Start with integration of everything

1 files changed, 119 insertions, 24 deletions

diff --git a/controller/fw/src/main.c b/controller/fw/src/main.c
index 3131df1..58977f7 100644
--- a/controller/fw/src/main.c
+++ b/controller/fw/src/main.c
@@ -1,45 +1,126 @@
 
 #include <stdbool.h>
+#include <stdint.h>
+#include <assert.h>
 
-#include <libopencm3/stm32/rcc.h>
-#include <libopencm3/stm32/spi.h>
-#include <libopencm3/stm32/gpio.h>
+#include <stm32f407xx.h>
 
+#include "sr_global.h"
+#include "adc.h"
 #include "spi_flash.h"
+#include "freq_meas.h"
+#include "dsss_demod.h"
 
 static struct spi_flash_if spif;
 
+
+void __libc_init_array(void) { /* we don't need this. */ }
+void __assert_func (unused_a const char *file, unused_a int line, unused_a const char *function, unused_a const char *expr) {
+    asm volatile ("bkpt");
+    while(1) {}
+}
+
 static void clock_setup(void)
 {
-    rcc_clock_setup_pll(&rcc_hse_8mhz_3v3[RCC_CLOCK_3V3_168MHZ]);
-    rcc_periph_clock_enable(RCC_GPIOA);
-    rcc_periph_clock_enable(RCC_GPIOB);
-    rcc_periph_clock_enable(RCC_SPI1);
+    /* 8MHz HSE clock as PLL source.
+     * 
+     * Divide by 8 -> 1 MHz */
+#define PLL_M 8
+    /* Multiply by 336 -> 336 MHz VCO frequency */
+#define PLL_N 336
+    /* Divide by 2 -> 168 MHz (max freq for our chip) */
+#define PLL_P 2
+    /* Aux clock for USB OTG, SDIO, RNG: divide VCO frequency (336 MHz) by 7 -> 48 MHz (required by USB OTG) */
+#define PLL_Q 7
+
+    RCC->CR |= RCC_CR_HSEON;
+    while(!(RCC->CR & RCC_CR_HSERDY));
+
+    RCC->APB1ENR |= RCC_APB1ENR_PWREN;
+
+    /* set voltage scale to 1 for max frequency
+     * (0b0) scale 2 for fCLK <= 144 Mhz
+     * (0b1) scale 1 for 144 Mhz < fCLK <= 168 Mhz
+     */
+    PWR->CR |= PWR_CR_VOS;
+
+    /* set AHB prescaler to /1 (CFGR:bits 7:4) */
+    RCC->CFGR |= (0 << RCC_CFGR_HPRE_Pos);
+    /* set ABP1 prescaler to 4 */
+    RCC->CFGR |= (5 << RCC_CFGR_PPRE1_Pos);
+    /* set ABP2 prescaler to 2 */
+    RCC->CFGR |= (0x4 << RCC_CFGR_PPRE2_Pos);
+
+    /* Configure PLL */
+    static_assert(PLL_P % 2 == 0);
+    static_assert(PLL_P >= 2 && PLL_P <= 8);
+    static_assert(PLL_N >= 50 && PLL_N <= 432);
+    static_assert(PLL_M >= 2 && PLL_M <= 63);
+    static_assert(PLL_Q >= 2 && PLL_Q <= 15);
+    RCC->PLLCFGR = (PLL_M<<RCC_PLLCFGR_PLLM_Pos)
+        | (PLL_N << RCC_PLLCFGR_PLLM_Pos)
+        | ((PLL_P/2 - 1) << RCC_PLLCFGR_PLLP_Pos)
+        | (PLL_Q << RCC_PLLCFGR_PLLQ_Pos)
+        | RCC_PLLCFGR_PLLSRC; /* select HSE as PLL source */
+    RCC->CR |= RCC_CR_PLLON;
+
+    /* Wait for main PLL */
+    while(!(RCC->CR & RCC_CR_PLLRDY))
+        ;
+
+    /* Configure Flash: enable prefetch, insn cache, data cache; set latency = 5 wait states
+     * See reference manual (RM0090), Section 3.5.1, Table 10 (p. 80)
+     */
+    FLASH->ACR = FLASH_ACR_PRFTEN | FLASH_ACR_ICEN | FLASH_ACR_DCEN | (5<<FLASH_ACR_LATENCY);
+
+    /* Select PLL as system clock source */
+    RCC->CFGR &= ~RCC_CFGR_SW_Msk;
+    RCC->CFGR |= 2 << RCC_CFGR_SW_Pos;
+
+    /* Wait for clock to switch over */
+    while ((RCC->CFGR & RCC_CFGR_SWS_Msk)>>RCC_CFGR_SWS_Pos != 2)
+        ;
 }
 
 static void led_setup(void)
 {
-    gpio_mode_setup(GPIOA, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO6 | GPIO7);
+    GPIOA->MODER |= (1<<GPIO_MODER_MODER6_Pos) | (1<<GPIO_MODER_MODER7_Pos);
 }
 
