\n"
+	$(LD) $(LDFLAGS) $(ARCH_FLAGS) $(OBJS) $(LDLIBS) -o $(ELF)
+
+clean:
+	@printf "  CLEAN\n"
+	$(RM) $(OBJS) $(OBJDIR)/*.d $(ELF) $(HEX) $(LIST) $(OBJDIR)/*.map
+	$(RMDIR) $(OBJDIR)
+
+flash: $(BIN)
+	@printf "  FLASH  $(BIN)\n"
+	$(STFLASH) write $(BIN) 0x8000000
+
+boot: $(BIN)
+	@printf "  LOAD $(BIN) through bootloader\n"
+	$(STBOOT) -b$(BOOTSPEED) $(BOOTPORT) -w $(BIN)
+
+.PHONY: clean elf hex list flash boot
+
+#-include $(OBJS:.o=.d)

ultrasonic/Readme.md

@@ -0,0 +1,6 @@
+### Distance meter based on ultrasonic sensor HC-SR04 & Sharp 2Y0A02 IR sensor
+
+The same on STM8: [livejournal](http://eddy-em.livejournal.com/66122.html) (on russian), [github](https://sourceforge.net/p/stm8samples/code/ci/default/tree/distance_meter/).
+
+Allow not only to measure distance by ultrasonic distance-meter but also check transits
+(Sharp sensor works at analog watchdog)

