mirror of
https://github.com/eddyem/stm32samples.git
synced 2025-12-06 18:55:13 +03:00
338 lines
11 KiB
C
338 lines
11 KiB
C
/*
|
||
* 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 "GPS.h"
|
||
#include "flash.h"
|
||
#include "fonts.h"
|
||
#include "hardware.h"
|
||
#include "lidar.h"
|
||
#include "screen.h"
|
||
#include "spi.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) */
|
||
}
|
||
|
||
#define USBBUF 63
|
||
// usb getline
|
||
static char *get_USB(){
|
||
static char tmpbuf[USBBUF+1], *curptr = tmpbuf;
|
||
static int rest = USBBUF;
|
||
int x = USB_receive(curptr, rest);
|
||
if(!x) return NULL;
|
||
curptr[x] = 0;
|
||
if(x == 1 && *curptr == 0x7f){ // backspace
|
||
if(curptr > tmpbuf){
|
||
--curptr;
|
||
USB_send("\b \b");
|
||
}
|
||
return NULL;
|
||
}
|
||
USB_send(curptr); // echo
|
||
if(curptr[x-1] == '\n'){ // || curptr[x-1] == '\r'){
|
||
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
|
||
sendstring("\nUSB buffer overflow!\n");
|
||
curptr = tmpbuf;
|
||
rest = USBBUF;
|
||
}
|
||
return NULL;
|
||
}
|
||
|
||
void linecoding_handler(usb_LineCoding __attribute__((unused)) *lc){ // get/set line coding
|
||
#ifdef EBUG
|
||
SEND("Change speed to ");
|
||
printu(1, lc->dwDTERate);
|
||
newline(1);
|
||
#endif
|
||
}
|
||
|
||
|
||
static volatile uint8_t USBconn = 0;
|
||
uint8_t USB_connected = 0; // need for usb.c
|
||
void clstate_handler(uint16_t __attribute__((unused)) val){ // lesser bits of val: RTS|DTR
|
||
USBconn = 1; // if == 1 -> send welcome message
|
||
USB_connected = 1;
|
||
#if 0
|
||
if(val & 2){
|
||
DBG("RTS set");
|
||
sendstring("RTS set\n");
|
||
}
|
||
if(val & 1){
|
||
DBG("DTR set");
|
||
sendstring("DTR set\n");
|
||
}
|
||
#endif
|
||
}
|
||
|
||
void break_handler(){ // client disconnected
|
||
DBG("Disconnected");
|
||
USB_connected = 0;
|
||
}
|
||
|
||
int main(void){
|
||
uint32_t lastT = 0, lastTshow = 0; // last time of status check, last time of time displayed
|
||
uint8_t evtDisp = 0; // last event was displayed
|
||
sysreset();
|
||
StartHSE();
|
||
SysTick_Config(SYSTICK_DEFCONF); // function SysTick_Config decrements argument!
|
||
// read data stored in flash - before all pins/ports setup!!!
|
||
flashstorage_init();
|
||
// !!! hw_setup() should be the first in setup stage
|
||
hw_setup();
|
||
USB_setup();
|
||
USBPU_ON();
|
||
#ifdef EBUG
|
||
SEND("This is 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");
|
||
}
|
||
#endif
|
||
RCC->CSR |= RCC_CSR_RMVF; // remove reset flags
|
||
#ifdef EBUG
|
||
usarts_setup(); // setup usarts for debug console
|
||
#endif
|
||
usarts_setup(); // setup usarts after reading configuration
|
||
spi_setup();
|
||
ScreenOFF(); // clear screen
|
||
PutStringAt(0, SCREEN_HEIGHT-1-curfont->baseline, "Chrono");
|
||
ConvertScreenBuf();
|
||
ShowScreen();
|
||
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(USBconn && Tms > 100){ // USB connection
|
||
USBconn = 0;
|
||
sendstring("Chronometer version " VERSION ".\n");
|
||
}
|
||
// check if triggers that was recently shot are off now
|
||
fillunshotms();
|
||
if(Tms - lastT > 499){
|
||
if(need2startseq) GPS_send_start_seq();
|
||
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;
|
||
IWDG->KR = IWDG_REFRESH;
|
||
transmit_tbuf(1); // non-blocking transmission of data from UART buffer every 0.5s
|
||
transmit_tbuf(GPS_USART);
|
||
transmit_tbuf(LIDAR_USART);
|
||
#if 0
|
||
#ifdef EBUG
|
||
static int32_t oldctr = 0;
|
||
if(timecntr && timecntr != oldctr){
|
||
oldctr = timecntr;
|
||
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);
|
||
usart_putchar(1, '\n');
|
||
newline(1);
|
||
}
|
||
#endif
|
||
#endif
|
||
}
|
||
IWDG->KR = IWDG_REFRESH;
|
||
if(showtime){ // show current time (HH:MM:SS.S) every 100ms
|
||
if(Tms - lastTtrig < the_conf.ledshow_time && showshtr){ // show last event on screen
|
||
if(!evtDisp){
|
||
evtDisp = 1;
|
||
FillScreen(0);
|
||
choose_font(FONTN10);
|
||
char *tm = get_scrntime(&lastLog.shottime.Time, lastLog.shottime.millis);
|
||
tm[11] = 0; // throw out thousands
|
||
uint16_t w = GetStrWidth(tm);
|
||
PutStringAt((SCREEN_WIDTH-w-1)/2, SCREEN_HEIGHT-4-curfont->baseline, tm);
|
||
ConvertScreenBuf();
|
||
ShowScreen();
|
||
}
|
||
}else if(Tms - lastTshow > 99 && Timer < 5){ // change time value
|
||
lastTshow = Tms;
|
||
evtDisp = 0;
|
||
FillScreen(0);
|
||
choose_font(FONTN16);
|
||
if(startflags && timetostartO == 0){ // countdown
|
||
char s[3] = {0,0,0}, *buf=s;
|
||
uint8_t N = 59 - current_time.S; // show "0" @ 59 seconds!