 static void spi_flash_if_set_cs(bool val) {
     if (val)
-        gpio_set(GPIOB, GPIO0);
+        GPIOB->BSRR = 1<<0;
     else
-        gpio_clear(GPIOB, GPIO0);
+        GPIOB->BSRR = 1<<16;
 }
 
 static void spi_flash_setup(void)
 {
-    gpio_mode_setup(GPIOB, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO3 | GPIO4 | GPIO5); /* SPI flash SCK/MISO/MOSI */
-    gpio_mode_setup(GPIOB, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO0); /* SPI flash CS */
-    gpio_set_output_options(GPIOB, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO0 | GPIO3 | GPIO4 | GPIO5);
-    gpio_set_af(GPIOB, 5, GPIO3 | GPIO4 | GPIO5);
+    GPIOB->MODER &= ~GPIO_MODER_MODER3_Msk & ~GPIO_MODER_MODER4_Msk & ~GPIO_MODER_MODER5_Msk & ~GPIO_MODER_MODER0_Msk;
+    GPIOB->MODER |= (2<<GPIO_MODER_MODER3_Pos) /* SCK */
+        | (2<<GPIO_MODER_MODER4_Pos) /* MISO */
+        | (2<<GPIO_MODER_MODER5_Pos) /* MOSI */
+        | (1<<GPIO_MODER_MODER0_Pos); /* CS */
+
+    GPIOB->OSPEEDR &= ~GPIO_OSPEEDR_OSPEED3_Msk & ~GPIO_OSPEEDR_OSPEED4_Msk
+        & ~GPIO_OSPEEDR_OSPEED5_Msk & ~GPIO_OSPEEDR_OSPEED0_Msk;
+    GPIOB->OSPEEDR |= (2<<GPIO_OSPEEDR_OSPEED3_Pos) /* SCK */
+        | (2<<GPIO_OSPEEDR_OSPEED4_Pos) /* MISO */
+        | (2<<GPIO_OSPEEDR_OSPEED5_Pos) /* MOSI */
+        | (2<<GPIO_OSPEEDR_OSPEED0_Pos); /* CS */
+
+    GPIOB->AFR[0] &= ~GPIO_AFRL_AFSEL3_Msk & ~GPIO_AFRL_AFSEL4_Msk & ~GPIO_AFRL_AFSEL5_Msk;
+    GPIOB->AFR[0] |= (5<<GPIO_AFRL_AFSEL3_Pos) | (5<<GPIO_AFRL_AFSEL4_Pos) | (5<<GPIO_AFRL_AFSEL5_Pos);
+
+    RCC->APB2ENR |= RCC_APB2ENR_SPI1EN;
+    RCC->APB2RSTR |= RCC_APB2RSTR_SPI1RST;
+    RCC->APB2RSTR &= RCC_APB2RSTR_SPI1RST;
 
     spif_init(&spif, 256, SPI1, &spi_flash_if_set_cs);
 }
 
-/*
+/* SPI flash test routine to be called from gdb */
+#ifdef SPI_FLASH_TEST
 void spi_flash_test(void) {
     spif_clear_mem(&spif);
 
@@ -48,7 +129,7 @@ void spi_flash_test(void) {
         for (size_t i=0; i<sizeof(buf); i+= sizeof(buf[0]))
             buf[i/sizeof(buf[0])] = addr + i;
 
-            spif_write(&spif, addr, sizeof(buf), (char *)buf);
+        spif_write(&spif, addr, sizeof(buf), (char *)buf);
     }
 
     for (size_t i=0; i<sizeof(buf)/sizeof(buf[0]); i++)
@@ -56,21 +137,35 @@ void spi_flash_test(void) {
     spif_read(&spif, 0x1030, sizeof(buf), (char *)buf);
     asm volatile ("bkpt");
 }
-*/
+#endif
+
+static unsigned int measurement_errors = 0;
+static struct dsss_demod_state demod_state;
+static uint32_t freq_sample_ts = 0;
 
 int main(void)
 {
     clock_setup();
     led_setup();
     spi_flash_setup();
-
-    gpio_set(GPIOA, GPIO6);
-
-    while (1) {
-        gpio_toggle(GPIOA, GPIO6 | GPIO7);
-        for (int i = 0; i < 6000000; i++)
-            __asm__("nop");
+    adc_init();
+
+    while (23) {
+        if (adc_fft_buf_ready_idx != -1) {
+            float out;
+            if (adc_buf_measure_freq(adc_fft_buf[adc_fft_buf_ready_idx], &out)) {
+                measurement_errors++;
+                continue;
+            }
+
+            dsss_demod_init(&demod_state);
+            dsss_demod_step(&demod_state, out, freq_sample_ts);
+
+            freq_sample_ts++; /* TODO: also increase in case of freq measurement error? */
+            adc_fft_buf_ready_idx = -1;
+        }
     }
 
     return 0;
 }
+