ultrasonic/cdcacm.c

@@ -0,0 +1,314 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2010 Gareth McMullin <gareth@blacksphere.co.nz>
+ * Copyright 2014 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library 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 Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "cdcacm.h"
+#include "user_proto.h"
+#include "main.h"
+
+// Buffer for USB Tx
+static uint8_t USB_Tx_Buffer[USB_TX_DATA_SIZE];
+static uint8_t USB_Tx_ptr = 0;
+// connection flag
+uint8_t USB_connected = 0;
+static const struct usb_device_descriptor dev = {
+	.bLength = USB_DT_DEVICE_SIZE,
+	.bDescriptorType = USB_DT_DEVICE,
+	.bcdUSB = 0x0200,
+	.bDeviceClass = USB_CLASS_CDC,
+	.bDeviceSubClass = 0,
+	.bDeviceProtocol = 0,
+	.bMaxPacketSize0 = 64,
+	.idVendor = 0x0483,
+	.idProduct = 0x5740,
+	.bcdDevice = 0x0200,
+	.iManufacturer = 1,
+	.iProduct = 2,
+	.iSerialNumber = 3,
+	.bNumConfigurations = 1,
+};
+
+char usbdatabuf[USB_RX_DATA_SIZE]; // buffer for received data
+int usbdatalen = 0;  // lenght of received data
+
+/*
+ * This notification endpoint isn't implemented. According to CDC spec its
+ * optional, but its absence causes a NULL pointer dereference in Linux
+ * cdc_acm driver.
+ */
+static const struct usb_endpoint_descriptor comm_endp[] = {{
+	.bLength = USB_DT_ENDPOINT_SIZE,
+	.bDescriptorType = USB_DT_ENDPOINT,
+	.bEndpointAddress = 0x83,
+	.bmAttributes = USB_ENDPOINT_ATTR_INTERRUPT,
+	.wMaxPacketSize = 16,
+	.bInterval = 255,
+}};
+
+static const struct usb_endpoint_descriptor data_endp[] = {{
+	.bLength = USB_DT_ENDPOINT_SIZE,
+	.bDescriptorType = USB_DT_ENDPOINT,
+	.bEndpointAddress = 0x01,
+	.bmAttributes = USB_ENDPOINT_ATTR_BULK,
+	.wMaxPacketSize = 64,
+	.bInterval = 1,
+}, {
+	.bLength = USB_DT_ENDPOINT_SIZE,
+	.bDescriptorType = USB_DT_ENDPOINT,
+	.bEndpointAddress = 0x82,
+	.bmAttributes = USB_ENDPOINT_ATTR_BULK,
+	.wMaxPacketSize = 64,
+	.bInterval = 1,
+}};
+
+static const struct {
+	struct usb_cdc_header_descriptor header;
+	struct usb_cdc_call_management_descriptor call_mgmt;
+	struct usb_cdc_acm_descriptor acm;
+	struct usb_cdc_union_descriptor cdc_union;
+} __attribute__((packed)) cdcacm_functional_descriptors = {
+	.header = {
+		.bFunctionLength = sizeof(struct usb_cdc_header_descriptor),
+		.bDescriptorType = CS_INTERFACE,
+		.bDescriptorSubtype = USB_CDC_TYPE_HEADER,
+		.bcdCDC = 0x0110,
+	},
+	.call_mgmt = {
+		.bFunctionLength =
+			sizeof(struct usb_cdc_call_management_descriptor),
+		.bDescriptorType = CS_INTERFACE,
+		.bDescriptorSubtype = USB_CDC_TYPE_CALL_MANAGEMENT,
+		.bmCapabilities = 0,
+		.bDataInterface = 1,
+	},
+	.acm = {
+		.bFunctionLength = sizeof(struct usb_cdc_acm_descriptor),
+		.bDescriptorType = CS_INTERFACE,
+		.bDescriptorSubtype = USB_CDC_TYPE_ACM,
+		.bmCapabilities = 0,
+	},
+	.cdc_union = {
+		.bFunctionLength = sizeof(struct usb_cdc_union_descriptor),
+		.bDescriptorType = CS_INTERFACE,
+		.bDescriptorSubtype = USB_CDC_TYPE_UNION,
+		.bControlInterface = 0,
+		.bSubordinateInterface0 = 1,
+	 },
+};
+
+static const struct usb_interface_descriptor comm_iface[] = {{
+	.bLength = USB_DT_INTERFACE_SIZE,
+	.bDescriptorType = USB_DT_INTERFACE,
+	.bInterfaceNumber = 0,
+	.bAlternateSetting = 0,
+	.bNumEndpoints = 1,
+	.bInterfaceClass = USB_CLASS_CDC,
+	.bInterfaceSubClass = USB_CDC_SUBCLASS_ACM,
+	.bInterfaceProtocol = USB_CDC_PROTOCOL_AT,
+	.iInterface = 0,
+
+	.endpoint = comm_endp,
+
+	.extra = &cdcacm_functional_descriptors,
+	.extralen = sizeof(cdcacm_functional_descriptors),
+}};
+
+static const struct usb_interface_descriptor data_iface[] = {{
+	.bLength = USB_DT_INTERFACE_SIZE,
+	.bDescriptorType = USB_DT_INTERFACE,
+	.bInterfaceNumber = 1,
+	.bAlternateSetting = 0,
+	.bNumEndpoints = 2,
+	.bInterfaceClass = USB_CLASS_DATA,
+	.bInterfaceSubClass = 0,
+	.bInterfaceProtocol = 0,
+	.iInterface = 0,
+
+	.endpoint = data_endp,
+}};
+
+static const struct usb_interface ifaces[] = {{
+	.num_altsetting = 1,
+	.altsetting = comm_iface,
+}, {
+	.num_altsetting = 1,
+	.altsetting = data_iface,
+}};
+
+static const struct usb_config_descriptor config = {
+	.bLength = USB_DT_CONFIGURATION_SIZE,
+	.bDescriptorType = USB_DT_CONFIGURATION,
+	.wTotalLength = 0,
+	.bNumInterfaces = 2,
+	.bConfigurationValue = 1,
+	.iConfiguration = 0,
+	.bmAttributes = 0x80,
+	.bMaxPower = 0x32,
+
+	.interface = ifaces,
+};
+
+static const char *usb_strings[] = {
+	"Organisation, author",
+	"device",
+	"version",
+};
+
+// default line coding: B115200, 1stop, 8bits, parity none
+struct usb_cdc_line_coding linecoding = {
+	.dwDTERate   = 115200,
+	.bCharFormat = USB_CDC_1_STOP_BITS,
+	.bParityType = USB_CDC_NO_PARITY,
+	.bDataBits   = 8,
+};
+
+/* Buffer to be used for control requests. */
+uint8_t usbd_control_buffer[128];
+
+/**
+ * This function runs every time it gets a request for control parameters get/set
+ * parameter SET_LINE_CODING used to change USART1 parameters: if you want to
+ * change them, just connect through USB with required parameters
+ */
+static int cdcacm_control_request(usbd_device *usbd_dev, struct usb_setup_data *req, uint8_t **buf,
+		uint16_t *len, void (**complete)(usbd_device *usbd_dev, struct usb_setup_data *req)){
+	(void)complete;
+	(void)buf;
+	(void)usbd_dev;
+	char local_buf[10];
+	struct usb_cdc_line_coding  lc;
+
+	switch (req->bRequest) {
+	case SET_CONTROL_LINE_STATE:{
+		if(req->wValue){ // terminal is opened
+			USB_connected = 1;
+		}else{ // terminal is closed
+			USB_connected = 0;
+		}
+		/*
+		 * This Linux cdc_acm driver requires this to be implemented
+		 * even though it's optional in the CDC spec, and we don't
+		 * advertise it in the ACM functional descriptor.
+		 */
+		struct usb_cdc_notification *notif = (void *)local_buf;
+		/* We echo signals back to host as notification. */
+		notif->bmRequestType = 0xA1;
+		notif->bNotification = USB_CDC_NOTIFY_SERIAL_STATE;
+		notif->wValue = 0;
+		notif->wIndex = 0;
+		notif->wLength = 2;
+		local_buf[8] = req->wValue & 3;
+		local_buf[9] = 0;
+		usbd_ep_write_packet(usbd_dev, 0x83, local_buf, 10);
+	}break;
+	case SET_LINE_CODING:
+		if (!len || (*len != sizeof(struct usb_cdc_line_coding)))
+			return 0;
+		memcpy((void *)&lc, (void *)*buf, *len);
+		// Mark & Space parity don't support by hardware, check it
+		if(lc.bParityType == USB_CDC_MARK_PARITY || lc.bParityType == USB_CDC_SPACE_PARITY){
+			return 0; // error
+		}else{
+//			memcpy((void *)&linecoding, (void *)&lc, sizeof(struct usb_cdc_line_coding));
+//			UART_setspeed(USART1, &linecoding);
+		}
+	break;
+	case GET_LINE_CODING: // return linecoding buffer
+		if(len && *len == sizeof(struct usb_cdc_line_coding))
+			memcpy((void *)*buf, (void *)&linecoding, sizeof(struct usb_cdc_line_coding));
+		//usbd_ep_write_packet(usbd_dev, 0x83, (char*)&linecoding, sizeof(linecoding));
+	break;
+	default:
+		return 0;
+	}
+	return 1;
+}
+
+static void cdcacm_data_rx_cb(usbd_device *usbd_dev, uint8_t ep){
+	(void)ep;
+	int len = usbd_ep_read_packet(usbd_dev, 0x01, usbdatabuf + usbdatalen, USB_RX_DATA_SIZE - usbdatalen);
+	usbdatalen += len;
+	if(usbdatalen >= USB_RX_DATA_SIZE){ // buffer overflow - drop all its contents
+		usbdatalen = 0;
+	}
+}
+
+static void cdcacm_data_tx_cb(usbd_device *usbd_dev, uint8_t ep){
+	(void)ep;
+	(void)usbd_dev;
+
+	usb_send_buffer();
+}
+
+static void cdcacm_set_config(usbd_device *usbd_dev, uint16_t wValue)
+{
+	(void)wValue;
+	(void)usbd_dev;
+
+	usbd_ep_setup(usbd_dev, 0x01, USB_ENDPOINT_ATTR_BULK, USB_RX_DATA_SIZE, cdcacm_data_rx_cb);
+	usbd_ep_setup(usbd_dev, 0x82, USB_ENDPOINT_ATTR_BULK, USB_TX_DATA_SIZE, cdcacm_data_tx_cb);
+	usbd_ep_setup(usbd_dev, 0x83, USB_ENDPOINT_ATTR_INTERRUPT, 16, NULL);
+
+	usbd_register_control_callback(
+				usbd_dev,
+				USB_REQ_TYPE_CLASS | USB_REQ_TYPE_INTERFACE,
+				USB_REQ_TYPE_TYPE | USB_REQ_TYPE_RECIPIENT,
+				cdcacm_control_request);
+}
+
+static usbd_device *current_usb = NULL;
+
+usbd_device *USB_init(){
+	current_usb = usbd_init(&stm32f103_usb_driver, &dev, &config,
+		usb_strings, 3, usbd_control_buffer, sizeof(usbd_control_buffer));
+	if(!current_usb) return NULL;
+	usbd_register_set_config_callback(current_usb, cdcacm_set_config);
+	return current_usb;
+}
+
+mutex_t send_block_mutex = MUTEX_UNLOCKED;
+/**
+ * Put byte into USB buffer to send
+ * @param byte - a byte to put into a buffer
+ */
+void usb_send(uint8_t byte){
+	mutex_lock(&send_block_mutex);
+	USB_Tx_Buffer[USB_Tx_ptr++] = byte;
+	mutex_unlock(&send_block_mutex);
+	if(USB_Tx_ptr == USB_TX_DATA_SIZE){ // buffer can be overflowed - send it!
+		usb_send_buffer();
+	}
+}
+
+/**
+ * Send all data in buffer over USB
+ * this function runs when buffer is full or on SysTick
+ */
+void usb_send_buffer(){
+	if(MUTEX_LOCKED == mutex_trylock(&send_block_mutex)) return;
+	if(USB_Tx_ptr){
+		if(current_usb && USB_connected){
+			// usbd_ep_write_packet return 0 if previous packet isn't transmit yet
+			while(USB_Tx_ptr != usbd_ep_write_packet(current_usb, 0x82, USB_Tx_Buffer, USB_Tx_ptr));
+			usbd_poll(current_usb);
+		}
+		USB_Tx_ptr = 0;
+	}
+	mutex_unlock(&send_block_mutex);
+}

