path: root/fw/main.c

/* 8seg LED display driver firmware
 * Copyright (C) 2018 Sebastian Götte <code@jaseg.net>
 * 
 * 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 3 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, see <http://www.gnu.org/licenses/>.
 */


#include "global.h"
#include "serial.h"
#include "i2c.h"
#include "lcd1602.h"

#include "mini-printf.h"

/* Part number: STM32F030F4C6 */

volatile unsigned int comm_led_ctr, err_led_ctr;
volatile unsigned int sys_time_tick = 0;
volatile unsigned int sys_time_ms;
volatile unsigned int sys_time_s;
volatile unsigned int sys_flag_1Hz;
unsigned int frame_duration_us;
volatile uint8_t global_brightness; /* FIXME implement sending */
volatile bool display_update_flag;
volatile bool adc_trigger_flag = 0;
volatile bool backchannel_trigger_flag = 0;

void run_menu(void);
void update_display(void);
void calc_next_alarm(void);
void update_servo(void);
void servo_activate(void);
void servo_deactivate(void);

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
    c = ((c + ((b >> 1) ^ a))); // the AES S-Box Operation ensures an even distributon of entropy
    return c;
}

volatile int input_hold_total[5] = {0};
volatile int input_triggered = 0;
volatile int input_state = 0;

void rtc_adjust(int field, int adj) {
    RTC->ISR = RTC_ISR_INIT;
    while (!(RTC->ISR & RTC_ISR_INITF))
        ;

    int offx = field*8;
    int fmax = field == 2 ? 24 : 60;

    int tr = RTC->TR;
    int fval = (tr >> offx) & 0xff;

    fval = (fval&0xf) + 10*(fval>>4);
    
    if (field == 0) {
        /* seconds field special handling: set seconds to 0 when pressing down, ignore up */
        if (adj < 0)
            fval = 0;
    } else {
        fval += adj;
    }

    if (fval < 0)
        fval = fmax-1;
    if (fval >= fmax)
        fval = 0;

    fval = ((fval/10)<<4) | (fval % 10);

    RTC->TR = (tr & ~(0xff<<offx)) | (fval << offx);
    RTC->ISR = 0;
    while (!(RTC->ISR & RTC_ISR_RSF))
        ;
}

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;
    RCC->CFGR |= ((6-2)<<RCC_CFGR_PLLMUL_Pos) | RCC_CFGR_PLLSRC_HSE_PREDIV; /* PLL x6 -> 48.0MHz */
    RCC->CR |= RCC_CR_PLLON;
    while (!(RCC->CR&RCC_CR_PLLRDY));
    RCC->CFGR |= (2<<RCC_CFGR_SW_Pos);
    RCC->AHBENR  |= RCC_AHBENR_DMAEN | RCC_AHBENR_GPIOAEN | RCC_AHBENR_GPIOBEN | RCC_AHBENR_FLITFEN;
    RCC->APB1ENR |= RCC_APB1ENR_TIM3EN | RCC_APB1ENR_PWREN | RCC_APB1ENR_I2C1EN;
    RCC->APB2ENR |= RCC_APB2ENR_SYSCFGEN | RCC_APB2ENR_ADCEN| RCC_APB2ENR_DBGMCUEN | RCC_APB2ENR_USART1EN | RCC_APB2ENR_SPI1EN | RCC_APB2ENR_TIM1EN;
    RCC->CFGR3 |= RCC_CFGR3_I2C1SW; /* Route 48MHz system clock to I2C1 */

    PWR->CR |= PWR_CR_DBP;
    RCC->BDCR = RCC_BDCR_BDRST;
    RCC->BDCR = 0;
    RCC->BDCR = RCC_BDCR_RTCEN | (3<<RCC_BDCR_RTCSEL_Pos);

