mirror of
https://github.com/eddyem/stm32samples.git
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84 lines
2.5 KiB
C
84 lines
2.5 KiB
C
/*
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* This file is part of the multistepper project.
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* Copyright 2023 Edward V. Emelianov <edward.emelianoff@gmail.com>.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "can.h"
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#include "flash.h"
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#include "hardware.h"
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#include "proto.h"
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#include "usb.h"
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#define MAXSTRLEN RBINSZ
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volatile uint32_t Tms = 0;
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void sys_tick_handler(void){
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++Tms;
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}
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int main(void){
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char inbuff[MAXSTRLEN+1];
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if(StartHSE()){
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SysTick_Config((uint32_t)72000); // 1ms
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}else{
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StartHSI();
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SysTick_Config((uint32_t)48000); // 1ms
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}
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flashstorage_init();
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hw_setup(); // GPIO, ADC, timers, watchdog etc.
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USBPU_OFF(); // make a reconnection
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USB_setup();
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USBPU_ON();
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CAN_setup(the_conf.CANspeed);
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uint32_t ctr = 0;
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CAN_message *can_mesg;
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while(1){
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IWDG->KR = IWDG_REFRESH;
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if(Tms - ctr > 499){
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ctr = Tms;
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LED_blink();
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}
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CAN_proc();
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USB_proc();
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if(CAN_get_status() == CAN_FIFO_OVERRUN){
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USB_sendstr("CAN bus fifo overrun occured!\n");
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}
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while((can_mesg = CAN_messagebuf_pop())){
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if(can_mesg && isgood(can_mesg->ID)){
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if(ShowMsgs){ // display message content
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IWDG->KR = IWDG_REFRESH;
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uint8_t len = can_mesg->length;
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printu(Tms);
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USB_sendstr(" #");
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printuhex(can_mesg->ID);
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for(uint8_t i = 0; i < len; ++i){
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USB_putbyte(' ');
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printuhex(can_mesg->data[i]);
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}
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USB_putbyte('\n');
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}
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}
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}
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int l = USB_receivestr(inbuff, MAXSTRLEN);
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if(l < 0) USB_sendstr("ERROR: USB buffer overflow or string was too long\n");
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else if(l){
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const char *ans = cmd_parser(inbuff);
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if(ans) USB_sendstr(ans);
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}
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}
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}
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