ultrasonic/cdcacm.h

@@ -0,0 +1,54 @@
+/*
+ * ccdcacm.h
+ *
+ * Copyright 2014 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
+ *
+ * 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.
+ */
+
+#pragma once
+#ifndef __CCDCACM_H__
+#define __CCDCACM_H__
+
+#include <libopencm3/usb/usbd.h>
+
+// commands through EP0
+#define SEND_ENCAPSULATED_COMMAND   0x00
+#define GET_ENCAPSULATED_RESPONSE   0x01
+#define SET_COMM_FEATURE            0x02
+#define GET_COMM_FEATURE            0x03
+#define CLEAR_COMM_FEATURE          0x04
+#define SET_LINE_CODING             0x20
+#define GET_LINE_CODING             0x21
+#define SET_CONTROL_LINE_STATE      0x22
+#define SEND_BREAK                  0x23
+
+// Size of input/output buffers
+#define USB_TX_DATA_SIZE            64
+#define USB_RX_DATA_SIZE            64
+
+// USB connection flag
+extern uint8_t USB_connected;
+extern struct usb_cdc_line_coding linecoding;
+
+extern char usbdatabuf[];
+extern int usbdatalen;
+
+usbd_device *USB_init();
+void usb_send(uint8_t byte);
+void usb_send_buffer();
+
+#endif // __CCDCACM_H__

ultrasonic/hardware_ini.c

@@ -0,0 +1,57 @@
+/*
+ * hardware_ini.c - functions for HW initialisation
+ *
+ * Copyright 2014 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
+ *
+ * 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.
+ */
+
+/*
+ * All hardware-dependent initialisation & definition should be placed here
+ * and in hardware_ini.h
+ *
+ */
+
+#include "main.h"
+#include "hardware_ini.h"
+
+/**
+ * GPIO initialisaion: clocking + pins setup
+ */
+void GPIO_init(){
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN |
+			RCC_APB2ENR_IOPBEN | RCC_APB2ENR_IOPCEN | RCC_APB2ENR_IOPDEN |
+			RCC_APB2ENR_IOPEEN);
+/*
+	// USB_DISC: push-pull
+	gpio_set_mode(USB_DISC_PORT, GPIO_MODE_OUTPUT_2_MHZ,
+				GPIO_CNF_OUTPUT_PUSHPULL, USB_DISC_PIN);
+	// USB_POWER: open drain, externall pull down with R7 (22k)
+	gpio_set_mode(USB_POWER_PORT, GPIO_MODE_INPUT,
+				GPIO_CNF_INPUT_FLOAT, USB_POWER_PIN);
+*/
+}
+
+/*
+ * SysTick used for system timer with period of 1ms
+ */
+void SysTick_init(){
+	systick_set_clocksource(STK_CSR_CLKSOURCE_AHB_DIV8); // Systyck: 72/8=9MHz
+	systick_set_reload(8999); // 9000 pulses: 1kHz
+	systick_interrupt_enable();
+	systick_counter_enable();
+}
+

ultrasonic/hardware_ini.h

@@ -0,0 +1,60 @@
+/*
+ * hardware_ini.h
+ *
+ * Copyright 2014 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
+ *
+ * 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.
+ */
+
+#pragma once
+#ifndef __HARDWARE_INI_H__
+#define __HARDWARE_INI_H__
+
+#include "ultrasonic.h"
+
+/*
+ * Timers:
+ * SysTick - system time
+ */
+
+
+void GPIO_init();
+void SysTick_init();
+
+/*
+ * USB interface
+ * connect boot1 jumper to gnd, boot0 to gnd; and reconnect boot0 to +3.3 to boot flash
+ */
+/*
+// USB_DICS (disconnect) - PC11
+#define USB_DISC_PIN		GPIO11
+#define USB_DISC_PORT		GPIOC
+// USB_POWER (high level when USB connected to PC)
+#define USB_POWER_PIN		GPIO10
+#define USB_POWER_PORT		GPIOC
+// change signal level on USB diconnect pin
+#define usb_disc_high()   gpio_set(USB_DISC_PORT, USB_DISC_PIN)
+#define usb_disc_low()    gpio_clear(USB_DISC_PORT, USB_DISC_PIN)
+// in case of n-channel FET on 1.5k pull-up change on/off disconnect means low level
+// in case of pnp bipolar transistor or p-channel FET on 1.5k pull-up disconnect means high level
+#define usb_disconnect()  usb_disc_high()
+#define usb_connect()     usb_disc_low()
+*/
+// my simple devboard have no variants for programmed connection/disconnection of USB
+#define usb_disconnect()
+#define usb_connect()
+
+#endif // __HARDWARE_INI_H__

ultrasonic/ld/devices.data

@@ -0,0 +1,9 @@
+stm32f103?4* stm32f1 ROM=16K RAM=6K
+stm32f103?6* stm32f1 ROM=32K RAM=10K
+stm32f103?8* stm32f1 ROM=64K RAM=20K
+stm32f103?b* stm32f1 ROM=128K RAM=20K
+stm32f103?c* stm32f1 ROM=256K RAM=48K
+stm32f103?d* stm32f1 ROM=384K RAM=64K
+stm32f103?e* stm32f1 ROM=512K RAM=64K
+stm32f103?f* stm32f1 ROM=768K RAM=96K
+stm32f103?g* stm32f1 ROM=1024K RAM=96K