    RTC->WPR = 0xca;
    RTC->WPR = 0x53;
    RTC->ISR = RTC_ISR_INIT;
    while (!(RTC->ISR & RTC_ISR_INITF))
        ;
    RTC->PRER = (99 << RTC_PRER_PREDIV_A_Pos) | (2499 << RTC_PRER_PREDIV_S_Pos);
    RTC->SSR = 0;
    RTC->TR = 0;
    RTC->DR = 0;
    RTC->TSTR = 0;
    RTC->TSDR = 0;
    RTC->CR |= RTC_CR_ALRAIE;
    EXTI->IMR |= 1<<17;
    EXTI->RTSR |= 1<<17;
    RTC->ISR = 0;
    while (!(RTC->ISR & RTC_ISR_RSF))
        ;

    SystemCoreClockUpdate();
    SysTick_Config(SystemCoreClock/(1000/TICK_MS)); /* 10ms interval */
    NVIC_EnableIRQ(SysTick_IRQn);
    NVIC_SetPriority(SysTick_IRQn, 3<<5);

    /* GPIO setup
     *
     * 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.
     */
    GPIOA->MODER |=
          (2<<GPIO_MODER_MODER6_Pos)  /* PA6  - servo / TIM3_CH1 */
        | (2<<GPIO_MODER_MODER9_Pos)  /* PA9  - SCL */
        | (2<<GPIO_MODER_MODER10_Pos);/* PA10 - SDA */

    GPIOA->AFR[0] =
          (1<<GPIO_AFRL_AFSEL6_Pos); /* PA6 */
    GPIOA->AFR[1] =
          (4<<GPIO_AFRH_AFSEL9_Pos)  /* PA9 */
        | (4<<GPIO_AFRH_AFSEL10_Pos);/* PA10 */

    for (int i=0; i<5; i++)
        GPIOA->PUPDR |= 1<<(2*i);

    /* I2C for LCD, temp sensor, current sensor */
    i2c_config_filters(I2C1, I2C_AF_ENABLE, 0);
    i2c_config_timing(I2C1, 0x50330309); /* Magic value for 400kHz I2C @ 48MHz CLK. From the datasheet. The other option
                                            is to have this fall out of STMCubeMX. I love downloading 120MB of software
                                            to download another 100MB of software, only this time over unsecured HTTP,
                                            to generate 3.5 bytes of configuration values using a Java(TM) GUI. */
    for (int i=0; i<2000000; i++)
        ;
    i2c_enable(I2C1);
    lcd1602_init();

    lcd_write_str(0, 0, "timer initialized \xbc" LCD_FILL);
    lcd_write_str(0, 1, LCD_FILL);

    /* servo output */
    TIM1->CR1 = TIM_CR1_CEN;
    TIM1->PSC = 48-1; /* 1us ticks */
    TIM1->ARR = 1000-1; /* 1ms interval */
    TIM1->EGR = TIM_EGR_UG;
    TIM1->DIER = TIM_DIER_UIE;

    TIM3->CR1 = TIM_CR1_CEN;
    TIM3->PSC = 48-1; /* 1us ticks */
    TIM3->ARR = 20000-1; /* 20ms interval */
    TIM3->CCMR1 = (6<<TIM_CCMR1_OC1M_Pos) | TIM_CCMR1_OC1PE;
    TIM3->CCER = TIM_CCER_CC1E;
    TIM3->EGR = TIM_EGR_UG;

