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fixed bug with systick correction

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This commit is contained in:
eddyem 2019-08-07 17:16:14 +03:00
parent 57ad234091
commit abdbac3e38
10 changed files with 188 additions and 93 deletions
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2
F1-nolib/chronometer/GPS.c
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@ -182,6 +182,8 @@ void GPS_parse_answer(const char *buf){
GPS_status = GPS_VALID;
set_time(buf);
}else{
uint8_t goth = (buf[0]-'0')*10 + buf[1]-'0';
if(current_time.H != goth) set_time(buf); // set time once per hour even if it's not valid
GPS_status = GPS_NOT_VALID;
}
}

18
F1-nolib/chronometer/Readme.md
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@ -3,18 +3,24 @@ Chronometer for downhill competitions
## Pinout
- PA11/12 - USB
- PA9(Tx),PA10 (debug mode) - USART1 - debug console
- PA2(Tx), PA3 - USART2 - GPS
- PB10(Tx), PB11 - USART3 - LIDAR
- PB10(Tx), PB11 - USART3 - LIDAR - TRIG3
- PA1 - PPS signal from GPS (EXTI)
- PB8, PB9 - onboard LEDs
- PA4 - TRIG2 - 12V trigger (EXTI) -- not implemented yet
- PA4 - TRIG2 - 12V trigger (EXTI)
- PA13 - TRIG0 - button0 (EXTI)
- PA14 - TRIG1 - button1/laser/etc (EXTI)
- PA15 - USB pullup
- PB0 - ADC channel 8
- PB1,2 - free for other functions
- PB8, PB9 - onboard LEDs (0/1)
- PC13 - buzzer
### Not implemented yet:
- PA5,6,7 (SCK, MISO, MOSI) - SPI
- PB0 - TRIG4 - ADC channel 8
- PB6/7 (SCL, SDA) - I2C

BIN
F1-nolib/chronometer/chrono.bin
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Binary file not shown.

18
F1-nolib/chronometer/hardware.c
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@ -29,6 +29,7 @@
#include <string.h> // memcpy
uint8_t buzzer_on = 1; // buzzer ON by default
uint8_t LEDSon = 1; // LEDS are working
// ports of triggers
static GPIO_TypeDef *trigport[DIGTRIG_AMOUNT] = {GPIOA, GPIOA, GPIOA};
@ -42,14 +43,22 @@ trigtime shottime[TRIGGERS_AMOUNT];
static uint32_t shotms[TRIGGERS_AMOUNT];
// if trigger[N] shots, the bit N will be 1
uint8_t trigger_shot = 0;
// time when Buzzer was turned ON
uint32_t BuzzerTime = 0;
static inline void gpio_setup(){
BUZZER_OFF(); // turn off buzzer @start
LED_on(); // turn ON LED0 @start
LED1_off(); // turn off LED1 @start
USBPU_OFF(); // turn off USB pullup @start
// Enable clocks to the GPIO subsystems (PB for ADC), turn on AFIO clocking to disable SWD/JTAG
RCC->APB2ENR |= RCC_APB2ENR_IOPAEN | RCC_APB2ENR_IOPBEN | RCC_APB2ENR_IOPCEN | RCC_APB2ENR_AFIOEN;
// turn off SWJ/JTAG
AFIO->MAPR = AFIO_MAPR_SWJ_CFG_DISABLE;
// pullups: PA1 - PPS, PA15 - USB pullup
GPIOA->ODR = (1<<12)|(1<<15);
// buzzer (PC13): pushpull output
GPIOC->CRH = CRH(13, CNF_PPOUTPUT|MODE_SLOW);
// Set leds (PB8) as opendrain output
GPIOB->CRH = CRH(8, CNF_ODOUTPUT|MODE_SLOW) | CRH(9, CNF_ODOUTPUT|MODE_SLOW);
// PPS pin (PA1) - input with weak pullup
@ -128,7 +137,7 @@ void hw_setup(){
void exti1_isr(){ // PPS - PA1
systick_correction();
DBG("exti1");
LED_off(); // turn off LED0 @ each PPS
EXTI->PR = EXTI_PR_PR1;
}
@ -140,17 +149,18 @@ void savetrigtime(){
void fillshotms(int i){
if(i < 0 || i > TRIGGERS_AMOUNT) return;
if(shotms[i] - Tms > (uint32_t)the_conf.trigpause[i]){
if(Tms - shotms[i] > (uint32_t)the_conf.trigpause[i]){
shotms[i] = Tms;
memcpy(&shottime[i], &trgtm, sizeof(trigtime));
trigger_shot |= 1<<i;
BuzzerTime = Tms;
BUZZER_ON();
}
}
void exti4_isr(){ // PA4 - trigger[2]
savetrigtime();
fillshotms(2);
DBG("exti4");
EXTI->PR = EXTI_PR_PR4;
}
@ -158,12 +168,10 @@ void exti15_10_isr(){ // PA13 - trigger[0], PA14 - trigger[1]
savetrigtime();
if(EXTI->PR & EXTI_PR_PR13){
fillshotms(0);
DBG("exti13");
EXTI->PR = EXTI_PR_PR13;
}
if(EXTI->PR & EXTI_PR_PR14){
fillshotms(1);
DBG("exti14");
EXTI->PR = EXTI_PR_PR14;
}
}