ultrasonic/ld/stm32f103x4.ld

@@ -0,0 +1,31 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2012 Karl Palsson <karlp@tweak.net.au>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library 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 Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/* Linker script for STM32F100x4, 16K flash, 4K RAM. */
+
+/* Define memory regions. */
+MEMORY
+{
+	rom (rx) : ORIGIN = 0x08000000, LENGTH = 16K
+	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 6K
+}
+
+/* Include the common ld script. */
+INCLUDE libopencm3_stm32f1.ld
+

ultrasonic/ld/stm32f103x6.ld

@@ -0,0 +1,31 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2012 Karl Palsson <karlp@tweak.net.au>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library 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 Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/* Linker script for STM32F100x4, 16K flash, 4K RAM. */
+
+/* Define memory regions. */
+MEMORY
+{
+	rom (rx) : ORIGIN = 0x08000000, LENGTH =  32K
+	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 10K
+}
+
+/* Include the common ld script. */
+INCLUDE libopencm3_stm32f1.ld
+

ultrasonic/ld/stm32f103x8.ld

@@ -0,0 +1,31 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2012 Karl Palsson <karlp@tweak.net.au>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library 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 Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/* Linker script for STM32F100x4, 16K flash, 4K RAM. */
+
+/* Define memory regions. */
+MEMORY
+{
+	rom (rx) : ORIGIN = 0x08000000, LENGTH =  64K
+	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 20K
+}
+
+/* Include the common ld script. */
+INCLUDE libopencm3_stm32f1.ld
+

ultrasonic/ld/stm32f103xB.ld

@@ -0,0 +1,31 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2012 Karl Palsson <karlp@tweak.net.au>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library 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 Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/* Linker script for STM32F100x4, 16K flash, 4K RAM. */
+
+/* Define memory regions. */
+MEMORY
+{
+	rom (rx) : ORIGIN = 0x08000000, LENGTH = 128K
+	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 20K
+}
+
+/* Include the common ld script. */
+INCLUDE libopencm3_stm32f1.ld
+

ultrasonic/ld/stm32f103xC.ld

@@ -0,0 +1,31 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2012 Karl Palsson <karlp@tweak.net.au>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library 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 Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/* Linker script for STM32F100x4, 16K flash, 4K RAM. */
+
+/* Define memory regions. */
+MEMORY
+{
+	rom (rx) : ORIGIN = 0x08000000, LENGTH = 256K
+	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 48K
+}
+
+/* Include the common ld script. */
+INCLUDE libopencm3_stm32f1.ld
+

ultrasonic/ld/stm32f103xD.ld

@@ -0,0 +1,31 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2012 Karl Palsson <karlp@tweak.net.au>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library 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 Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/* Linker script for STM32F100x4, 16K flash, 4K RAM. */
+
+/* Define memory regions. */
+MEMORY
+{
+	rom (rx) : ORIGIN = 0x08000000, LENGTH = 384K
+	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 64K
+}
+
+/* Include the common ld script. */
+INCLUDE libopencm3_stm32f1.ld
+

ultrasonic/ld/stm32f103xE.ld

@@ -0,0 +1,31 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2012 Karl Palsson <karlp@tweak.net.au>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library 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 Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/* Linker script for STM32F100x4, 16K flash, 4K RAM. */
+
+/* Define memory regions. */
+MEMORY
+{
+	rom (rx) : ORIGIN = 0x08000000, LENGTH = 512K
+	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 64K
+}
+
+/* Include the common ld script. */
+INCLUDE libopencm3_stm32f1.ld
+

ultrasonic/ld/stm32f103xF.ld

@@ -0,0 +1,31 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2012 Karl Palsson <karlp@tweak.net.au>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library 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 Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/* Linker script for STM32F100x4, 16K flash, 4K RAM. */
+
+/* Define memory regions. */
+MEMORY
+{
+	rom (rx) : ORIGIN = 0x08000000, LENGTH = 768K
+	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 96K
+}
+
+/* Include the common ld script. */
+INCLUDE libopencm3_stm32f1.ld
+

ultrasonic/ld/stm32f103xG.ld

@@ -0,0 +1,31 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2012 Karl Palsson <karlp@tweak.net.au>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library 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 Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/* Linker script for STM32F100x4, 16K flash, 4K RAM. */
+
+/* Define memory regions. */
+MEMORY
+{
+	rom (rx) : ORIGIN = 0x08000000, LENGTH = 1024K
+	ram (rwx) : ORIGIN = 0x20000000, LENGTH =  96K
+}
+
+/* Include the common ld script. */
+INCLUDE libopencm3_stm32f1.ld
+

ultrasonic/main.c

@@ -0,0 +1,120 @@
+/*
+ * main.c
+ *
+ * Copyright 2014 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
+ *
+ * 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 "main.h"
+#include "hardware_ini.h"
+#include "cdcacm.h"
+#include "sharp.h"
+
+volatile uint32_t Timer = 0; // global timer (milliseconds)
+usbd_device *usbd_dev;
+
+int main(){
+	uint32_t Old_timer = 0;
+
+	// RCC clocking: 8MHz oscillator -> 72MHz system
+	rcc_clock_setup_in_hse_8mhz_out_72mhz();
+
+	GPIO_init();
+
+	usb_disconnect(); // turn off USB while initializing all
+
+	// USB
+	usbd_dev = USB_init();
+
+	// SysTick is a system timer with 1ms period
+	SysTick_init();
+	tim2_init();
+	//init_sharp_sensor();
+
+	// wait a little and then turn on USB pullup
+//	for (i = 0; i < 0x800000; i++)
+//		__asm__("nop");
+
+	usb_connect(); // turn on USB
+
+	uint32_t oldL = 0;
+	while(1){
+		uint32_t L;
+		usbd_poll(usbd_dev);
+		if(usbdatalen){ // there's something in USB buffer
+			usbdatalen = parce_incoming_buf(usbdatabuf, usbdatalen);
+		}
+		if(AWD_flag){
+			P("Int, value = ");
+			print_int(AWD_value);
+			P(" ADU\n");
+			AWD_flag = 0;
+		}
+		if(ultrasonic_get(&L)){
+			if(!cont){
+				P("Measured length: ");
+				print_int(L);
+				P("mm\n");
+				oldL = 0;
+			}else{
+				if(!oldL){
+					oldL = L;
+				}else{
+					uint32_t diff = (oldL > L) ? oldL - L : L - oldL;
+					if(diff > MAX_LEN_DIFF){
+						P("Pass! Was: ");
+						print_int(oldL);
+						P(", become: ");
+						print_int(L);
+						P("!!!\n");
+						oldL = L;
+					}
+				}
+				start_ultrasonic();
+			}
+		}
+		if(Timer - Old_timer > 999){ // one-second cycle
+			Old_timer += 1000;
+		}else if(Timer < Old_timer){ // Timer overflow
+			Old_timer = 0;
+		}
+	}
+}
+
+
+/**
+ * SysTick interrupt: increment global time & send data buffer through USB
+ */
+void sys_tick_handler(){
+	Timer++;
+	usbd_poll(usbd_dev);
+	usb_send_buffer();
+}
+
+// pause function, delay in ms
+void Delay(uint16_t _U_ time){
+	uint32_t waitto = Timer + time;
+	while(Timer < waitto);
+}
+
+/**
+ * print current time in milliseconds: 4 bytes for ovrvlow + 4 bytes for time
+ * with ' ' as delimeter
+ */
+void print_time(){
+	print_int(Timer);
+}