    NVIC_EnableIRQ(TIM1_BRK_UP_TRG_COM_IRQn);
    NVIC_EnableIRQ(RTC_IRQn);
    calc_next_alarm();

    uint32_t last_update_ms = 0;
    const int display_update_ivl_ms = 50;
    while(23) {
        int delta = sys_time_ms - last_update_ms;
        if (delta < 0)
            delta += 1000;
        if (delta > display_update_ivl_ms)
            update_display();
    }
}

enum {
    LVL_SERVO_OFF,
    LVL_SERVO_IDLE,
    LVL_SERVO_ON,
    NUM_SERVO_LEVELS
};

int servo_lvl_set[NUM_SERVO_LEVELS] = {
    [LVL_SERVO_ON] = 1050,
    [LVL_SERVO_IDLE] = 1250,
    [LVL_SERVO_OFF] = 1390,
};

const char *servo_lvl_string[NUM_SERVO_LEVELS] = {
    [LVL_SERVO_OFF] = "OFF",
    [LVL_SERVO_IDLE] = "IDLE",
    [LVL_SERVO_ON] = "ON",
};

const int servo_reps_set = 3;
const int servo_lvl_set_ms[] = { 1000, 1000, 1500, 1500, 1000, 1000 };
int servo_lvl_ms = 0;
int servo_reps = 0;

enum {
    MENU_DEFAULT,
    MENU_SET_TIME,
    MENU_SET_ALARM,
    MENU_SET_SERVO_LVL,
} menu_state;

int menu_adjustment_done = 0;
int sel_field_idx = 0;
int menu_alarm = 0;
int menu_servo_lvl = 0;

enum {
    INPUT_LEFT,
    INPUT_DOWN,
    INPUT_UP,
    INPUT_RIGHT,
    INPUT_MENU
};

enum {
    ALR_TON,
    ALR_TOFF,
    NUM_ALARMS
};

int alarms[NUM_ALARMS] = {
    9<<16 | 0<<8 | 0,
    20<<16 | 0<<8 | 0,
};
const char *alarm_names[NUM_ALARMS] = {" ON", "OFF"};
int next_alarm = -1;

void RTC_IRQHandler() {
    RTC->ISR &= ~RTC_ISR_ALRAF;
    EXTI->PR = 1<<17;
    calc_next_alarm();
    /* TODO FIXME handle alarm */
}

void servo_activate() {
    if (next_alarm == ALR_TON)
        TIM3->CCR1 = servo_lvl_set[LVL_SERVO_ON];
    else
        TIM3->CCR1 = servo_lvl_set[LVL_SERVO_OFF];
}

void servo_deactivate() {
    TIM3->CCR1 = servo_lvl_set[LVL_SERVO_IDLE];
}

void update_servo() {
    servo_activate();
    servo_reps = servo_reps_set * 2 - 1;
    servo_lvl_ms = servo_lvl_set_ms[servo_reps_set];
}

void adj_alarm(int alarm, int sel, int adj) {
    int fields[3] = { alarms[alarm]>>16, (alarms[alarm]>>8) & 0xff, alarms[alarm] & 0xff };
    int max[3] = { 24, 60, 60 };
    sel = 2-sel;

    fields[sel] += adj;
    if (fields[sel] < 0)
        fields[sel] += max[sel];
    if (fields[sel] >= max[sel])
        fields[sel] -= max[sel];

    alarms[alarm] = (fields[0]<<16) | (fields[1]<<8) | fields[2];
}

void calc_next_alarm() {
    int tr = RTC->TR;
    int h = ((tr>>RTC_TR_HT_Pos)&3)*10 + ((tr>>RTC_TR_HU_Pos)&0xf),
        m = ((tr>>RTC_TR_MNT_Pos)&7)*10 + ((tr>>RTC_TR_MNU_Pos)&0xf),
        s = ((tr>>RTC_TR_ST_Pos)&7)*10 +  ((tr>>RTC_TR_SU_Pos)&0xf);
    int tr_al_fmt = h<<16 | m<<8 | s;

    int min_alr = 0x7fffffff;
    int min_idx = -1;
    for (int i=0; i<NUM_ALARMS; i++) {
        if (alarms[i] > tr_al_fmt && alarms[i] < min_alr) {
            min_alr = alarms[i];
            min_idx = i;
        }
    }

    if (min_idx == -1) { /* handle rollover */
        for (int i=0; i<NUM_ALARMS; i++) {
            if (alarms[i] < min_alr) {
                min_alr = alarms[i];
                min_idx = i;
            }
        }
    }

