mirror of
https://github.com/eddyem/stm32samples.git
synced 2025-12-06 18:55:13 +03:00
134 lines
3.5 KiB
C
134 lines
3.5 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 "can.h"
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#include "can_process.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 "steppers.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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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;
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}
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/*
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void linecoding_handler(usb_LineCoding *lc){
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memcpy(&new_lc, lc, sizeof(usb_LineCoding));
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}
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void clstate_handler(uint16_t val){
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SEND("change control line state to ");
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printu(val);
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if(val & CONTROL_DTR) SEND(" (DTR)");
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if(val & CONTROL_RTS) SEND(" (RTS)");
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usart_putchar('\n');
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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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uint8_t x = USB_receive((uint8_t*)curptr);
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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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USND("\b \b");
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}
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return NULL;
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}
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USB_sendstr(curptr); // echo
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if(curptr[x-1] == '\n'){
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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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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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int main(void){
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uint32_t lastT = 0, ostctr = 0;
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sysreset();
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SysTick_Config(6000, 1);
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gpio_setup(); // + read board address
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usart_setup();
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adc_setup();
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flashstorage_init();
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/*
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if(RCC->CSR & RCC_CSR_IWDGRSTF){ // watchdog reset occured
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usart_send_blocking("WDGRESET=1\n", 11);
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}
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if(RCC->CSR & RCC_CSR_SFTRSTF){ // software reset occured
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usart_send_blocking("SOFTRESET=1\n", 12);
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}
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RCC->CSR |= RCC_CSR_RMVF; // remove reset flags
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*/
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CAN_setup(the_conf.CANspeed);
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USB_setup();
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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(Tms - lastT > 499){
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sendbuf();
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lastT = Tms;
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}
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can_proc();
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usb_proc();
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usart_proc(); // switch RS-485 to Rx after last byte sent
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char *txt;
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if((txt = get_USB())){
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cmd_parser(txt, TARGET_USB);
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}
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IWDG->KR = IWDG_REFRESH;
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if(usartrx()){ // usart1 received data, store in in buffer
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usart_getline(&txt);
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cmd_parser(txt, TARGET_USART);
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}
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IWDG->KR = IWDG_REFRESH;
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can_messages_proc();
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if(ostctr != Tms){ // check steppers not more than once in 1ms
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ostctr = Tms;
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stp_process();
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}
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}
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return 0;
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}
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