ultrasonic/main.h

@@ -0,0 +1,57 @@
+/*
+ * main.h
+ *
+ * Copyright 2014 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
+ *
+ * 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.
+ */
+
+
+#pragma once
+#ifndef __MAIN_H__
+#define __MAIN_H__
+
+#include <stdlib.h>
+#include <string.h>					// memcpy
+#include <libopencm3/stm32/gpio.h>
+#include <libopencm3/stm32/usart.h>
+#include <libopencm3/cm3/nvic.h>
+#include <libopencm3/usb/cdc.h>
+#include <libopencm3/usb/usbd.h>
+#include <libopencm3/cm3/systick.h>
+#include <libopencm3/stm32/rcc.h>
+#include <libopencm3/stm32/adc.h>
+#include <libopencm3/stm32/dma.h>
+#include <libopencm3/stm32/spi.h>
+
+#define ADC_CHANNELS_NUMBER    (10)
+
+#include "sync.h" // mutexes
+#include "user_proto.h"
+
+#define _U_    __attribute__((__unused__))
+#define  U8(x)  ((uint8_t)  x)
+#define U16(x)  ((uint16_t) x)
+#define U32(x)  ((uint32_t) x)
+
+extern volatile uint32_t Timer; // global timer (milliseconds)
+void Delay(uint16_t time);
+
+// max diff in continuous measurements - 100mm
+#define MAX_LEN_DIFF   (100)
+
+#endif // __MAIN_H__
+

ultrasonic/sharp.c

@@ -0,0 +1,72 @@
+/*
+ * sharp.c - functions for Sharp 2Y0A02 distance meter
+ *
+ * Copyright 2015 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
+ *
+ * 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 "sharp.h"
+#include "main.h"
+
+int AWD_flag = 0;
+uint16_t AWD_value = 0;
+
+void init_sharp_sensor(){
+	// Make sure the ADC doesn't run during config
+	adc_off(ADC1);
+	// enable ADC & PA0 clocking
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_ADC1EN | RCC_APB2ENR_IOPAEN);
+	rcc_set_adcpre(RCC_CFGR_ADCPRE_PCLK2_DIV4);
+	gpio_set_mode(GPIOA, GPIO_MODE_INPUT, GPIO_CNF_INPUT_ANALOG, GPIO0);
+	// set sample time: 239.5 cycles for better results
+	ADC1_SMPR2 = 7;
+	// continuous conv, enable
+	ADC1_CR2 = ADC_CR2_CONT | ADC_CR2_ADON;
+	// reset calibration registers & start calibration
+	ADC1_CR2 |= ADC_CR2_RSTCAL;
+	while(ADC1_CR2 & ADC_CR2_RSTCAL); // wait for registers reset
+	ADC1_CR2 |= ADC_CR2_CAL;
+	while(ADC1_CR2 & ADC_CR2_CAL); // wait for calibration ends
+	// set threshold limits
+	ADC1_HTR = ADC_WDG_HIGH;
+	ADC1_LTR = ADC_WDG_LOW;
+	// enable analog watchdog on single regular channel 0 & enable interrupt
+	ADC1_CR1 = ADC_CR1_AWDEN | ADC_CR1_AWDSGL | ADC_CR1_AWDIE;
+	nvic_enable_irq(NVIC_ADC1_2_IRQ);
+	ADC1_CR2 |= ADC_CR2_SWSTART;
+	// start - to do it we need set ADC_CR2_ADON again!
+	ADC1_CR2 |= ADC_CR2_ADON;
+	DBG("ADC started\n");
+}
+
+void adc1_2_isr(){
+	AWD_value = ADC1_DR;
+	if(ADC1_SR & ADC_SR_AWD){ // analog watchdog event
+		AWD_flag = 1;
+	//	ADC1_CR1 &= ~(ADC_CR1_AWDIE | ADC_CR1_AWDEN);
+	//	nvic_disable_irq(NVIC_ADC1_2_IRQ);
+		if(AWD_value >= ADC_WDG_HIGH){ // high threshold
+			ADC1_HTR = 0x0fff; // remove high threshold, only wait for LOW
+			ADC1_LTR = ADC_WDG_LOW;
+		}else{
+			ADC1_HTR = ADC_WDG_HIGH;
+			ADC1_LTR = 0;
+		}
+		//ADC1_CR1 |= ADC_CR1_AWDIE;
+	}
+	ADC1_SR = 0;
+}

ultrasonic/sharp.h

@@ -0,0 +1,38 @@
+/*
+ * sharp.h
+ *
+ * Copyright 2015 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
+ *
+ * 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.
+ */
+
+#pragma once
+#ifndef __SHARP_H__
+#define __SHARP_H__
+
+#include <stdint.h>
+
+extern int AWD_flag;
+extern uint16_t AWD_value;
+
+// > 2.5V  - something nearest 1m
+#define ADC_WDG_HIGH   ((uint16_t)3000)
+// < 0.6V - nothing in front of sensor
+#define ADC_WDG_LOW    ((uint16_t)750)
+
+void init_sharp_sensor();
+
+#endif // __SHARP_H__