    next_alarm = min_idx;
    RTC->CR &= ~RTC_CR_ALRAE;
    while (!(RTC->ISR & RTC_ISR_ALRAWF))
        ;
    h = min_alr>>16, m = (min_alr>>8)&0xff, s = min_alr & 0xff;
    RTC->ALRMAR = RTC_ALRMAR_MSK4
        | (h/10 << RTC_ALRMAR_HT_Pos) | (h%10 << RTC_ALRMAR_HU_Pos)
        | (m/10 << RTC_ALRMAR_MNT_Pos) | (m%10 << RTC_ALRMAR_MNU_Pos)
        | (s/10 << RTC_ALRMAR_ST_Pos) | (s%10 << RTC_ALRMAR_SU_Pos);
    RTC->ISR &= ~RTC_ISR_ALRAF;
    RTC->CR |= RTC_CR_ALRAE;

    update_servo();
}

void update_display() {
    static int updates_since_init = 0;
    char buf[17];
    bool blink_flag = sys_time_ms < 300;
    int tr = RTC->TR;

    updates_since_init++;
    if (updates_since_init > 20000) {
        lcd1602_init();
        updates_since_init = 0;
    }

    switch (menu_state) {
        case MENU_DEFAULT:
            mini_snprintf(buf, sizeof(buf), "%d%d:%d%d:%d%d" LCD_FILL,
                    (tr>>RTC_TR_HT_Pos)&3,  (tr>>RTC_TR_HU_Pos)&0xf,
                    (tr>>RTC_TR_MNT_Pos)&7, (tr>>RTC_TR_MNU_Pos)&0xf,
                    (tr>>RTC_TR_ST_Pos)&7,  (tr>>RTC_TR_SU_Pos)&0xf);
            lcd_write_str(0, 0, buf);
            if (next_alarm < 0) {
                mini_snprintf(buf, sizeof(buf), LCD_FILL);
            } else {
                int next = alarms[next_alarm];
                int h = next>>16, m = (next>>8) & 0xff,  s = next & 0xff;
                mini_snprintf(buf, sizeof(buf), "%s AT %02d:%02d:%02d" LCD_FILL, alarm_names[next_alarm], h, m, s);
            }
            lcd_write_str(0, 1, buf);
            break;

        case MENU_SET_TIME:
            mini_snprintf(buf, sizeof(buf), "%d%d:%d%d:%d%d" LCD_FILL,
                    (tr>>RTC_TR_HT_Pos)&3,  (tr>>RTC_TR_HU_Pos)&0xf,
                    (tr>>RTC_TR_MNT_Pos)&7, (tr>>RTC_TR_MNU_Pos)&0xf,
                    (tr>>RTC_TR_ST_Pos)&7,  (tr>>RTC_TR_SU_Pos)&0xf);
            if (sel_field_idx == 0 && blink_flag)
                buf[6] = buf[7] = ' ';
            if (sel_field_idx == 1 && blink_flag)
                buf[3] = buf[4] = ' ';
            if (sel_field_idx == 2 && blink_flag)
                buf[0] = buf[1] = ' ';
            lcd_write_str(0, 0, buf);
            mini_snprintf(buf, sizeof(buf), "SET TIME" LCD_FILL);
            lcd_write_str(0, 1, buf);
            break;

        case MENU_SET_ALARM:
            mini_snprintf(buf, sizeof(buf), "%02d:%02d:%02d" LCD_FILL,
                    alarms[menu_alarm]>>16, (alarms[menu_alarm]>>8) & 0xff,  alarms[menu_alarm] & 0xff);
            if (sel_field_idx == 0 && blink_flag)
                buf[6] = buf[7] = ' ';
            if (sel_field_idx == 1 && blink_flag)
                buf[3] = buf[4] = ' ';
            if (sel_field_idx == 2 && blink_flag)
                buf[0] = buf[1] = ' ';
            lcd_write_str(0, 0, buf);
            mini_snprintf(buf, sizeof(buf), "SET %s" LCD_FILL, alarm_names[menu_alarm]);
            lcd_write_str(0, 1, buf);
            break;
        
