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/* 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 application.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
#include <time.h> // date/time 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 "usb_cdcacm.h" // USB CDC ACM utilities
#include "sensor_forumslader.h" // forumslader communication
#include "radio_gps.h" // GPS communication
#include "radio_bluetooth.h" // Bluetooth communication
#include "flash_sdcard.h" // to read/write logs on SD card
/* FatFs library */
#include "diskio.h" // disk access we have to implement to use FatFs
#include "ff.h" // FatFs library
#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 */
/** @} */
time_t time_rtc = 0; /**< time (seconds since Unix Epoch) */
struct tm* time_tm; /**< time in tm format (time zones are not handled for non-POSIX environments) */
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)
usb_cdcacm_putchar('\r'); // send CR over USB
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 {
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
}
#if !FF_FS_NORTC && !FF_FS_READONLY
/** get the current time
* @return current local time shall be returned as bit-fields packed into a DWORD value
* @note FatFs function to be implement by user
*/
DWORD get_fattime (void)
{
time_rtc = rtc_get_counter_val(); // get time from internal RTC
time_tm = localtime(&time_rtc); // convert time
return ((1900+time_tm->tm_year-1980)<<25)+((time_tm->tm_mon)<<21)+((time_tm->tm_mday)<<16)+((time_tm->tm_hour)<<11)+((time_tm->tm_min)<<5)+((time_tm->tm_sec/2)<<0); // convert time to DWORD
}
#endif
/** SD card status, used by FatFs */
static DSTATUS flash_sdcard_status = STA_NOINIT;
/** inquire the current drive status
* @param[in] pdrv physical drive number
* @return current drive status flags
* @note FatFs function to be implement by user
*/
DSTATUS disk_status (BYTE pdrv)
{
if (0!=pdrv) { // drive 0 (sd card) is our only drive
return STA_NOINIT;
}
return flash_sdcard_status;
}
/** initializes the storage device
* @param[in] pdrv physical drive number
* @return current drive status flags
* @note FatFs function to be implement by user
*/
DSTATUS disk_initialize (BYTE pdrv)
{
if (0!=pdrv) { // drive 0 (sd card) is our only drive
return STA_NOINIT;
}
if (flash_sdcard_setup()) {
flash_sdcard_status &= ~(STA_NOINIT|STA_NODISK); // SD card initialized
} else {
flash_sdcard_status |= (STA_NOINIT|STA_NODISK); // SD card is not present or failed initialisation
}
return flash_sdcard_status;
}
/** control device specific features and miscellaneous functions other than generic read/write
* @param[in] drv physical drive number
* @param[in] cmd control command code
* @param[out] buff pointer to the control data
* @return RES_*
* @note FatFs function to be implement by user
*/
DRESULT disk_ioctl (BYTE drv, BYTE cmd, void *buff)
{
if (0!=drv) { // drive 0 (sd card) is our only drive
return RES_PARERR;
}
if (flash_sdcard_status&STA_NOINIT) { // SD card not initialized
return RES_NOTRDY;
}
DRESULT to_return = RES_ERROR;
switch (cmd) {
case CTRL_SYNC: // nothing to flush (writes are complete)
to_return = RES_OK;
break;
case GET_SECTOR_COUNT:
*(DWORD*)buff = flash_sdcard_size()/512;
to_return = RES_OK;
break;
case GET_SECTOR_SIZE:
*(DWORD*)buff = 512;
to_return = RES_OK;
break;
case GET_BLOCK_SIZE:
*(DWORD*)buff = flash_sdcard_erase_size()/512;
to_return = RES_OK;
break;
default:
to_return = RES_ERROR;
}
return to_return;;
}
/** read data from the sector(s) of storage device
* @param[in] pdrv physical drive number
* @param[out] buff pointer to the read data buffer
* @param[in] sector start sector number
* @param[in] count number of sectors to read
* @return RES_*
* @note FatFs function to be implement by user
*/
DRESULT disk_read (BYTE pdrv, BYTE* buff, DWORD sector, UINT count)
{
if (0!=pdrv) { // drive 0 (sd card) is our only drive
return RES_PARERR;
}
if (flash_sdcard_status&STA_NOINIT) { // SD card not initialized
return RES_NOTRDY;
}
if (NULL==buff || 0==count) { // can't read no data
return RES_PARERR;
}
for (UINT i=0; i<count; i++) {
if (!flash_sdcard_read_data(sector+i, &((uint8_t*)buff)[i*512])) {
return RES_ERROR;
}
}
return RES_OK;
}
/** write data to the sector(s) of storage device.