13
F1-nolib/chronometer/hardware.h
View File

@ -33,6 +33,13 @@
#define LED1_port GPIOB
#define LED1_pin (1<<9)
// buzzer (1 - active) - PC13
extern uint8_t buzzer_on;
#define BUZZER_port GPIOC
#define BUZZER_pin (1<<13)
#define BUZZER_ON() do{if(buzzer_on)pin_set(BUZZER_port, BUZZER_pin);}while(0)
#define BUZZER_OFF() pin_clear(BUZZER_port, BUZZER_pin)
// PPS pin - PA1
#define PPS_port GPIOA
#define PPS_pin (1<<1)
@ -56,10 +63,10 @@ void savetrigtime();
#define LED_blink() do{if(LEDSon)pin_toggle(LED0_port, LED0_pin);}while(0)
#define LED_on() do{if(LEDSon)pin_clear(LED0_port, LED0_pin);}while(0)
#define LED_off() do{if(LEDSon)pin_set(LED0_port, LED0_pin);}while(0)
#define LED_off() do{pin_set(LED0_port, LED0_pin);}while(0)
#define LED1_blink() do{if(LEDSon)pin_toggle(LED1_port, LED1_pin);}while(0)
#define LED1_on() do{if(LEDSon)pin_clear(LED1_port, LED1_pin);}while(0)
#define LED1_off() do{if(LEDSon)pin_set(LED1_port, LED1_pin);}while(0)
#define LED1_off() do{pin_set(LED1_port, LED1_pin);}while(0)
// GPS USART == USART2, LIDAR USART == USART3
#define GPS_USART (2)
@ -76,6 +83,8 @@ extern uint8_t LEDSon;
extern trigtime shottime[TRIGGERS_AMOUNT];
// if trigger[N] shots, the bit N will be 1
extern uint8_t trigger_shot;
// time when Buzzer was turned ON
extern uint32_t BuzzerTime;
void hw_setup();

1
F1-nolib/chronometer/lidar.c
View File

@ -33,6 +33,7 @@ void parse_lidar_data(char *txt){
lidar_triggered_dist = last_lidar_dist;
return;
}
IWDG->KR = IWDG_REFRESH;
if(triggered){ // check if body gone
if(last_lidar_dist < the_conf.dist_min || last_lidar_dist > the_conf.dist_max || last_lidar_dist > lidar_triggered_dist + LIDAR_DIST_THRES){
triggered = 0;

