add CANBUS_SSI

F0:F030,F042,F072/CANBUS_SSI/main.c

@@ -0,0 +1,173 @@
+/*
+ * main.c
+ *
+ * Copyright 2017 Edward V. Emelianoff <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 "can.h"
+#include "can_process.h"
+#include "flash.h"
+#include "hardware.h"
+#include "proto.h"
+#include "spi.h"
+#include "usart.h"
+#include "usb.h"
+#include "usb_lib.h"
+
+#include <string.h>
+
+volatile uint32_t Tms = 0;
+
+/* Called when systick fires */
+void sys_tick_handler(void){
+    ++Tms;
+}
+
+static void uhex(uint8_t *arr, uint8_t l){
+    if(l > 4 || l == 0) return;
+    char buf[13] = "0x";
+    int8_t i, j, bidx = 2;
+    for(i = 0; i < l; ++i, ++arr){
+        for(j = 1; j > -1; --j){
+            uint8_t half = (*arr >> (4*j)) & 0x0f;
+            if(half < 10) buf[bidx++] = half + '0';
+            else buf[bidx++] = half - 10 + 'a';
+        }
+    }
+    buf[bidx++] = '\n';
+    buf[bidx] = 0;
+    SEND(buf);
+    sendbuf();
+}
+
+/*
+static void print32bits(uint8_t *arr){
+    uint8_t _16[2];
+    _16[0] = (arr[0]>>4)&3; _16[1] = (arr[0]<<4) | (arr[1] >> 4);
+    uhex(_16, 2);
+}*/
+
+#define USBBUF 63
+// usb getline
+static char *get_USB(){
+    static char tmpbuf[USBBUF+1], *curptr = tmpbuf;
+    static int rest = USBBUF;
+    uint8_t x = USB_receive((uint8_t*)curptr);
+    if(!x) return NULL;
+    curptr[x] = 0;
+    if(x == 1 && *curptr == 0x7f){ // backspace
+        if(curptr > tmpbuf){
+            --curptr;
+            USND("\b \b");
+        }
+        return NULL;
+    }
+    USB_sendstr(curptr); // echo
+    if(curptr[x-1] == '\n'){
+        curptr = tmpbuf;
+        rest = USBBUF;
+        // omit empty lines
+        if(tmpbuf[0] == '\n') return NULL;
+        // and wrong empty lines
+        if(tmpbuf[0] == '\r' && tmpbuf[1] == '\n') return NULL;
+        return tmpbuf;
+    }
+    curptr += x; rest -= x;
+    if(rest <= 0){ // buffer overflow
+        curptr = tmpbuf;
+        rest = USBBUF;
+    }
+    return NULL;
+}
+
+// send encoder data
+static void CANsendEnc(uint8_t *buf){
+    uint32_t ctr = TIM2->CNT;
+    uint8_t msg[8];
+    memcpy(msg, buf, 4);
+    msg[4] = 0;
+    msg[5] = (ctr >> 16) & 0xff;
+    msg[6] = (ctr >> 8 ) & 0xff;
+    msg[7] = (ctr >> 0 ) & 0xff;
+    can_send(msg, 8, the_conf.encoderID);
+}
+// send limit-switches data
+static void CANsendLim(){
+    uint8_t msg[8] = {0};
+    msg[2] = ESW_STATE();
+    can_send(msg, 8, the_conf.limitsID);
+}
+
+int main(void){
+    uint32_t    lastT = 0,  // send buffer time
+                encT = 0    // send encoder & limit-switches data time
+    ;
+    sysreset();
+    SysTick_Config(6000, 1);
+    gpio_setup(); // + read board address
+    usart_setup();
+    adc_setup();
+    flashstorage_init();
+    CAN_setup(the_conf.CANspeed);
+    USB_setup();
+    spi_setup();
+    tim2_Setup();
+    iwdg_setup();
+
+     while (1){
+        IWDG->KR = IWDG_REFRESH; // refresh watchdog
+        if(Tms - lastT > 499){
+            sendbuf();
+            lastT = Tms;
+        }
+        if((the_conf.sendenc || the_conf.sendsw) && Tms - encT > ENCODER_PERIOD){
+            encT = Tms;
+            if(the_conf.sendenc) SPI_transmit(NULL, 4);
+            if(the_conf.sendsw) CANsendLim();
+        }
+        can_proc();
+        usb_proc();
+        usart_proc(); // switch RS-485 to Rx after last byte sent
+        char *txt;
+        if((txt = get_USB())){
+            cmd_parser(txt, TARGET_USB);
+        }
+        IWDG->KR = IWDG_REFRESH;
+        if(usartrx()){ // usart1 received data, store in in buffer
+            usart_getline(&txt);
+            cmd_parser(txt, TARGET_USART);
+        }
+        IWDG->KR = IWDG_REFRESH;
+        can_messages_proc();
+        uint8_t buf[4];
+        uint8_t a = SPI_getdata(buf, 4);
+        if(a){
+            if(the_conf.sendenc) CANsendEnc(buf);
+            SEND("Inverse code: "); uhex(buf, 4);
+            uint32_t *_u = (uint32_t*) buf; *_u = ~*_u;
+            SEND("Direct code: "); uhex(buf, 4);
+        }
+/*
+        if(ostctr != Tms){ // check steppers not more than once in 1ms
+            ostctr = Tms;
+        }
+*/
+    }
+    return 0;
+}
+