        case MENU_SET_SERVO_LVL:
            mini_snprintf(buf, sizeof(buf), "%04d" LCD_FILL, servo_lvl_set[menu_servo_lvl]);
            lcd_write_str(0, 0, buf);
            mini_snprintf(buf, sizeof(buf), "SET %s POS" LCD_FILL, servo_lvl_string[menu_servo_lvl]);
            lcd_write_str(0, 1, buf);
            break;
    }
}

void run_menu() {

    const int enter_program_mode_ms = 1000;

    int btn = input_triggered;
    input_triggered = 0;

    switch (menu_state) {
        case MENU_DEFAULT:
            if (input_state == (1<<INPUT_MENU) && input_hold_total[INPUT_MENU] >= enter_program_mode_ms) {
                menu_state = MENU_SET_TIME;
                sel_field_idx = 0;
                menu_adjustment_done = 0;
            }
            break;

        case MENU_SET_TIME:
            if (btn & (1<<INPUT_MENU)) {
                if (menu_adjustment_done) {
                    menu_state = MENU_DEFAULT;
                    calc_next_alarm();
                } else {
                    menu_state = MENU_SET_ALARM;
                    sel_field_idx = 2;
                    menu_alarm = 0;
                }
                break;
            }

            if (btn & (1<<INPUT_LEFT)) {
                menu_adjustment_done = 1;
                sel_field_idx++;
                if (sel_field_idx > 2)
                    sel_field_idx = 0;
            }
            if (btn & (1<<INPUT_RIGHT)) {
                menu_adjustment_done = 1;
                sel_field_idx--;
                if (sel_field_idx < 0)
                    sel_field_idx = 2;
            }

            if (btn & (1<<INPUT_UP)) {
                menu_adjustment_done = 1;
                rtc_adjust(sel_field_idx, 1);
            }
            if (btn & (1<<INPUT_DOWN)) {
                menu_adjustment_done = 1;
                rtc_adjust(sel_field_idx, -1);
            }
            break;

        case MENU_SET_ALARM:
            if (btn & (1<<INPUT_MENU)) {
                if (menu_adjustment_done) {
                    menu_state = MENU_DEFAULT;
                    calc_next_alarm();
                } else {
                    sel_field_idx = 2;
                    menu_alarm++;
                    if (menu_alarm == NUM_ALARMS) {
                        menu_state = MENU_SET_SERVO_LVL;
                        menu_servo_lvl = 0;
                    }
                }
                break;
            }

            if (btn & (1<<INPUT_LEFT)) {
                menu_adjustment_done = 1;
                sel_field_idx++;
                if (sel_field_idx > 2)
                    sel_field_idx = 0;
            }
            if (btn & (1<<INPUT_RIGHT)) {
                menu_adjustment_done = 1;
                sel_field_idx--;
                if (sel_field_idx < 0)
                    sel_field_idx = 2;
            }

            if (btn & (1<<INPUT_UP)) {
                menu_adjustment_done = 1;
                adj_alarm(menu_alarm, sel_field_idx, 1);
            }
            if (btn & (1<<INPUT_DOWN)) {
                menu_adjustment_done = 1;
                adj_alarm(menu_alarm, sel_field_idx, -1);
            }
            break;

        case MENU_SET_SERVO_LVL:
            if (btn & (1<<INPUT_MENU)) {
                if (menu_adjustment_done) {
                    menu_state = MENU_DEFAULT;
                    update_servo();
                } else {
                    menu_servo_lvl++;
                    if (menu_servo_lvl == NUM_SERVO_LEVELS)
                        menu_state = MENU_DEFAULT;
                }
                break;
            }

