1 files changed, 57 insertions, 18 deletions

diff --git a/controller/fw/src/main.c b/controller/fw/src/main.c
index c03bcbb..fa5d50b 100644
--- a/controller/fw/src/main.c
+++ b/controller/fw/src/main.c
@@ -3,6 +3,7 @@
 #include <stdint.h>
 #include <assert.h>
 #include <string.h>
+#include <math.h>
 
 #include <stm32f407xx.h>
 
@@ -159,50 +160,52 @@ void spi_flash_test(void) {
 static unsigned int measurement_errors = 0;
 static struct dsss_demod_state demod_state;
 static uint32_t freq_sample_ts = 0;
-static uint32_t debug_last_freq = 0;
+static float debug_last_freq = 0;
 
 int main(void)
 {
-    /* DEBUG */
-    /* MCO2 */
+#if DEBUG
+    /* PLL clock on MCO2 (pin C9) */
     RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
     GPIOC->MODER &= ~GPIO_MODER_MODER9_Msk;
     GPIOC->MODER |= (2<<GPIO_MODER_MODER9_Pos);
     GPIOC->AFR[1] &= ~GPIO_AFRH_AFSEL9_Msk;
     GPIOC->OSPEEDR |= (3<<GPIO_OSPEEDR_OSPEED9_Pos); /* SCK */
     RCC->CFGR |= (6<<RCC_CFGR_MCO2PRE_Pos) | (3<<RCC_CFGR_MCO2_Pos);
-    /* END DEBUG */
+#endif
+
+    if (((SCB->CPACR>>20) & 0xf) != 0xf) {
+        asm volatile ("bkpt");
+    }
 
     clock_setup();
     led_setup();
-    /*
     spi_flash_setup();
     adc_init();
-    */
 
-    /* DEBUG */
-    /* TIM1 CC1 */
+#if DEBUG
+    /* TIM1 CC1 (ADC trigger) on pin A8 */
     GPIOA->MODER &= ~GPIO_MODER_MODER8_Msk;
     GPIOA->MODER |= (2<<GPIO_MODER_MODER8_Pos);
     GPIOA->AFR[1] &= ~GPIO_AFRH_AFSEL8_Msk;
     GPIOA->AFR[1] |= 1<<GPIO_AFRH_AFSEL8_Pos;
-    /* END DEBUG */
 
-    int cnt = 0;
-    while (23) {
-        if (cnt++ == 100000) {
-            cnt = 0;
-            GPIOA->ODR ^= 1<<6;
-        }
+    GPIOA->MODER |= (1<<GPIO_MODER_MODER9_Pos) | (1<<GPIO_MODER_MODER10_Pos) | (1<<GPIO_MODER_MODER11_Pos) |
+        (1<<GPIO_MODER_MODER12_Pos) | (1<<GPIO_MODER_MODER15_Pos);
+#endif
 
+    while (23) {
         if (adc_fft_buf_ready_idx != -1) {
+            GPIOA->BSRR = 1<<9;
+            adc_fft_buf_ready_idx = !adc_fft_buf_ready_idx; /* DEBUG */
             memcpy(adc_fft_buf[!adc_fft_buf_ready_idx], adc_fft_buf[adc_fft_buf_ready_idx] + FMEAS_FFT_LEN/2, sizeof(adc_fft_buf[0][0]) * FMEAS_FFT_LEN/2);
+            GPIOA->BSRR = 1<<9<<16;
+            GPIOA->BSRR = 1<<11;
 
-#if 0
             float out;
             if (adc_buf_measure_freq(adc_fft_buf[adc_fft_buf_ready_idx], &out)) {
                 measurement_errors++;
-                debug_last_freq = -1;
+                debug_last_freq = NAN;
 
             } else {
                 debug_last_freq = out;
@@ -212,7 +215,7 @@ int main(void)
                 dsss_demod_step(&demod_state, out, freq_sample_ts);
                 */
             }
-#endif
+            GPIOA->BSRR = 1<<11<<16;
 
             freq_sample_ts++; /* TODO: also increase in case of freq measurement error? */
             adc_fft_buf_ready_idx = -1;
@@ -222,3 +225,39 @@ int main(void)
     return 0;
 }
 
+void NMI_Handler(void) {
+    asm volatile ("bkpt");
+}
+
+void HardFault_Handler(void) {
+    asm volatile ("bkpt");
+}
+
+void MemManage_Handler(void) {
+    asm volatile ("bkpt");
+}
+
+void BusFault_Handler(void) {
+    asm volatile ("bkpt");
+}
+
+void UsageFault_Handler(void) {
+    asm volatile ("bkpt");
+}
+
+void SVC_Handler(void) {
+    asm volatile ("bkpt");
+}
+
+void DebugMon_Handler(void) {
+    asm volatile ("bkpt");
+}
+
+void PendSV_Handler(void) {
+    asm volatile ("bkpt");
+}
+
+void SysTick_Handler(void) {
+    asm volatile ("bkpt");
+}
+