92
F1-nolib/chronometer/main.c
View File

@ -74,10 +74,10 @@ char *parse_cmd(char *buf){
static char btns[] = "BTN0=0, BTN1=0, BTN2=0, PPS=0\n";
switch(*buf){
case '0':
LED_off();
LED_off(); // LED0 off @dbg
break;
case '1':
LED_on();
LED_on(); // LED0 on @dbg
break;
case 'b':
btns[5] = gettrig(0) + '0';
@ -179,12 +179,23 @@ static char *get_USB(){
return NULL;
}
/*
void linecoding_handler(usb_LineCoding __attribute__((unused)) *lc){ // get/set line coding
DBG("linecoding_handler");
}*/
#ifdef EBUG
SEND("Change speed to");
printu(1, lc->dwDTERate);
newline();
#endif
}
void clstate_handler(uint16_t __attribute__((unused)) val){ // lesser bits of val: RTS|DTR
static uint32_t Tlast = 0;
SEND("Tms/Tlast: ");
printu(1, Tms);
newline();
printu(1, Tlast);
newline();
if(Tms - Tlast < 500) return;
Tlast = Tms;
USB_send("Chronometer version " VERSION ".\n");
#ifdef EBUG
if(val & 2){
@ -198,17 +209,19 @@ void clstate_handler(uint16_t __attribute__((unused)) val){ // lesser bits of va
#endif
}
/*
void break_handler(){ // client disconnected
DBG("break_handler");
}*/
DBG("Disconnected");
}
#ifdef EBUG
extern int32_t ticksdiff, timecntr, timerval, Tms1;
extern uint32_t last_corr_time;
#endif
int main(void){
uint32_t lastT = 0;
sysreset();
StartHSE();
LED1_off();
USBPU_OFF();
SysTick_Config(SYSTICK_DEFCONF); // function SysTick_Config decrements argument!
// read data stored in flash
get_userconf();
@ -218,7 +231,7 @@ int main(void){
USBPU_ON();
usarts_setup();
#ifdef EBUG
SEND("Chronometer version " VERSION ".\n");
SEND("This is chronometer version " VERSION ".\n");
if(RCC->CSR & RCC_CSR_IWDGRSTF){ // watchdog reset occured
SEND("WDGRESET=1\n");
}
@ -227,16 +240,28 @@ int main(void){
}
#endif
RCC->CSR |= RCC_CSR_RMVF; // remove reset flags
iwdg_setup();
//iwdg_setup();
while (1){
IWDG->KR = IWDG_REFRESH; // refresh watchdog
if(Timer > 499) LED_on(); // turn ON LED0 over 0.25s after PPS pulse
if(BuzzerTime && Tms - BuzzerTime > 249){
BUZZER_OFF();
BuzzerTime = 0;
}
if(lastT > Tms || Tms - lastT > 499){
if(need2startseq) GPS_send_start_seq();
LED_blink();
if(GPS_status != GPS_VALID) LED1_blink();
else LED1_on();
IWDG->KR = IWDG_REFRESH;
switch(GPS_status){
case GPS_VALID:
LED1_blink(); // blink LED1 @ VALID time
break;
case GPS_NOT_VALID:
LED1_on(); // shine LED1 @ NON-VALID time
break;
default:
LED1_off(); // turn off LED1 if GPS not found or time unknown
}
lastT = Tms;
if(usartrx(LIDAR_USART)){
char *txt;
@ -245,14 +270,42 @@ int main(void){
DBG(txt);
}
}
IWDG->KR = IWDG_REFRESH;
#if defined EBUG || defined USART1PROXY
transmit_tbuf(1); // non-blocking transmission of data from UART buffer every 0.5s
#endif
transmit_tbuf(GPS_USART);
transmit_tbuf(LIDAR_USART);
#ifdef EBUG
static uint8_t x = 1;
if(timecntr){
if(x){
SEND("ticksdiff=");
if(ticksdiff < 0){
SEND("-");
printu(1, -ticksdiff);
}else printu(1, ticksdiff);
SEND(", timecntr=");
printu(1, timecntr);
SEND("\nlast_corr_time=");
printu(1, last_corr_time);
SEND(", Tms=");
printu(1, Tms1);
SEND("\nTimer=");
printu(1, timerval);
SEND(", LOAD=");
printu(1, SysTick->LOAD);
newline();
}
x = !x;
}
#endif
}
IWDG->KR = IWDG_REFRESH;
if(trigger_shot) show_trigger_shot(trigger_shot);
IWDG->KR = IWDG_REFRESH;
usb_proc();
IWDG->KR = IWDG_REFRESH;
int r = 0;
char *txt;
if((txt = get_USB())){
@ -260,6 +313,7 @@ int main(void){
DBG(txt);
if(parse_USBCMD(txt))
USB_send(txt); // echo back non-commands data
IWDG->KR = IWDG_REFRESH;
}
#if defined EBUG || defined USART1PROXY
if(usartrx(1)){ // usart1 received data, store in in buffer
@ -268,18 +322,23 @@ int main(void){
txt[r] = 0;
#ifdef EBUG
char *ans = parse_cmd(txt);
IWDG->KR = IWDG_REFRESH;
if(ans){
transmit_tbuf(1);
IWDG->KR = IWDG_REFRESH;
usart_send(1, ans);
transmit_tbuf(1);
IWDG->KR = IWDG_REFRESH;
}
#else // USART1PROXY - send received data to GPS
usart_send(GPS_USART, txt);
IWDG->KR = IWDG_REFRESH;
#endif
}
}
#endif
if(usartrx(GPS_USART)){
IWDG->KR = IWDG_REFRESH;
r = usart_getline(GPS_USART, &txt);
if(r){
txt[r] = 0;
@ -287,6 +346,7 @@ int main(void){
}
}
if(usartrx(LIDAR_USART)){
IWDG->KR = IWDG_REFRESH;
r = usart_getline(LIDAR_USART, &txt);
if(r){
parse_lidar_data(txt);

