stm32f1/application.c

/* 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/>.
 *
 */
/** STM32F1 application example
 *  @file main.c
 *  @author King Kévin <kingkevin@cuvoodoo.info>
 *  @date 2016-2017
 */

/* standard libraries */
#include <stdint.h> // standard integer types
#include <stdlib.h> // standard utilities
#include <string.h> // string utilities

/* STM32 (including CM3) libraries */
#include <libopencmsis/core_cm3.h> // Cortex M3 utilities
#include <libopencm3/cm3/scb.h> // vector table definition
#include <libopencm3/cm3/nvic.h> // interrupt utilities
#include <libopencm3/stm32/gpio.h> // general purpose input output library
#include <libopencm3/stm32/rcc.h> // real-time control clock library
#include <libopencm3/stm32/exti.h> // external interrupt utilities
#include <libopencm3/stm32/rtc.h> // real time clock utilities
#include <libopencm3/stm32/iwdg.h> // independent watchdog utilities
#include <libopencm3/stm32/dbgmcu.h> // debug utilities
#include <libopencm3/stm32/flash.h> // flash utilities

/* own libraries */
#include "global.h" // board definitions
#include "print.h" // printing utilities
#include "usart.h" // USART utilities
#include "usb_cdcacm.h" // USB CDC ACM utilities

#define WATCHDOG_PERIOD 10000 /**< watchdog period in ms */

/** @defgroup main_flags flag set in interrupts to be processed in main task
 *  @{
 */
volatile bool rtc_internal_tick_flag = false; /**< flag set when internal RTC ticked */
/** @} */


size_t putc(char c)
{
	size_t length = 0; // number of characters printed
	static char newline = 0; // to remember on which character we sent the newline
	if (0==c) {
		length = 0; // don't print string termination character
	} else if ('\r' == c || '\n' == c) { // send CR+LF newline for most carriage return and line feed combination
		if (0==newline || c==newline) { // send newline only if not already send (and only once on \r\n or \n\r)
			usart_putchar_nonblocking('\r'); // send CR over USART
			usb_cdcacm_putchar('\r'); // send CR over USB
			usart_putchar_nonblocking('\n'); // send LF over USART
			usb_cdcacm_putchar('\n'); // send LF over USB
			length += 2; // remember we printed 2 characters
			newline = c; // remember on which character we sent the newline
		} else {
			length = 0; // the \r or \n of \n\r or \r\n has already been printed
		}
	} else {
		usart_putchar_nonblocking(c); // send byte over USART
		usb_cdcacm_putchar(c); // send byte over USB
		newline = 0; // clear new line
		length++; // remember we printed 1 character
	}
	return length; // return number of characters printed   
}

/** user input command */
static char command[32] = {0};
/** user input command index */
uint8_t command_i = 0;

/** process user command
 *  @param[in] str user command string (\0 ended)
 */
static void process_command(char* str)
{
	// split command
	const char* delimiter = " ";
	char* word = strtok(str,delimiter);
	if (!word) {
		goto error;
	}
	// parse command
	if (0==strcmp(word,"h") || 0==strcmp(word,"help") || 0==strcmp(word,"?")) {
		printf("available commands:\n");
		printf("led [on|off|toggle]\n");
	} else if (0==strcmp(word,"l") || 0==strcmp(word,"led")) {
		word = strtok(NULL,delimiter);
		if (!word) {	
			printf("LED is ");
			if (gpio_get(GPIO(LED_PORT), GPIO(LED_PIN))) {
				printf("on\n");
			} else {
				printf("off\n");
			}
		} else if (0==strcmp(word,"on")) {
			led_on(); // switch LED on
			printf("LED switched on\n"); // notify user		
		} else if (0==strcmp(word,"off")) {
			led_off(); // switch LED off
			printf("LED switched off\n"); // notify user
		} else if (0==strcmp(word,"toggle")) {
			led_toggle(); // toggle LED
			printf("LED toggled\n"); // notify user
		} else {
			goto error;
		}
	} else {
		goto error;
	}

	return; // command successfully processed
error:
	printf("command not recognized. enter help to list commands\n");
	return;
}

/** program entry point
 *  this is the firmware function started by the micro-controller
 */
void main(void);
void main(void)
{	
	rcc_clock_setup_in_hse_8mhz_out_72mhz(); // use 8 MHz high speed external clock to generate 72 MHz internal clock


