/* * main.c * * Copyright 2017 Edward V. Emelianoff * * 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 "hardware.h" #include "usart.h" #include "i2c.h" #include "sensors_manage.h" #include "can.h" #include "can_process.h" #pragma message("USARTNUM=" STR(USARTNUM)) #pragma message("I2CPINS=" STR(I2CPINS)) #ifdef EBUG #pragma message("Debug mode") #else #pragma message("Release mode") #endif volatile uint32_t Tms = 0; /* Called when systick fires */ void sys_tick_handler(void){ ++Tms; } void iwdg_setup(){ /* 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); /* (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) */ while(IWDG->SR); /* (5) */ IWDG->KR = IWDG_REFRESH; /* (6) */ } void CANsend(uint16_t targetID, uint8_t cmd, char echo){ if(CAN_OK == can_send_cmd(targetID, cmd)){ usart_putchar(echo); newline(); } } int main(void){ uint32_t lastT = 0, lastS = 0; int16_t L = 0, ID; uint8_t gotmeasurement = 0, canerror = 0; char *txt; sysreset(); SysTick_Config(6000, 1); gpio_setup(); usart_setup(); i2c_setup(LOW_SPEED); iwdg_setup(); CAN_setup(); SEND("Greetings! My address is "); printuhex(getCANID()); newline(); 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"); } RCC->CSR |= RCC_CSR_RMVF; // remove reset flags while (1){ IWDG->KR = IWDG_REFRESH; // refresh watchdog if(lastT > Tms || Tms - lastT > 499){ LED_blink(LED0); lastT = Tms; // send dummy command to noone to test CAN bus can_send_cmd(NOONE_ID, CMD_DUMMY0); } if(lastS > Tms || Tms - lastS > 5){ // run sensors proc. once per 5ms sensors_process(); lastS = Tms; } can_proc(); CAN_status stat = CAN_get_status(); if(stat == CAN_FIFO_OVERRUN){ SEND("CAN bus fifo overrun occured!\n"); }else if(stat == CAN_ERROR){ LED_off(LED1); CAN_setup(); canerror = 1; } can_messages_proc(); if(SENS_SLEEPING == sensors_get_state()){ // show temperature @ each sleeping occurence if(!gotmeasurement){ gotmeasurement = 1; showtemperature(); } }else{ gotmeasurement = 0; } if(usartrx()){ // usart1 received data, store in in buffer L = usart_getline(&txt); char _1st = txt[0]; if(L == 2 && txt[1] == '\n'){ L = 0; if(_1st > '0' && _1st < '8'){ ID = (CAN_ID_PREFIX & CAN_ID_MASK) | (_1st - '0'); CANsend(ID, CMD_START_MEASUREMENT, _1st); }else switch(_1st){ case 'B': CANsend(BCAST_ID, CMD_DUMMY0, _1st); break; case 'c': showcoeffs(); break; case 'D': CANsend(MASTER_ID, CMD_DUMMY1, _1st); break; case 'E': CANsend(BCAST_ID, CMD_STOP_SCAN, _1st); case 'e': SEND("End scan mode\n"); sensors_scan_mode = 0; break; case 'F': CANsend(BCAST_ID, CMD_SENSORS_OFF, _1st); case 'f': SEND("Turn off sensors\n"); sensors_off(); break; case 'g': SEND("Can address: "); printuhex(getCANID()); newline(); break; case 'H': CANsend(BCAST_ID, CMD_HIGH_SPEED, _1st); case 'h': i2c_setup(HIGH_SPEED); SEND("High speed\n"); break; case 'i': CAN_reinit(); SEND("Can address: "); printuhex(getCANID()); newline(); break; case 'L': CANsend(BCAST_ID, CMD_LOW_SPEED, _1st); case 'l': i2c_setup(LOW_SPEED); SEND("Low speed\n"); break; /*case 'o': sensors_on(); break;*/ case 'P': CANsend(BCAST_ID, CMD_PING, _1st); break; case 'R': CANsend(BCAST_ID, CMD_REINIT_I2C, _1st); case 'r': i2c_setup(CURRENT_SPEED); SEND("Reinit I2C\n"); break; case 'S': CANsend(BCAST_ID, CMD_START_SCAN, _1st); case 's': SEND("Start scan mode\n"); sensors_scan_mode = 1; break; case 'T': CANsend(BCAST_ID, CMD_START_MEASUREMENT, _1st); case '0': case 't': if(!sensors_scan_mode) sensors_start(); break; case 'u': SEND("CANERROR="); if(canerror){ canerror = 0; usart_putchar('1'); }else usart_putchar('0'); newline(); break; case 'V': CANsend(BCAST_ID, CMD_LOWEST_SPEED, _1st); case 'v': i2c_setup(VERYLOW_SPEED); SEND("Very low speed\n"); break; case 'Z': CANsend(BCAST_ID, CMD_SENSORS_STATE, _1st); break; default: // help SEND( "ALL little letters - without CAN messaging\n" "0..7 - start measurement on given controller (0 - this)\n" "B - send broadcast CAN dummy message\n" "c - show coefficients (current)\n" "D - send CAN dummy message to master\n" "Ee- end themperature scan\n" "Ff- turn oFf sensors\n" "g - get last CAN address\n" "Hh- high I2C speed\n" "i - reinit CAN (with new address)\n" "Ll- low I2C speed\n" // "o - turn On sensors\n" "P - ping everyone over CAN\n" "Rr- reinit I2C\n" "Ss- Start themperature scan\n" "Tt- start temperature measurement\n" "u - check CAN status for errors\n" "Vv- very low I2C speed\n" "Z - get sensors state over CAN\n" ); break; } } } if(L){ // text waits for sending while(LINE_BUSY == usart_send(txt, L)); L = 0; } } return 0; }