18
F1-nolib/chronometer/str.c
View File

@ -106,6 +106,7 @@ int parse_USBCMD(char *cmd){
CMD_ADCMAX " - max ADC value treshold for trigger\n"
CMD_ADCMIN " - min -//- (triggered when ADval>min & <max\n"
CMD_GETADCVAL " - get ADC value\n"
CMD_BUZZER "S - turn buzzer ON/OFF\n"
CMD_DISTMIN " - min distance threshold (cm)\n"
CMD_DISTMAX " - max distance threshold (cm)\n"
CMD_GPSRESTART " - send Full Cold Restart to GPS\n"
@ -227,8 +228,8 @@ int parse_USBCMD(char *cmd){
LEDSon = 1;
USB_send("ON\n");
}else{
LED_off();
LED1_off();
LED_off(); // turn off LEDS
LED1_off(); // by user request
LEDSon = 0;
USB_send("OFF\n");
}
@ -251,6 +252,19 @@ int parse_USBCMD(char *cmd){
}else if(CMP(cmd, CMD_GPSRESTART) == 0){
USB_send("Send full cold restart to GPS\n");
GPS_send_FullColdStart();
}else if(CMP(cmd, CMD_BUZZER) == 0){
uint8_t Nt = cmd[sizeof(CMD_BUZZER) - 1] - '0';
if(Nt > 1) goto bad_number;
USB_send("BUZZER=");
if(Nt){
BuzzerTime = 0;
buzzer_on = 1;
USB_send("ON\n");
}else{
BuzzerTime = 0;
buzzer_on = 0;
USB_send("OFF\n");
}
}else return 1;
IWDG->KR = IWDG_REFRESH;
if(succeed) USB_send("Success!\n");

1
F1-nolib/chronometer/str.h
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@ -41,6 +41,7 @@
#define CMD_GETADCVAL "adcval"
#define CMD_LEDS "leds"
#define CMD_GPSRESTART "gpsrestart"
#define CMD_BUZZER "buzzer"
extern uint8_t showGPSstr;

