mirror of
https://github.com/eddyem/stm32samples.git
synced 2025-12-06 10:45:11 +03:00
338 lines
11 KiB
C
338 lines
11 KiB
C
/*
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* main.c
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*
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* Copyright 2017 Edward V. Emelianoff <eddy@sao.ru, 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 2 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, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
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* MA 02110-1301, USA.
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*/
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#include "adc.h"
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#include "GPS.h"
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#include "flash.h"
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#include "fonts.h"
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#include "hardware.h"
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#include "lidar.h"
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#include "screen.h"
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#include "spi.h"
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#include "str.h"
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#include "time.h"
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#include "usart.h"
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#include "usb.h"
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#include "usb_lib.h"
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#ifndef VERSION
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#define VERSION "0.0.0"
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#endif
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// global pseudo-milliseconds counter
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volatile uint32_t Tms = 0;
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/* Called when systick fires */
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void sys_tick_handler(void){
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++Tms; // increment pseudo-milliseconds counter
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if(++Timer == 1000){ // increment milliseconds counter
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time_increment();
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}
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}
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void iwdg_setup(){
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uint32_t tmout = 16000000;
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/* Enable the peripheral clock RTC */
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/* (1) Enable the LSI (40kHz) */
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/* (2) Wait while it is not ready */
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RCC->CSR |= RCC_CSR_LSION; /* (1) */
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while((RCC->CSR & RCC_CSR_LSIRDY) != RCC_CSR_LSIRDY){if(--tmout == 0) break;} /* (2) */
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/* Configure IWDG */
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/* (1) Activate IWDG (not needed if done in option bytes) */
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/* (2) Enable write access to IWDG registers */
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/* (3) Set prescaler by 64 (1.6ms for each tick) */
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/* (4) Set reload value to have a rollover each 2s */
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/* (5) Check if flags are reset */
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/* (6) Refresh counter */
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IWDG->KR = IWDG_START; /* (1) */
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IWDG->KR = IWDG_WRITE_ACCESS; /* (2) */
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IWDG->PR = IWDG_PR_PR_1; /* (3) */
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IWDG->RLR = 1250; /* (4) */
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tmout = 16000000;
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while(IWDG->SR){if(--tmout == 0) break;} /* (5) */
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IWDG->KR = IWDG_REFRESH; /* (6) */
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}
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#define USBBUF 63
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// usb getline
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static char *get_USB(){
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static char tmpbuf[USBBUF+1], *curptr = tmpbuf;
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static int rest = USBBUF;
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int x = USB_receive(curptr, rest);
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if(!x) return NULL;
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curptr[x] = 0;
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if(x == 1 && *curptr == 0x7f){ // backspace
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if(curptr > tmpbuf){
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--curptr;
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USB_send("\b \b");
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}
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return NULL;
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}
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USB_send(curptr); // echo
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if(curptr[x-1] == '\n'){ // || curptr[x-1] == '\r'){
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curptr = tmpbuf;
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rest = USBBUF;
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// omit empty lines
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if(tmpbuf[0] == '\n') return NULL;
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// and wrong empty lines
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if(tmpbuf[0] == '\r' && tmpbuf[1] == '\n') return NULL;
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return tmpbuf;
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}
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curptr += x; rest -= x;
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if(rest <= 0){ // buffer overflow
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sendstring("\nUSB buffer overflow!\n");
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curptr = tmpbuf;
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rest = USBBUF;
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}
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return NULL;
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}
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void linecoding_handler(usb_LineCoding __attribute__((unused)) *lc){ // get/set line coding
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#ifdef EBUG
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SEND("Change speed to ");
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printu(1, lc->dwDTERate);
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newline(1);
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#endif
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}
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static volatile uint8_t USBconn = 0;
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uint8_t USB_connected = 0; // need for usb.c
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void clstate_handler(uint16_t __attribute__((unused)) val){ // lesser bits of val: RTS|DTR
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USBconn = 1; // if == 1 -> send welcome message
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USB_connected = 1;
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#if 0
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if(val & 2){
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DBG("RTS set");
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sendstring("RTS set\n");
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}
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if(val & 1){
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DBG("DTR set");
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sendstring("DTR set\n");
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}
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#endif
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}
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void break_handler(){ // client disconnected
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DBG("Disconnected");
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USB_connected = 0;
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}
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int main(void){
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uint32_t lastT = 0, lastTshow = 0; // last time of status check, last time of time displayed
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uint8_t evtDisp = 0; // last event was displayed
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sysreset();
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StartHSE();
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SysTick_Config(SYSTICK_DEFCONF); // function SysTick_Config decrements argument!