ultrasonic/sync.c

@@ -0,0 +1,93 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2012 Fergus Noble <fergusnoble@gmail.com>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library 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 Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/*
+ * TODO:
+ *   implement mutexes for other type of MCU (which doesn't have strex & ldrex)
+ */
+
+#include <libopencm3/cm3/sync.h>
+
+/* DMB is supported on CM0 */
+void __dmb()
+{
+	__asm__ volatile ("dmb");
+}
+
+/* Those are defined only on CM3 or CM4 */
+#if defined(__ARM_ARCH_7M__) || defined(__ARM_ARCH_7EM__)
+
+uint32_t __ldrex(volatile uint32_t *addr)
+{
+	uint32_t res;
+	__asm__ volatile ("ldrex %0, [%1]" : "=r" (res) : "r" (addr));
+	return res;
+}
+
+uint32_t __strex(uint32_t val, volatile uint32_t *addr)
+{
+	uint32_t res;
+	__asm__ volatile ("strex %0, %2, [%1]"
+			  : "=&r" (res) : "r" (addr), "r" (val));
+	return res;
+}
+
+void mutex_lock(mutex_t *m)
+{
+	uint32_t status = 0;
+
+	do {
+		/* Wait until the mutex is unlocked. */
+		while (__ldrex(m) != MUTEX_UNLOCKED);
+
+		/* Try to acquire it. */
+		status = __strex(MUTEX_LOCKED, m);
+
+	/* Did we get it? If not then try again. */
+	} while (status != 0);
+
+	/* Execute the mysterious Data Memory Barrier instruction! */
+	__dmb();
+}
+
+void mutex_unlock(mutex_t *m)
+{
+	/* Ensure accesses to protected resource are finished */
+	__dmb();
+
+	/* Free the lock. */
+	*m = MUTEX_UNLOCKED;
+}
+
+/*
+ * Try to lock mutex
+ * if it's already locked or there was error in STREX, return MUTEX_LOCKED
+ * else return MUTEX_UNLOCKED
+ */
+mutex_t mutex_trylock(mutex_t *m){
+	uint32_t status = 0;
+	mutex_t old_lock = __ldrex(m); // get mutex value
+	// set mutex
+	status = __strex(MUTEX_LOCKED, m);
+	if(status == 0) __dmb();
+	else old_lock = MUTEX_LOCKED;
+	return old_lock;
+}
+
+#endif

ultrasonic/sync.h

@@ -0,0 +1,53 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2012 Fergus Noble <fergusnoble@gmail.com>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library 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 Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef LIBOPENCM3_CM3_SYNC_H
+#define LIBOPENCM3_CM3_SYNC_H
+
+void __dmb(void);
+
+/* Implements synchronisation primitives as discussed in the ARM document
+ * DHT0008A (ID081709) "ARM Synchronization Primitives" and the ARM v7-M
+ * Architecture Reference Manual.
+*/
+
+/* --- Exclusive load and store instructions ------------------------------- */
+
+/* Those are defined only on CM3 or CM4 */
+#if defined(__ARM_ARCH_7M__) || defined(__ARM_ARCH_7EM__)
+
+uint32_t __ldrex(volatile uint32_t *addr);
+uint32_t __strex(uint32_t val, volatile uint32_t *addr);
+
+/* --- Convenience functions ----------------------------------------------- */
+
+/* Here we implement some simple synchronisation primitives. */
+
+typedef uint32_t mutex_t;
+
+#define MUTEX_UNLOCKED 0
+#define MUTEX_LOCKED   1
+
+void mutex_lock(mutex_t *m);
+void mutex_unlock(mutex_t *m);
+mutex_t mutex_trylock(mutex_t *m);
+
+#endif
+
+#endif