118
F1-nolib/chronometer/time.c
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@ -27,9 +27,6 @@
volatile uint32_t Timer; // milliseconds counter
curtime current_time = TMNOTINI;
// ms counter in last correction by PPS
static uint32_t last_corr_time = 0;
static inline uint8_t atou(const char *b){
return (b[0]-'0')*10 + b[1]-'0';
}
@ -39,11 +36,16 @@ static inline uint8_t atou(const char *b){
* @param buf - buffer with time data (HHMMSS)
*/
void set_time(const char *buf){
uint8_t H = atou(buf) + TIMEZONE_GMT_PLUS;
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]);
#ifdef EBUG
SEND("set_time, Tms: "); printu(1, Tms);
SEND("; Timer: "); printu(1, Timer);
newline();
#endif
}
/**
@ -66,6 +68,17 @@ void time_increment(){
#endif
}
static char *puttwo(uint8_t N, char *buf){
if(N < 10){
*buf++ = '0';
}else{
*buf++ = N/10 + '0';
N %= 10;
}
*buf++ = N + '0';
return buf;
}
/**
* print time: Tm - time structure, T - milliseconds
*/
@ -92,14 +105,11 @@ char *get_time(curtime *Tm, uint32_t T){
T %= 10;
}else *bptr++ = '0';
*bptr++ = T + '0';
if(GPS_status == GPS_NOT_VALID){
strcpy(bptr, " (not valid)");
bptr += 12;
}
if(Tms - last_corr_time > 1000){
strcpy(bptr, " need PPS sync");
bptr += 14;
}
// put current time in HH:MM:SS format into buf
*bptr++ = ' '; *bptr++ = '(';
bptr = puttwo(Tm->H, bptr); *bptr++ = ':';
bptr = puttwo(Tm->M, bptr); *bptr++ = ':';
bptr = puttwo(Tm->S, bptr); *bptr++ = ')';
if(GPS_status == GPS_NOTFOUND){
strcpy(bptr, " GPS not found");
bptr += 14;
@ -109,6 +119,13 @@ char *get_time(curtime *Tm, uint32_t T){
return bstart;
}
#ifdef EBUG
int32_t ticksdiff=0, timecntr=0, timerval, Tms1;
#endif
uint32_t last_corr_time = 0;
/**
* @brief systick_correction
* Makes correction of system timer
@ -126,61 +143,38 @@ char *get_time(curtime *Tm, uint32_t T){
*/
void systick_correction(){
SysTick->CTRL &= ~SysTick_CTRL_ENABLE_Msk; // stop systick for a while
int32_t systick_val = SysTick->VAL, L = SysTick->LOAD + 1, timer_val = Timer;
uint32_t systick_val = SysTick->VAL, L = SysTick->LOAD + 1;
int32_t timer_val = Timer;
timerval = Timer;
Tms1 = Tms;
Timer = 0;
SysTick->VAL = SysTick->LOAD;
SysTick->CTRL |= SysTick_CTRL_ENABLE_Msk; // start it again
Timer = 0;
if(Tms - last_corr_time < 2000){ // calculate corrections only if Timer was zeroed last time
if(timer_val < 500) timer_val += 1000; // timer already incremented in SysTick interrupt
else time_increment(); // counter less than 1000 -> need to increment time
int32_t D = L * (timer_val - 999) - systick_val;
D /= 1000;
// if(systick_val != SysTick->LOAD) ++Tms;
if(timer_val > 500) time_increment(); // counter greater than 500 -> need to increment time
if(last_corr_time){
if(Tms - last_corr_time < 1500){ // there was perevious PPS signal
int32_t D = L * (Tms - 1000 - last_corr_time) + (SysTick->LOAD - systick_val); // amount of spare ticks
++timecntr;
ticksdiff += D;
uint32_t ticksabs = (ticksdiff < 0) ? -ticksdiff : ticksdiff;
// 10000 == 30 seconds * 1000 interrupts per second
if(ticksabs > 30000 && timecntr > 30){ // need correction (not more often than each 10s)
ticksdiff /= timecntr * 1000; // correction per one interrupt
SysTick->LOAD += ticksdiff;
timecntr = 0;
ticksdiff = 0;
last_corr_time = 0;
#ifdef EBUG
SEND("Delta: "); if(D < 0){usart_putchar(1, '-'); printu(1, -D);} else printu(1, D); newline();
SEND(get_time(&current_time, 0));
SEND("Correction\n");
#endif
SysTick->LOAD += D;
}
}else{
timecntr = 0;
ticksdiff = 0;
last_corr_time = 0;
}
}
last_corr_time = Tms;
#if 0
uint32_t t = 0, ticks;
static uint32_t ticksavr = 0, N = 0, last_corr_time = 0;
// correct
int32_t systick_val = SysTick->VAL;
// SysTick->LOAD values for all milliseconds (RVR0) and last millisecond (RVR1)
SysTick->VAL = RVR0;
int32_t timer_val = Timer;
Timer = 0;
// RVR -> SysTick->LOAD
systick_val = SysTick->LOAD + 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 = SYSTICK_DEFLOAD;
SysTick->LOAD = 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(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
SysTick->LOAD = 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;
#endif
}