|
||
if(N == 0){ // countdown ends
|
||
sendstring("START!!!\n");
|
||
if(startflags & ST_FLAG_AUTO){ // rewind for autostart
|
||
timetostartO = timetostartA;
|
||
}else{ // clear autostart
|
||
timetostartA = 0;
|
||
startflags = 0;
|
||
}
|
||
choose_font(FONT14);
|
||
const char *strt = "<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>!";
|
||
uint16_t w = GetStrWidth(strt);
|
||
PutStringAt((SCREEN_WIDTH-w-1)/2, SCREEN_HEIGHT-1-curfont->baseline, strt);
|
||
}else{
|
||
if(N >= 10){
|
||
*buf++ = N/10 + '0';
|
||
N %= 10;
|
||
}
|
||
*buf++ = (char)(N + '0');
|
||
uint16_t w = GetStrWidth(s);
|
||
PutStringAt((SCREEN_WIDTH-w-1)/2, SCREEN_HEIGHT-1-curfont->baseline, s);
|
||
}
|
||
}else{
|
||
char *tm = get_scrntime(¤t_time, get_millis());
|
||
tm[8] = 0; // throw out fractional parts
|
||
PutStringAt(5, SCREEN_HEIGHT-1-curfont->baseline, tm);
|
||
if(startflags){
|
||
if(current_time.S == 28){ // decrease timetostartO, prepare to countdown
|
||
--timetostartO;
|
||
}
|
||
char ltr = 'O';
|
||
if(startflags & ST_FLAG_AUTO) ltr = 'A';
|
||
choose_font(FONTN8);
|
||
DrawCharAt(SCREEN_WIDTH-8, SCREEN_HEIGHT-9, ltr);
|
||
DrawCharAt(SCREEN_WIDTH-8, SCREEN_HEIGHT-1, timetostartO + '0');
|
||
}
|
||
}
|
||
ConvertScreenBuf();
|
||
ShowScreen();
|
||
}
|
||
}
|
||
process_screen();
|
||
IWDG->KR = IWDG_REFRESH;
|
||
usb_proc();
|
||
int r = 0;
|
||
char *txt = NULL;
|
||
if((txt = get_USB())){
|
||
IWDG->KR = IWDG_REFRESH;
|
||
parse_CMD(txt);
|
||
}
|
||
if(usartrx(1)){ // usart1 received data, store it in buffer
|
||
r = usart_getline(1, &txt);
|
||
IWDG->KR = IWDG_REFRESH;
|
||
if(r){
|
||
txt[r] = 0;
|
||
if(the_conf.defflags & FLAG_GPSPROXY){
|
||
usart_send(GPS_USART, txt);
|
||
}else{ // UART1 is additive serial/bluetooth console
|
||
usart_send(1, txt);
|
||
if(*txt != '\n'){
|
||
parse_CMD(txt);
|
||
}
|
||
}
|
||
}
|
||
}
|
||
if(usartrx(GPS_USART)){
|
||
IWDG->KR = IWDG_REFRESH;
|
||
r = usart_getline(GPS_USART, &txt);
|
||
if(r){
|
||
txt[r] = 0;
|
||
if(the_conf.defflags & FLAG_GPSPROXY) usart_send(1, txt);
|
||
GPS_parse_answer(txt);
|
||
}
|
||
}
|
||
if(usartrx(LIDAR_USART)){
|
||
IWDG->KR = IWDG_REFRESH;
|
||
r = usart_getline(LIDAR_USART, &txt);
|
||
if(r){
|
||
if(the_conf.defflags & FLAG_NOLIDAR){
|
||
usart_send(LIDAR_USART, txt);
|
||
if(*txt != '\n'){
|
||
parse_CMD(txt);
|
||
}
|
||
}else
|
||
parse_lidar_data(txt);
|
||
}
|
||
}
|
||
chk_buzzer(); // should we turn off buzzer?
|
||
chkTrig1(); // check trigger without interrupt
|
||
}
|
||
return 0;
|
||
}
|