#if DEBUG
	// enable functionalities for easier debug
	DBGMCU_CR |= DBGMCU_CR_IWDG_STOP; // stop independent watchdog counter when code is halted
	DBGMCU_CR |= DBGMCU_CR_WWDG_STOP; // stop window watchdog counter when code is halted
	DBGMCU_CR |= DBGMCU_CR_STANDBY; // allow debug also in standby mode (keep digital part and clock powered)
	DBGMCU_CR |= DBGMCU_CR_STOP; // allow debug also in stop mode (keep clock powered)
	DBGMCU_CR |= DBGMCU_CR_SLEEP; // allow debug also in sleep mode (keep clock powered)
#else
	// setup watchdog to reset in case we get stuck (i.e. when an error occurred)
	iwdg_set_period_ms(WATCHDOG_PERIOD); // set independent watchdog period
	iwdg_start(); // start independent watchdog
#endif

	board_setup(); // setup board
    usart_setup(); // setup USART (for printing)
	cdcacm_setup(); // setup USB CDC ACM (for printing)
	printf("welcome to the CuVoodoo STM32F1 example application\n"); // print welcome message

#if !(DEBUG)
	// show watchdog information
	printf("watchdog set to (%.2fs)\n",WATCHDOG_PERIOD/1000.0);
	if (FLASH_OBR&FLASH_OBR_OPTERR) {
		printf("option bytes not set in flash: software wachtdog used (not started at reset)\n");
	} else if (FLASH_OBR&FLASH_OBR_WDG_SW) {
		printf("software wachtdog used (not started at reset)\n");
	} else {
		printf("hardware wachtdog used (started at reset)\n");
	}
#endif

	// setup RTC
	printf("setup internal RTC: ");
	rtc_auto_awake(RCC_LSE, 32768-1); // ensure internal RTC is on, uses the 32.678 kHz LSE, and the prescale is set to our tick speed, else update backup registers accordingly (power off the micro-controller for the change to take effect)
	rtc_interrupt_enable(RTC_SEC); // enable RTC interrupt on "seconds"
	nvic_enable_irq(NVIC_RTC_IRQ); // allow the RTC to interrupt
	printf("OK\n");

	uint32_t ticks_time = rtc_get_counter_val(); // get time from internal RTC (since first start/power up)
	printf("uptime: %lu.%02lu:%02lu:%02lu\n", ticks_time/(60*60*24), (ticks_time/(60*60))%24, (ticks_time%(60*60))/60, (ticks_time%60)); // display uptime

	// main loop
	printf("command input: ready\n");
	bool action = false; // if an action has been performed don't go to sleep
	button_flag = false; // reset button flag
	char c = '\0'; // to store received character
	bool char_flag = false; // a new character has been received
	while (true) { // infinite loop
		iwdg_reset(); // kick the dog
		while (usart_received) { // data received over UART
			action = true; // action has been performed
			led_toggle(); // toggle LED
			c = usart_getchar(); // store receive character
			char_flag = true; // notify character has been received
		}
		while (usb_cdcacm_received) { // data received over USB
			action = true; // action has been performed
			led_toggle(); // toggle LED
			c = usb_cdcacm_getchar(); // store receive character
			char_flag = true; // notify character has been received
		}
		while (char_flag) { // user data received
			char_flag = false; // reset flag
			action = true; // action has been performed
			printf("%c",c); // echo receive character
			if (c=='\r' || c=='\n') { // end of command received
				if (command_i>0) { // there is a command to process
					command[command_i] = 0; // end string
					command_i = 0; // prepare for next command
					process_command(command); // process user command
				}
			} else { // user command input
				command[command_i] = c; // save command input
				if (command_i<LENGTH(command)-2) { // verify if there is place to save next character
					command_i++; // save next character
				}
			}
		}
		while (button_flag) { // user pressed button
			action = true; // action has been performed
			printf("button pressed\n");
			led_toggle(); // toggle LED
			for (uint32_t i=0; i<1000000; i++) { // wait a bit to remove noise and double trigger
				__asm__("nop");
			}
			button_flag = false; // reset flag
		}
		while (rtc_internal_tick_flag) { // the internal RTC ticked
			rtc_internal_tick_flag = false; // reset flag
#if !defined(BLUE_PILL) // on the blue pill the LED is close to the 32.768 kHz oscillator and heavily influences it
			led_toggle(); // toggle LED (good to indicate if main function is stuck)
#endif
			ticks_time = rtc_get_counter_val(); // copy time from internal RTC for processing
			action = true; // action has been performed
			if ((ticks_time%(60))==0) { // one minute passed
				printf("uptime: %lu.%02lu:%02lu:%02lu\n", ticks_time/(60*60*24), (ticks_time/(60*60))%24, (ticks_time%(60*60))/60, (ticks_time%60)); // display uptime
			}
		}
		if (action) { // go to sleep if nothing had to be done, else recheck for activity
			action = false;
		} else {
			__WFI(); // go to sleep
		}
	} // main loop
}

/** @brief interrupt service routine called when tick passed on RTC */
void rtc_isr(void)
{
	rtc_clear_flag(RTC_SEC); // clear flag
	rtc_internal_tick_flag = true; // notify to show new time
}