mirror of
https://github.com/eddyem/stm32samples.git
synced 2025-12-06 10:45:11 +03:00
359 lines
10 KiB
C
359 lines
10 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 "hardware.h"
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#include "lidar.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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#ifdef EBUG
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char *parse_cmd(char *buf){
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int32_t N;
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static char btns[] = "BTN0=0, BTN1=0, BTN2=0, PPS=0\n";
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switch(*buf){
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case '0':
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LED_off(); // LED0 off @dbg
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break;
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case '1':
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LED_on(); // LED0 on @dbg
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break;
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case 'b':
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btns[5] = gettrig(0) + '0';
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btns[13] = gettrig(1) + '0';
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btns[21] = gettrig(2) + '0';
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btns[28] = GET_PPS() + '0';
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return btns;
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break;
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case 'c':
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DBG("Send cold start");
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GPS_send_FullColdStart();
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break;
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case 'C':
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if(getnum(&buf[1], &N)){
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SEND("Need a number!\n");
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}else{
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addNrecs(N);
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}
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break;
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case 'd':
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dump_userconf();
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break;
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case 'p':
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pin_toggle(USBPU_port, USBPU_pin);
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SEND("USB pullup is ");
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if(pin_read(USBPU_port, USBPU_pin)) SEND("off");
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else SEND("on");
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newline();
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break;
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case 'G':
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SEND("LIDAR_DIST=");
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printu(1, last_lidar_dist);
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SEND(", LIDAR_STREN=");
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printu(1, last_lidar_stren);
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newline();
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break;
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case 'L':
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USB_send("Very long test string for USB (it's length is more than 64 bytes).\n"
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"This is another part of the string! Can you see all of this?\n");
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return "Long test sent\n";
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break;
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case 'R':
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USB_send("Soft reset\n");
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SEND("Soft reset\n");
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NVIC_SystemReset();
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break;
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case 'S':
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USB_send("Test string for USB\n");
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return "Short test sent\n";
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break;
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case 'T':
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SEND(get_time(¤t_time, get_millis()));
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break;
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case 'W':
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USB_send("Wait for reboot\n");
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SEND("Wait for reboot\n");
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while(1){nop();};
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break;
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default: // help
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if(buf[1] != '\n') return buf;
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return
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"0/1 - turn on/off LED1\n"
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"'b' - get buttons's state\n"
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"'c' - send cold start\n"
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"'d' - dump current user conf\n"
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"'p' - toggle USB pullup\n"
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"'C' - store userconf for N times\n"
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"'G' - get last LIDAR distance\n"
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"'L' - send long string over USB\n"
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"'R' - software reset\n"
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"'S' - send short string over USB\n"
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"'T' - show current GPS time\n"
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"'W' - test watchdog\n"
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;
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break;
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}
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return NULL;
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}
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#endif
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// usb getline
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static char *get_USB(){
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static char tmpbuf[512], *curptr = tmpbuf;
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static int rest = 511;
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int x = USB_receive(curptr, rest);
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curptr[x] = 0;
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if(!x) return NULL;
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if(curptr[x-1] == '\n'){
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curptr = tmpbuf;
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rest = 511;
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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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SEND("USB buffer overflow!\n");
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curptr = tmpbuf;
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rest = 511;
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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();
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#endif
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}
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void clstate_handler(uint16_t __attribute__((unused)) val){ // lesser bits of val: RTS|DTR
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static uint32_t Tlast = 0;
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SEND("Tms/Tlast: ");
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printu(1, Tms);
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newline();
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printu(1, Tlast);
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newline();
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if(Tms - Tlast < 500) return;
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Tlast = Tms;
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USB_send("Chronometer version " VERSION ".\n");
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#ifdef EBUG
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if(val & 2){
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DBG("RTS set");
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USB_send("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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USB_send("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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}
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#ifdef EBUG
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extern int32_t ticksdiff, timecntr, timerval, Tms1;
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extern uint32_t last_corr_time;
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#endif
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int main(void){
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uint32_t lastT = 0;
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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
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get_userconf();
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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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usarts_setup();
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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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//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(BuzzerTime && Tms - BuzzerTime > 249){
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BUZZER_OFF();
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BuzzerTime = 0;
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}
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if(lastT > Tms || 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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if(usartrx(LIDAR_USART)){
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char *txt;
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if(usart_getline(LIDAR_USART, &txt)){
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DBG("LIDAR:");
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DBG(txt);
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}
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}
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IWDG->KR = IWDG_REFRESH;
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#if defined EBUG || defined USART1PROXY
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transmit_tbuf(1); // non-blocking transmission of data from UART buffer every 0.5s
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#endif
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transmit_tbuf(GPS_USART);
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transmit_tbuf(LIDAR_USART);
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#ifdef EBUG
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static uint8_t x = 1;
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if(timecntr){
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if(x){
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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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newline();
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}
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x = !x;
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}
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#endif
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}
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IWDG->KR = IWDG_REFRESH;
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if(trigger_shot) show_trigger_shot(trigger_shot);
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IWDG->KR = IWDG_REFRESH;
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usb_proc();
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IWDG->KR = IWDG_REFRESH;
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int r = 0;
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char *txt;
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if((txt = get_USB())){
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DBG("Received data over USB:");
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DBG(txt);
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if(parse_USBCMD(txt))
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USB_send(txt); // echo back non-commands data
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IWDG->KR = IWDG_REFRESH;
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}
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#if defined EBUG || defined USART1PROXY
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if(usartrx(1)){ // usart1 received data, store in in buffer
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r = usart_getline(1, &txt);
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if(r){
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txt[r] = 0;
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#ifdef EBUG
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char *ans = parse_cmd(txt);
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IWDG->KR = IWDG_REFRESH;
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if(ans){
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transmit_tbuf(1);
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IWDG->KR = IWDG_REFRESH;
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usart_send(1, ans);
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transmit_tbuf(1);
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IWDG->KR = IWDG_REFRESH;
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}
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#else // USART1PROXY - send received data to GPS
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usart_send(GPS_USART, txt);
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IWDG->KR = IWDG_REFRESH;
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#endif
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}
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}
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#endif
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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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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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parse_lidar_data(txt);
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}
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}
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chkADCtrigger();
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}
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return 0;
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}
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