* @param[in] drv physical drive number
* @param[out] buff pointer to the data to be written
* @param[in] sector sector number to write from
* @param[in] count number of sectors to write
* @return RES_*
* @note FatFs function to be implement by user
*/
DRESULT disk_write (BYTE drv, const BYTE* buff, DWORD sector, UINT count)
{
if (0!=drv) { // drive 0 (sd card) is our only drive
return RES_PARERR;
}
if (flash_sdcard_status&STA_NOINIT) { // SD card not initialized
return RES_NOTRDY;
}
if (NULL==buff || 0==count) { // can't write no data
return RES_PARERR;
}
for (UINT i=0; i<count; i++) {
if (!flash_sdcard_write_data(sector+i, &((uint8_t*)buff)[i*512])) {
return RES_ERROR;
}
}
return RES_OK;
}
/** file name for log file (empty when SD card is not mounted) */
static char log_name[36+1] = "";
/** log message to SD card
* @param[in] message string message to be logged (must be NULL terminated
* @return if logging message succeeded (SD card is available and messages can be appended to log file)
* @note data will be written on SD card only after a least one 512 bytes block of messages is available
*/
static bool log(char* message)
{
static char log_buffer[600] = ""; // buffer messages until we have a 512 bytes block to write
static uint16_t log_used = 0; // how much of the buffer has been used
if (0==strlen(log_name)) { // there is no file to log to
return false;
}
if (strlen(message)+log_used>LENGTH(log_buffer)) { // message too long to be saved
return false;
}
for (uint16_t i=0; i<strlen(message) && log_used<LENGTH(log_buffer); i++) { // copy message to buffer
log_buffer[log_used++] = message[i];
}
if (log_used>=512) { // one data block is available for writing
FIL log_file; // file to log the data
if (FR_OK!=f_open(&log_file, log_name, FA_OPEN_APPEND | FA_WRITE)) { // open file to put log in
return false;
}
UINT written = 0;
if (FR_OK!=f_write(&log_file, log_buffer, log_used, &written)) { // write data
return false;
}
if (FR_OK!=f_close(&log_file)) { // close file (and flush data)
return false;
}
if (written!=log_used) { // did not log all bytes
return false;
}
log_used = 0; // reset buffer
}
return true;
}
/** 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
usb_cdcacm_setup(); // setup USB CDC ACM (for printing)
printf("\nwelcome to the CuVoodoo STM32F1 forumlader-logger\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");
// print time
time_rtc= rtc_get_counter_val(); // get time from internal RTC
time_tm = localtime(&time_rtc); // convert time
printf("date: %d-%02d-%02d %02d:%02d:%02d\n", 1900+time_tm->tm_year, time_tm->tm_mon, time_tm->tm_mday, time_tm->tm_hour, time_tm->tm_min, time_tm->tm_sec);
printf("setup forumslader UART: ");
sensor_forumslader_setup(); // setup USART
printf("OK\n");
printf("setup Bluetooth UART: ");
radio_bluetooth_setup(); // setup USART
printf("OK\n");
printf("setup GPS: ");
radio_gps_setup();
bool gps_rtc_synced = false; // has the RTC been synced with the GPS time
printf("OK\n");
printf("setup SD card file system: ");
FATFS card_fs; // SD card FAT file system
DIR directory; // for the root directory
FRESULT result = f_mount(&card_fs, "", 0); // mount file system
if (FR_OK!=result) {
printf("failed (result=%u)\n", result);
} else {
result = f_opendir(&directory, "");
if (FR_OK!=result) {
printf("failed to open directory (result=%u)\n", result);
} else {
snprintf(log_name, LENGTH(log_name), "forumslogger_%04d-%02d-%02d_%02d-%02d-%02d.txt", 1900+time_tm->tm_year, time_tm->tm_mon, time_tm->tm_mday, time_tm->tm_hour, time_tm->tm_min, time_tm->tm_sec); // create file name for log file based on date
