diff options
Diffstat (limited to 'driver_fw/main.c')
| -rw-r--r-- | driver_fw/main.c | 94 |
1 files changed, 56 insertions, 38 deletions
diff --git a/driver_fw/main.c b/driver_fw/main.c index e3d1b94..ee4a4ed 100644 --- a/driver_fw/main.c +++ b/driver_fw/main.c @@ -1,26 +1,24 @@ - -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wstrict-aliasing" -#include <stm32f0xx.h> -#pragma GCC diagnostic pop - -#include <system_stm32f0xx.h> -#include <stm32f0xx_ll_spi.h> - -#include <stdint.h> -#include <stdbool.h> -#include <string.h> -#include <unistd.h> +#include "global.h" +#include "serial.h" #include <8b10b.h> /* Part number: STM32F030F4C6 */ -static volatile unsigned int sys_time; +volatile unsigned int comm_led_ctr, err_led_ctr; +volatile unsigned int sys_time_tick; +volatile unsigned int sys_time_ms; +volatile unsigned int sys_time_s; +unsigned int frame_duration_us; +volatile uint8_t global_brightness; /* FIXME implement sending */ + +void trigger_error_led() { + err_led_ctr = STATUS_LED_DURATION_MS/TICK_MS; +} -uint32_t get_tick() { - return SysTick->VAL; +void trigger_comm_led() { + comm_led_ctr = STATUS_LED_DURATION_MS/TICK_MS; } static volatile struct { @@ -30,8 +28,8 @@ static volatile struct { #define NO_SYMBOL (DECODER_RETURN_CODE_LAST + 1) -unsigned char random() { - static unsigned char x, a, b, c; +uint8_t random() { + static uint8_t x, a, b, c; x++; //x is incremented every round and is not affected by any other variable a = (a ^ c ^ x); //note the mix of addition and XOR b = (b + a); //And the use of very few instructions @@ -40,7 +38,7 @@ unsigned char random() { } enum STATUS_LEDS { - STATUS_LED_COMM = 1, + STATUS_LED_COMMUNICATION = 1, STATUS_LED_ERROR = 2, STATUS_LED_LOAD = 4, STATUS_LED_OPERATION = 8, @@ -63,6 +61,7 @@ static void set_status_leds(uint8_t val) { int main(void) { + /* Startup code */ RCC->CR |= RCC_CR_HSEON; while (!(RCC->CR&RCC_CR_HSERDY)); RCC->CFGR &= ~RCC_CFGR_PLLMUL_Msk & ~RCC_CFGR_SW_Msk & ~RCC_CFGR_PPRE_Msk & ~RCC_CFGR_HPRE_Msk; @@ -75,10 +74,11 @@ int main(void) { RCC->APB2ENR |= RCC_APB2ENR_SYSCFGEN | RCC_APB2ENR_ADCEN| RCC_APB2ENR_DBGMCUEN | RCC_APB2ENR_USART1EN | RCC_APB2ENR_SPI1EN; SystemCoreClockUpdate(); - SysTick_Config(SystemCoreClock/100); /* 10ms interval */ + SysTick_Config(SystemCoreClock/(1000/TICK_MS)); /* 10ms interval */ NVIC_EnableIRQ(SysTick_IRQn); NVIC_SetPriority(SysTick_IRQn, 3<<5); + /* GPIO setup */ GPIOA->MODER |= (3<<GPIO_MODER_MODER0_Pos) /* PA0 - Vboot to ADC */ | (2<<GPIO_MODER_MODER1_Pos) /* PA1 - RS485 DE */ @@ -102,14 +102,17 @@ int main(void) { GPIOA->ODR = 0; /* Set PA4 ODR to 0 */ + /* Note: since we have quite a bunch of pin constraints we can't actually use complementary outputs for the + * complementary MOSFET driver control signals (CTRL_A & CTRL_B). Instead, we use two totally separate output + * channels (1 & 4) and emulate the dead-time generator in software. */ GPIOB->MODER |= (2<<GPIO_MODER_MODER1_Pos); /* PB1 - CTRL_B to TIM 3 ch 4 */ GPIOB->AFR[0] = (1<<GPIO_AFRL_AFSEL1_Pos); /* PB1 */ - /* FIXME USART config */ + serial_init(); /* FIXME ADC config */ - /* FIXME I2C config */ + /* FIXME I2C config, drivers for LCD & current sensor */ /* SPI config. SPI1 is used to control the shift register controlling the eight status LEDs. */ SPI1->CR2 = (7<<SPI_CR2_DS_Pos); @@ -122,6 +125,7 @@ int main(void) { | SPI_CR1_MSTR; SPI1->CR1 |= SPI_CR1_SPE; + /* TIM3 is used to generate the MOSFET driver control signals */ /* TIM3 running off 48MHz APB1 clk, T=20.833ns */ TIM3->CR1 = 0; /* Disable ARR preload (double-buffering) */ TIM3->PSC = 48-1; /* Prescaler 48 -> f=1MHz/T=1us */ @@ -142,6 +146,7 @@ int main(void) { uint8_t txbuf[3] = {0x01, 0x05, 0x01}; int txpos = -1; + unsigned int tx_start_tick = 0; while (42) { if (txstate.next_symbol == -NO_SYMBOL) { if (txpos == -1) @@ -150,13 +155,16 @@ int main(void) { txstate.next_symbol = xfr_8b10b_encode(&txstate.st, txbuf[txpos]); txpos++; - if (txpos >= sizeof(txbuf)/sizeof(txbuf[0])) + if (txpos >= sizeof(txbuf)/sizeof(txbuf[0])) { + frame_duration_us = (sys_time_tick - tx_start_tick) * 10 * 1000; + tx_start_tick = sys_time_tick; txpos = -1; + } } } } -int flipbits(int in) { +static int flipbits10(int in) { return (in&0x200)>>9 | (in&0x100)>>7 | @@ -179,7 +187,7 @@ void TIM3_IRQHandler() { if (sym == 1) { /* last bit shifted out */ if (txstate.next_symbol == -NO_SYMBOL) /*FIXME debug code*/ asm volatile("bkpt"); - sym = flipbits(txstate.next_symbol) | 1<<10; + sym = flipbits10(txstate.next_symbol) | 1<<10; txstate.next_symbol = -NO_SYMBOL; } txstate.current_symbol = sym; @@ -205,27 +213,37 @@ void PendSV_Handler(void) { } void SysTick_Handler(void) { - static int bit = 0; - bit = !bit; - - sys_time++; + sys_time_tick++; + sys_time_ms += TICK_MS; + if (sys_time_ms++ == 1000) { + sys_time_ms = 0; + sys_time_s++; + } /* This is a hack. We could use the SPI interrupt here if that didn't fire at the start instead of end of transmission.... -.- */ - if (bit) - set_status_leds((sys_time & (1<<6)) ? STATUS_LED_OPERATION : 0); - else + if (sys_time_tick&1) { + uint8_t val = (sys_time_ms >= 500) ? STATUS_LED_OPERATION : 0; + + if (comm_led_ctr) { + comm_led_ctr--; + val |= STATUS_LED_COMMUNICATION; + } + + if (err_led_ctr) { + err_led_ctr--; + val |= STATUS_LED_ERROR; + } + + set_status_leds(val); + } else { GPIOA->BSRR = 1<<4; + } } void _init(void) { } -void MemManage_Handler(void) __attribute__((naked)); -void MemManage_Handler() { - asm volatile ("bkpt"); -} - void BusFault_Handler(void) __attribute__((naked)); void BusFault_Handler() { -asm volatile ("bkpt"); + asm volatile ("bkpt"); } |