ultrasonic/ultrasonic.c

@@ -0,0 +1,165 @@
+/*
+ * ultrasonic.c
+ *
+ * Copyright 2015 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
+ *
+ * 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 <libopencm3/stm32/timer.h>
+#include <libopencm3/stm32/gpio.h>
+#include <libopencm3/stm32/rcc.h>
+#include <libopencm3/cm3/nvic.h>
+
+#include "ultrasonic.h"
+#include "user_proto.h"
+
+static usmode US_mode = US_MODE_OFF;
+static int overcapture = 0;
+
+#ifndef TIM_CCMR2_CC3S_IN_TI4
+#define TIM_CCMR2_CC3S_IN_TI4		(2)
+#endif
+#ifndef TIM_CCMR2_CC4S_IN_TI4
+#define TIM_CCMR2_CC4S_IN_TI4		(1 << 8)
+#endif
+/**
+ * Init timer 2 (&remap channels 3&4 to five-tolerant ports)
+ */
+void tim2_init(){
+	// Turn off JTAG & SWD, remap TIM2_CH3/TIM2_CH4 to PB10/PB11 (five tolerant)
+	// don't forget about AFIO clock & PB clock!
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_AFIOEN | RCC_APB2ENR_IOPBEN);
+	gpio_primary_remap(AFIO_MAPR_SWJ_CFG_JTAG_OFF_SW_OFF, AFIO_MAPR_TIM2_REMAP_PARTIAL_REMAP2);
+	// setup PB10 & PB11
+	// PB10 - Trig output - push/pull
+	gpio_set_mode(GPIO_BANK_TIM2_PR2_CH3, GPIO_MODE_OUTPUT_10_MHZ,
+		GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_TIM2_PR2_CH3);
+//	gpio_set_mode(GPIO_BANK_TIM2_CH3, GPIO_MODE_OUTPUT_10_MHZ,
+//		GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_TIM2_CH3);
+	// PB11 - Echo input - floating
+//	gpio_set_mode(GPIO_BANK_TIM2_PR2_CH4, GPIO_MODE_INPUT,
+//		GPIO_CNF_INPUT_FLOAT, GPIO_TIM2_PR2_CH4);
+	rcc_periph_clock_enable(RCC_TIM2);
+	timer_reset(TIM2);
+	// timers have frequency of 1MHz -- 1us for one step
+	// 36MHz of APB1
+	timer_set_mode(TIM2, TIM_CR1_CKD_CK_INT, TIM_CR1_CMS_EDGE, TIM_CR1_DIR_UP);
+	// 72MHz div 72 = 1MHz
+	TIM2_PSC = 71;  // prescaler is (div - 1)
+	TIM2_ARR = TRIG_T;
+	TIM2_CCR3 = TRIG_L;
+//	DBG("Timer configured\n");
+}
+
+/**
+ * Send Trig signal
+ * return 0 if another measurement still in process
+ */
+int start_ultrasonic(){
+	if(US_mode != US_MODE_OFF && US_mode != US_MODE_READY) return 0;
+	overcapture = 0;
+	TIM2_CR1 = 0;
+	//TIM2_CR1 = TIM_CR1_URS; // Turn off timer to reconfigure, dusable UEV by UG set
+	TIM2_CCER = 0;
+	TIM2_CCMR2 = 0;
+	TIM2_DIER = 0;
+	TIM2_SR = 0; // clear all flags
+	TIM2_ARR = TRIG_T;
+	TIM2_CCR3 = TRIG_L;
+	// PWM_OUT for TIM2_CH3
+	TIM2_CCMR2 = TIM_CCMR2_CC3S_OUT | TIM_CCMR2_OC3M_PWM1;
+	// start measurement, active is high
+	TIM2_CCER = TIM_CCER_CC3E;
+	// enable CC3 IRQ
+	TIM2_DIER = TIM_DIER_CC3IE;
+	nvic_enable_irq(NVIC_TIM2_IRQ);
+	US_mode = US_MODE_TRIG;
+	// start timer in one-pulse mode without update event
+	TIM2_CR1 = TIM_CR1_OPM | TIM_CR1_CEN | TIM_CR1_UDIS;
+	return 1;
+}
+
+/**
+ * Start measurement:
+ * TIM2_CH3 will capture high level & TIM2_CH4 will capture low
+ * The timer configured to 65536us to detect signal lost
+ */
+inline void run_measrmnt(){
+	US_mode = US_MODE_WAIT;
+	TIM2_CR1 = 0; // Turn off timer to reconfigure
+	TIM2_DIER = 0;
+	TIM2_CCER = 0;
+	TIM2_CCMR2 = 0;
+	//DBG("triggered\n");
+	TIM2_SR = 0; // clear all flags
+	TIM2_ARR = MAX_MSRMNT_LEN;
+	// TIM2_CH3 & TIM2_CH4 configured as inputs, TIM2_CH3 connected to CH4
+	TIM2_CCMR2 = TIM_CCMR2_CC3S_IN_TI4 | TIM_CCMR2_CC4S_IN_TI4;
+	// start
+	TIM2_CCER = TIM_CCER_CC4P | TIM_CCER_CC4E | TIM_CCER_CC3E;
+	// enable interrupts CH3, CH4 & update
+	TIM2_DIER = TIM_DIER_CC3IE | TIM_DIER_CC4IE | TIM_DIER_UIE;
+	// start timer in one-pulse mode
+	TIM2_CR1 = TIM_CR1_OPM | TIM_CR1_CEN;
+}
+
+void tim2_isr(){
+	// No signal
+	if(TIM2_SR & TIM_SR_UIF){ // update interrupt
+		TIM2_SR = 0;
+		overcapture = 1;
+		nvic_disable_irq(NVIC_TIM2_IRQ);
+		TIM2_DIER = 0;
+		US_mode = US_MODE_READY;
+		DBG("overcaptured\n");
+	}
+	// end of Trig pulse or start of measurements
+	if(TIM2_SR & TIM_SR_CC3IF){ // CCR ch3 interrupt
+		if(US_mode == US_MODE_TRIG){ // triggered - run measurement
+			run_measrmnt();
+		}else if(US_mode == US_MODE_WAIT){
+			US_mode = US_MODE_MEASUREMENT;
+		}
+		TIM2_SR &= ~TIM_SR_CC3IF;
+	}
+	if(TIM2_SR & TIM_SR_CC4IF){
+		if(US_mode == US_MODE_MEASUREMENT){
+			US_mode = US_MODE_READY;
+			nvic_disable_irq(NVIC_TIM2_IRQ);
+			TIM2_DIER = 0;
+			TIM2_CR1 = 0; // turn off timer - we don't need it more
+		}
+		TIM2_SR &= ~TIM_SR_CC3IF;
+	}
+}
+
+/**
+ * Measure distance
+ * return 1 if measurements done
+ * set L to distance (in mm) or 0 in case of overcapture (no signal)
+ */
+int ultrasonic_get(uint32_t *L){
+	uint32_t D;
+	if(US_mode != US_MODE_READY)
+		return 0;
+	US_mode = US_MODE_OFF;
+	if(!overcapture){
+		D = ((uint32_t)(TIM2_CCR4 - TIM2_CCR3)) * 170;
+		*L = D / 1000;
+	}else *L = 0;
+	return 1;
+}

ultrasonic/ultrasonic.geany

@@ -0,0 +1,52 @@
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+detect_indent=false
+detect_indent_width=false
+indent_mode=3
+
+[project]
+name=ultrasonic
+base_path=/home/eddy/Docs/SAO/ELECTRONICS/STM32/c8t6/ultrasonic/
+description=
+
+[long line marker]
+long_line_behaviour=1
+long_line_column=80
+
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+last_dir=/home/eddy/Docs/SAO/Cameras/FLI_camera/my/Mytakepic

ultrasonic/ultrasonic.h

@@ -0,0 +1,49 @@
+/*
+ * ultrasonic.h
+ *
+ * Copyright 2015 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
+ *
+ * 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.
+ */
+
+#pragma once
+#ifndef __ULTRASONIC_H__
+#define __ULTRASONIC_H__
+
+#include <stdint.h>
+
+void tim2_init();
+int start_ultrasonic();
+int ultrasonic_get(uint32_t *L);
+
+
+// Sensor mode
+typedef enum{
+	 US_MODE_OFF         // sensor is off
+	,US_MODE_TRIG        // sensor triggered
+	,US_MODE_WAIT        // wait for pulse
+	,US_MODE_MEASUREMENT // measurement in process
+	,US_MODE_READY       // measurements done
+} usmode;
+
+// trigger time: after trigger event ends, timer will be configured for capture - 20us
+#define TRIG_T     (200)
+// trigger length - 10us
+#define TRIG_L     (10)
+// max length of measurement (to detect signal absence)
+#define MAX_MSRMNT_LEN  (65535)
+
+#endif // __ULTRASONIC_H__