            if (btn & (1<<INPUT_UP)) {
                menu_adjustment_done = 1;
                if (input_hold_total[INPUT_UP] < 3000) {
                    servo_lvl_set[menu_servo_lvl]++;
                } else {
                    servo_lvl_set[menu_servo_lvl] += 10;
                    servo_lvl_set[menu_servo_lvl] -= servo_lvl_set[menu_servo_lvl]%10;
                }
                TIM3->CCR1 = servo_lvl_set[menu_servo_lvl];
            }
            if (btn & (1<<INPUT_DOWN)) {
                menu_adjustment_done = 1;
                if (input_hold_total[INPUT_DOWN] < 3000) {
                    servo_lvl_set[menu_servo_lvl]--;
                } else {
                    servo_lvl_set[menu_servo_lvl] -= 10;
                    servo_lvl_set[menu_servo_lvl] += (10 - servo_lvl_set[menu_servo_lvl]%10) % 10;
                }
                TIM3->CCR1 = servo_lvl_set[menu_servo_lvl];
            }
            if (servo_lvl_set[menu_servo_lvl] < 500)
                servo_lvl_set[menu_servo_lvl] = 500;
            if (servo_lvl_set[menu_servo_lvl] > 2500)
                servo_lvl_set[menu_servo_lvl] = 2500;
            break;
    }
}

void TIM1_BRK_UP_TRG_COM_IRQHandler() { /* every 1ms */
    TIM1->SR &= ~TIM_SR_UIF;
    int inputs = (~GPIOA->IDR) & 0x1f;
    input_state = inputs;
    static int input_debounce[5] = {0};
    static int input_hold[5] = {0};

    const int input_debounce_time_ms = 20;
    const int input_hold_retrigger_backoff_ms = 1000;
    const int input_hold_retrigger_ms = 120;

    for (int i=0; i<5; i++) {
        int bit = inputs&1;
        inputs >>= 1;

        if (bit) {
            if (!input_debounce[i]) {
                input_triggered |= 1<<i;
            }
            input_debounce[i] = input_debounce_time_ms;

            input_hold_total[i]++;
            if (i == INPUT_UP || i == INPUT_DOWN) {
                /* retrigger for UP and DOWN buttons */
                if (input_hold_total[i] > input_hold_retrigger_backoff_ms) {
                    input_hold[i]++;
                    if (input_hold[i] == input_hold_retrigger_ms) {
                        input_hold[i] = 0;
                        input_triggered |= 1<<i;
                    }
                }
            }
        } else {
            if (input_debounce[i])
                input_debounce[i]--;
            input_hold[i] = 0;
            input_hold_total[i] = 0;
        }
    }

    run_menu();
}

void NMI_Handler(void) {
}

void HardFault_Handler(void) __attribute__((naked));
void HardFault_Handler() {
    asm volatile ("bkpt");
}

void SVC_Handler(void) {
}


void PendSV_Handler(void) {
}

void SysTick_Handler(void) {
    sys_time_tick++;
    sys_time_ms += TICK_MS;
    if (sys_time_ms++ >= 1000) {
        sys_time_ms = 0;
        sys_time_s++;
        sys_flag_1Hz = 1;
    }

    if (servo_lvl_ms > 0) {
        servo_lvl_ms -= TICK_MS;
        if (servo_lvl_ms <= 0) {
            
            if (servo_reps & 1)
                servo_activate();
            else
                servo_deactivate();

            if (servo_reps > 0) {
                servo_reps --;
                servo_lvl_ms = servo_lvl_set_ms[servo_reps_set];
            } else {
                servo_lvl_ms = 0;
            }
        }
    }
}

void _init(void) {
}

void BusFault_Handler(void) __attribute__((naked));
void BusFault_Handler() {
    asm volatile ("bkpt");
}