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// read data stored in flash - before all pins/ports setup!!!
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flashstorage_init();
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// !!! hw_setup() should be the first in setup stage
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hw_setup();
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USB_setup();
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USBPU_ON();
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#ifdef EBUG
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SEND("This is chronometer version " VERSION ".\n");
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if(RCC->CSR & RCC_CSR_IWDGRSTF){ // watchdog reset occured
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SEND("WDGRESET=1\n");
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}
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if(RCC->CSR & RCC_CSR_SFTRSTF){ // software reset occured
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SEND("SOFTRESET=1\n");
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}
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#endif
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RCC->CSR |= RCC_CSR_RMVF; // remove reset flags
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#ifdef EBUG
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usarts_setup(); // setup usarts for debug console
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#endif
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usarts_setup(); // setup usarts after reading configuration
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spi_setup();
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ScreenOFF(); // clear screen
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PutStringAt(0, SCREEN_HEIGHT-1-curfont->baseline, "Chrono");
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ConvertScreenBuf();
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ShowScreen();
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iwdg_setup();
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while (1){
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IWDG->KR = IWDG_REFRESH; // refresh watchdog
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if(Timer > 499) LED_on(); // turn ON LED0 over 0.25s after PPS pulse
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if(USBconn && Tms > 100){ // USB connection
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USBconn = 0;
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sendstring("Chronometer version " VERSION ".\n");
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}
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// check if triggers that was recently shot are off now
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fillunshotms();
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if(Tms - lastT > 499){
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if(need2startseq) GPS_send_start_seq();
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IWDG->KR = IWDG_REFRESH;
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switch(GPS_status){
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case GPS_VALID:
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LED1_blink(); // blink LED1 @ VALID time
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break;
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case GPS_NOT_VALID:
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LED1_on(); // shine LED1 @ NON-VALID time
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break;
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default:
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LED1_off(); // turn off LED1 if GPS not found or time unknown
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}
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lastT = Tms;
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IWDG->KR = IWDG_REFRESH;
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transmit_tbuf(1); // non-blocking transmission of data from UART buffer every 0.5s
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transmit_tbuf(GPS_USART);
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transmit_tbuf(LIDAR_USART);
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#if 0
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#ifdef EBUG
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static int32_t oldctr = 0;
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if(timecntr && timecntr != oldctr){
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oldctr = timecntr;
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SEND("ticksdiff=");
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if(ticksdiff < 0){
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SEND("-");
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printu(1, -ticksdiff);
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}else printu(1, ticksdiff);
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SEND(", timecntr=");
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printu(1, timecntr);
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SEND("\nlast_corr_time=");
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printu(1, last_corr_time);
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SEND(", Tms=");
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printu(1, Tms1);
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SEND("\nTimer=");
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printu(1, timerval);
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SEND(", LOAD=");
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printu(1, SysTick->LOAD);
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usart_putchar(1, '\n');
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newline(1);
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}
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#endif
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#endif
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}
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IWDG->KR = IWDG_REFRESH;
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if(showtime){ // show current time (HH:MM:SS.S) every 100ms
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if(Tms - lastTtrig < the_conf.ledshow_time && showshtr){ // show last event on screen
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if(!evtDisp){
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evtDisp = 1;
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FillScreen(0);
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choose_font(FONTN10);
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char *tm = get_scrntime(&lastLog.shottime.Time, lastLog.shottime.millis);
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tm[11] = 0; // throw out thousands
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uint16_t w = GetStrWidth(tm);
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PutStringAt((SCREEN_WIDTH-w-1)/2, SCREEN_HEIGHT-4-curfont->baseline, tm);
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ConvertScreenBuf();
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ShowScreen();
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}
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}else if(Tms - lastTshow > 99 && Timer < 5){ // change time value
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lastTshow = Tms;
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evtDisp = 0;
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FillScreen(0);
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choose_font(FONTN16);
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if(startflags && timetostartO == 0){ // countdown
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char s[3] = {0,0,0}, *buf=s;
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uint8_t N = 59 - current_time.S; // show "0" @ 59 seconds!