ultrasonic/user_proto.c

@@ -0,0 +1,213 @@
+/*
+ * user_proto.c
+ *
+ * Copyright 2014 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
+ *
+ * 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 "cdcacm.h"
+#include "main.h"
+#include "hardware_ini.h"
+#include "sharp.h"
+
+// integer value given by user
+static volatile int32_t User_value = 0;
+enum{
+	UVAL_START,		// user start to write integer value
+	UVAL_ENTERED,	// value entered but not printed
+	UVAL_BAD		// entered bad value
+};
+uint8_t Uval_ready = UVAL_BAD, cont = 0;
+
+int read_int(char *buf, int cnt);
+
+intfun I = NULL; // function to process entered integer
+
+#define READINT() do{i += read_int(&buf[i+1], len-i-1);}while(0)
+
+void help(){
+	P("A\tshow ADC value\n");
+	P("H\tshow this help\n");
+	P("D\tmeasure distance\n");
+	P("I\tinit sharp\n");
+	P("T\tshow timer value\n");
+	P("S\tstart/stop continuous measurement\n");
+}
+
+/**
+ * show entered integer value
+ */
+uint8_t show_int(int32_t v){
+	newline();
+	print_int(v);
+	newline();
+	return 0;
+}
+
+/**
+ * parce command buffer buf with length len
+ * return 0 if buffer processed or len if there's not enough data in buffer
+ */
+int parce_incoming_buf(char *buf, int len){
+	uint8_t command;
+	//uint32_t utmp;
+	int i = 0;
+	if(Uval_ready == UVAL_START){ // we are in process of user's value reading
+		i += read_int(buf, len);
+	}
+	if(Uval_ready == UVAL_ENTERED){
+		//print_int(User_value); // printout readed integer value for error control
+		Uval_ready = UVAL_BAD; // clear Uval
+		I(User_value);
+		return 0;
+	}
+	for(; i < len; i++){
+		command = buf[i];
+		if(!command) continue; // omit zero
+		switch (command){
+			case 'A':
+				P("ADC: ");
+				print_int(ADC1_DR);
+				P("ADU\n");
+			break;
+			case 'D':
+				if(!start_ultrasonic())
+					P("Can't start: another measurement is in process!\n");
+			break;
+			case 'H': // show help
+				help();
+			break;
+			case 'I':
+				init_sharp_sensor();
+			break;
+			case 'S':
+				cont = !cont;
+				if(cont) start_ultrasonic();
+			break;
+			case 'T':
+				newline();
+				print_int(Timer); // be careful for Time >= 2^{31}!!!
+				newline();
+			break;
+			case '\n': // show newline, space and tab as is
+			case '\r':
+			case ' ':
+			case '\t':
+			break;
+			default:
+				command = '?'; // echo '?' on unknown command in byte mode
+		}
+		usb_send(command); // echo readed byte
+	}
+	return 0; // all data processed - 0 bytes leave in buffer
+}
+
+/**
+ * Send char array wrd thru USB or UART
+ */
+void prnt(uint8_t *wrd){
+	if(!wrd) return;
+	while(*wrd) usb_send(*wrd++);
+}
+
+/**
+ * Read from TTY integer value given by user (in DEC).
+ *    Reading stops on first non-numeric symbol.
+ *    To work with symbol terminals reading don't stops on buffer's end,
+ *    it waits for first non-numeric char.
+ *    When working on string terminals, terminate string by '\n', 0 or any other symbol
+ * @param buf - buffer to read from
+ * @param cnt - buffer length
+ * @return amount of readed symbols
+ */
+int read_int(char *buf, int cnt){
+	int readed = 0, i;
+	static int enteredDigits; // amount of entered digits
+	static int sign; // sign of readed value
+	if(Uval_ready){ // this is first run
+		Uval_ready = UVAL_START; // clear flag
+		enteredDigits = 0; // 0 digits entered
+		User_value = 0; // clear value
+		sign = 1; // clear sign
+	}
+	if(!cnt) return 0;
+	for(i = 0; i < cnt; i++, readed++){
+		uint8_t chr = buf[i];
+		if(chr == '-'){
+			if(enteredDigits == 0){ // sign should be first
+				sign = -1;
+				continue;
+			}else{ // '-' after number - reject entered value
+				Uval_ready = UVAL_BAD;
+				break;
+			}
+		}
+		if(chr < '0' || chr > '9'){
+			if(enteredDigits)
+				Uval_ready = UVAL_ENTERED;
+			else
+				Uval_ready = UVAL_BAD; // bad symbol
+			break;
+		}
+		User_value = User_value * 10 + (int32_t)(chr - '0');
+		enteredDigits++;
+	}
+	if(Uval_ready == UVAL_ENTERED) // reading has met an non-numeric character
+		User_value *= sign;
+	return readed;
+}
+
+/**
+ * Print buff as hex values
+ * @param buf - buffer to print
+ * @param l   - buf length
+ * @param s   - function to send a byte
+ */
+void print_hex(uint8_t *buff, uint8_t l){
+	void putc(uint8_t c){
+		if(c < 10)
+			usb_send(c + '0');
+		else
+			usb_send(c + 'a' - 10);
+	}
+	usb_send('0'); usb_send('x'); // prefix 0x
+	while(l--){
+		putc(buff[l] >> 4);
+		putc(buff[l] & 0x0f);
+	}
+}
+
+/**
+ * Print decimal integer value
+ * @param N - value to print
+ * @param s - function to send a byte
+ */
+void print_int(int32_t N){
+	uint8_t buf[10], L = 0;
+	if(N < 0){
+		usb_send('-');
+		N = -N;
+	}
+	if(N){
+		while(N){
+			buf[L++] = N % 10 + '0';
+			N /= 10;
+		}
+		while(L--) usb_send(buf[L]);
+	}else usb_send('0');
+}
+

ultrasonic/user_proto.h

@@ -0,0 +1,49 @@
+/*
+ * user_proto.h
+ *
+ * Copyright 2014 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
+ *
+ * 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.
+ */
+
+#pragma once
+#ifndef __USER_PROTO_H__
+#define __USER_PROTO_H__
+
+#include "cdcacm.h"
+
+// shorthand for prnt
+#define P(arg)   do{prnt((uint8_t*)arg);}while(0)
+// debug message - over USB
+#ifdef EBUG
+	#define DBG(a)    do{prnt((uint8_t*)a);}while(0)
+#else
+	#define DBG(a)
+#endif
+
+extern uint8_t cont;
+
+typedef uint8_t (*intfun)(int32_t);
+
+void prnt(uint8_t *wrd);
+#define newline()   usb_send('\n')
+
+void print_int(int32_t N);
+void print_hex(uint8_t *buff, uint8_t l);
+
+int parce_incoming_buf(char *buf, int len);
+
+#endif // __USER_PROTO_H__