/* * main.c * * Copyright 2017 Edward V. Emelianoff * * 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 "GPS.h" #include "flash.h" #include "hardware.h" #include "lidar.h" #include "str.h" #include "time.h" #include "usart.h" #include "usb.h" #include "usb_lib.h" #ifndef VERSION #define VERSION "0.0.0" #endif // global pseudo-milliseconds counter volatile uint32_t Tms = 0; /* Called when systick fires */ void sys_tick_handler(void){ ++Tms; // increment pseudo-milliseconds counter if(++Timer == 1000){ // increment milliseconds counter time_increment(); } } void iwdg_setup(){ uint32_t tmout = 16000000; /* Enable the peripheral clock RTC */ /* (1) Enable the LSI (40kHz) */ /* (2) Wait while it is not ready */ RCC->CSR |= RCC_CSR_LSION; /* (1) */ while((RCC->CSR & RCC_CSR_LSIRDY) != RCC_CSR_LSIRDY){if(--tmout == 0) break;} /* (2) */ /* Configure IWDG */ /* (1) Activate IWDG (not needed if done in option bytes) */ /* (2) Enable write access to IWDG registers */ /* (3) Set prescaler by 64 (1.6ms for each tick) */ /* (4) Set reload value to have a rollover each 2s */ /* (5) Check if flags are reset */ /* (6) Refresh counter */ IWDG->KR = IWDG_START; /* (1) */ IWDG->KR = IWDG_WRITE_ACCESS; /* (2) */ IWDG->PR = IWDG_PR_PR_1; /* (3) */ IWDG->RLR = 1250; /* (4) */ tmout = 16000000; while(IWDG->SR){if(--tmout == 0) break;} /* (5) */ IWDG->KR = IWDG_REFRESH; /* (6) */ } #ifdef EBUG char *parse_cmd(char *buf){ int32_t N; static char btns[] = "BTN0=0, BTN1=0, BTN2=0, PPS=0\n"; switch(*buf){ case '0': LED_off(); break; case '1': LED_on(); break; case 'b': btns[5] = gettrig(0) + '0'; btns[13] = gettrig(1) + '0'; btns[21] = gettrig(2) + '0'; btns[28] = GET_PPS() + '0'; return btns; break; case 'C': if(getnum(&buf[1], &N)){ SEND("Need a number!\n"); }else{ addNrecs(N); } break; case 'd': dump_userconf(); break; case 'p': pin_toggle(USBPU_port, USBPU_pin); SEND("USB pullup is "); if(pin_read(USBPU_port, USBPU_pin)) SEND("off"); else SEND("on"); newline(); break; case 'G': SEND("LIDAR_DIST="); printu(1, last_lidar_dist); SEND(", LIDAR_STREN="); printu(1, last_lidar_stren); newline(); break; case 'L': USB_send("Very long test string for USB (it's length is more than 64 bytes).\n" "This is another part of the string! Can you see all of this?\n"); return "Long test sent\n"; break; case 'R': USB_send("Soft reset\n"); SEND("Soft reset\n"); NVIC_SystemReset(); break; case 'S': USB_send("Test string for USB\n"); return "Short test sent\n"; break; case 'T': SEND(get_time(¤t_time, get_millis())); break; case 'W': USB_send("Wait for reboot\n"); SEND("Wait for reboot\n"); while(1){nop();}; break; default: // help if(buf[1] != '\n') return buf; return "0/1 - turn on/off LED1\n" "'b' - get buttons's state\n" "'d' - dump current user conf\n" "'p' - toggle USB pullup\n" "'C' - store userconf for N times\n" "'G' - get last LIDAR distance\n" "'L' - send long string over USB\n" "'R' - software reset\n" "'S' - send short string over USB\n" "'T' - show current GPS time\n" "'W' - test watchdog\n" ; break; } return NULL; } #endif // usb getline static char *get_USB(){ static char tmpbuf[512], *curptr = tmpbuf; static int rest = 511; int x = USB_receive(curptr, rest); curptr[x] = 0; if(!x) return NULL; if(curptr[x-1] == '\n'){ curptr = tmpbuf; rest = 511; return tmpbuf; } curptr += x; rest -= x; if(rest <= 0){ // buffer overflow SEND("USB buffer overflow!\n"); curptr = tmpbuf; rest = 511; } return NULL; } 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(); // !!! hw_setup() should be the first in setup stage hw_setup(); usarts_setup(); SEND("Chronometer version " VERSION ".\n"); if(RCC->CSR & RCC_CSR_IWDGRSTF){ // watchdog reset occured SEND("WDGRESET=1\n"); } if(RCC->CSR & RCC_CSR_SFTRSTF){ // software reset occured SEND("SOFTRESET=1\n"); } RCC->CSR |= RCC_CSR_RMVF; // remove reset flags USB_setup(); iwdg_setup(); USBPU_ON(); while (1){ IWDG->KR = IWDG_REFRESH; // refresh watchdog if(lastT > Tms || Tms - lastT > 499){ if(need2startseq) GPS_send_start_seq(); LED_blink(); if(GPS_status != GPS_VALID) LED1_blink(); else LED1_on(); lastT = Tms; if(usartrx(LIDAR_USART)){ char *txt; if(usart_getline(LIDAR_USART, &txt)){ DBG("LIDAR:"); DBG(txt); } } #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); } if(trigger_shot) show_trigger_shot(trigger_shot); usb_proc(); int r = 0; char *txt; if((txt = get_USB())){ DBG("Received data over USB:"); DBG(txt); if(parse_USBCMD(txt)) USB_send(txt); // echo back non-commands data } #if defined EBUG || defined USART1PROXY if(usartrx(1)){ // usart1 received data, store in in buffer r = usart_getline(1, &txt); if(r){ txt[r] = 0; #ifdef EBUG char *ans = parse_cmd(txt); if(ans){ transmit_tbuf(1); usart_send(1, ans); transmit_tbuf(1); } #else // USART1PROXY - send received data to GPS usart_send(GPS_USART, txt); #endif } } #endif if(usartrx(GPS_USART)){ r = usart_getline(GPS_USART, &txt); if(r){ txt[r] = 0; if(showGPSstr){ showGPSstr = 0; USB_send(txt); } GPS_parse_answer(txt); } } if(usartrx(LIDAR_USART)){ r = usart_getline(LIDAR_USART, &txt); if(r){ parse_lidar_data(txt); } } } return 0; }