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if(N == 0){ // countdown ends
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sendstring("START!!!\n");
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if(startflags & ST_FLAG_AUTO){ // rewind for autostart
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timetostartO = timetostartA;
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}else{ // clear autostart
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timetostartA = 0;
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startflags = 0;
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}
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choose_font(FONT14);
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const char *strt = "<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>!";
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uint16_t w = GetStrWidth(strt);
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PutStringAt((SCREEN_WIDTH-w-1)/2, SCREEN_HEIGHT-1-curfont->baseline, strt);
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}else{
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if(N >= 10){
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*buf++ = N/10 + '0';
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N %= 10;
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}
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*buf++ = (char)(N + '0');
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uint16_t w = GetStrWidth(s);
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PutStringAt((SCREEN_WIDTH-w-1)/2, SCREEN_HEIGHT-1-curfont->baseline, s);
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}
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}else{
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char *tm = get_scrntime(¤t_time, get_millis());
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tm[8] = 0; // throw out fractional parts
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PutStringAt(5, SCREEN_HEIGHT-1-curfont->baseline, tm);
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if(startflags){
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if(current_time.S == 28){ // decrease timetostartO, prepare to countdown
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--timetostartO;
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}
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char ltr = 'O';
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if(startflags & ST_FLAG_AUTO) ltr = 'A';
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choose_font(FONTN8);
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DrawCharAt(SCREEN_WIDTH-8, SCREEN_HEIGHT-9, ltr);
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DrawCharAt(SCREEN_WIDTH-8, SCREEN_HEIGHT-1, timetostartO + '0');
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}
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}
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ConvertScreenBuf();
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ShowScreen();
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}
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}
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process_screen();
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IWDG->KR = IWDG_REFRESH;
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usb_proc();
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int r = 0;
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char *txt = NULL;
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if((txt = get_USB())){
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IWDG->KR = IWDG_REFRESH;
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parse_CMD(txt);
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}
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if(usartrx(1)){ // usart1 received data, store it in buffer
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r = usart_getline(1, &txt);
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IWDG->KR = IWDG_REFRESH;
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if(r){
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txt[r] = 0;
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if(the_conf.defflags & FLAG_GPSPROXY){
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usart_send(GPS_USART, txt);
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}else{ // UART1 is additive serial/bluetooth console
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usart_send(1, txt);
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if(*txt != '\n'){
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parse_CMD(txt);
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}
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}
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}
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}
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if(usartrx(GPS_USART)){
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IWDG->KR = IWDG_REFRESH;
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r = usart_getline(GPS_USART, &txt);
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if(r){
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txt[r] = 0;
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if(the_conf.defflags & FLAG_GPSPROXY) usart_send(1, txt);
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GPS_parse_answer(txt);
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}
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}
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if(usartrx(LIDAR_USART)){
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IWDG->KR = IWDG_REFRESH;
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r = usart_getline(LIDAR_USART, &txt);
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if(r){
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if(the_conf.defflags & FLAG_NOLIDAR){
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usart_send(LIDAR_USART, txt);
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if(*txt != '\n'){
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parse_CMD(txt);
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}
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}else
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parse_lidar_data(txt);
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}
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}
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chk_buzzer(); // should we turn off buzzer?
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chkTrig1(); // check trigger without interrupt
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}
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return 0;
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}
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