printf("log will be saved in %s\n", log_name);
}
}
// 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 (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
}
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
action = true; // action has been performed
#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
time_rtc = rtc_get_counter_val(); // get time from internal RTC (seconds since Unix Epoch)
time_tm = localtime(&time_rtc); // get time in tm format from Epoch (time zones are not handled for non-POSIX environments)
if (0==time_tm->tm_sec) { // new minute
printf("time: %02d:%02d:%02d\n", time_tm->tm_hour, time_tm->tm_min, time_tm->tm_sec);
}
}
while (sensor_forumslader_received) { // a forumslader message has been received
sensor_forumslader_received = false; // clear flag
action = true; // action has been performed
radio_bluetooth_transmit((const char*)sensor_forumslader_message); // forward message over Bluetooth
//printf("Forumslader: %s", sensor_forumslader_message); // print message
if (!log((char*)sensor_forumslader_message)) { // log Forumslader message
printf("logging Forumslader message failed\n");
}
}
while (radio_bluetooth_received) { // a message has been received over Bluetooth
radio_bluetooth_received = false; // clear flag
action = true; // action has been performed
if (0==strncmp((char*)radio_bluetooth_message, "$FLL,", 5)) { // check if this is a message for us
if (0==strncmp((char*)radio_bluetooth_message, "$FLL,LS;", 8)) { // list files
radio_bluetooth_transmit("$FLL,LS,BOL;\r\n"); // notify we will begin the list of files
if (strlen(log_name)) { // check is card file system is available
FILINFO info; // to get file information
result = f_findfirst(&directory, &info, "", "forumslogger_?\??\?-?\?-?\?_?\?-?\?-?\?.txt"); // find files
while (FR_OK==result && strlen(info.fname)) { // file found
radio_bluetooth_transmit("$FLL,LS,"); // file entry header
radio_bluetooth_transmit(info.fname); // file name
radio_bluetooth_transmit(";\r\n"); // end for file entry
result = f_findnext(&directory, &info); // get next file
}
}
radio_bluetooth_transmit("$FLL,LS,EOL;\r\n"); // notify this is the end of the list
} else if (0==strncmp((char*)radio_bluetooth_message, "$FLL,RM,forumslogger_", 21)) { // remove log file
char filename[36+1] = {0}; // file to delete
for (uint8_t i=0; i<LENGTH(filename)-1 && 8+i<strlen((char*)radio_bluetooth_message) && radio_bluetooth_message[8+i]!=';'&& radio_bluetooth_message[8+i]!='\r'; i++) { // copy file name
filename[i] = radio_bluetooth_message[8+i]; // copy character
filename[i+1] = 0; // end string
}
if (strlen(log_name) && FR_OK==f_unlink(filename)) { // delete file
radio_bluetooth_transmit("$FLL,RM,OK;\r\n"); // notify user file removal succeeded
} else {
radio_bluetooth_transmit("$FLL,RM,ERROR;\r\n"); // notify user file removal failed
}
} else if (0==strncmp((char*)radio_bluetooth_message, "$FLL,CAT,forumslogger_", 22)) { // dump log file
char filename[36+1] = {0}; // file to delete
for (uint8_t i=0; i<LENGTH(filename)-1 && 9+i<strlen((char*)radio_bluetooth_message) && radio_bluetooth_message[9+i]!=';'&& radio_bluetooth_message[9+i]!='\r'; i++) { // copy file name
filename[i] = radio_bluetooth_message[9+i]; // copy character
filename[i+1] = 0; // end string
}
FIL log_file; // log file to read data
if (strlen(log_name) && FR_OK==f_open(&log_file, filename, FA_READ)) { // open file
radio_bluetooth_transmit("$FLL,CAT,BOF;\r\n"); // notify user the file will be dumped
char buffer[80+1]; // log file data (use NMEA size for max transmit size)
UINT read; // number of bytes read
while (FR_OK==f_read(&log_file, buffer, LENGTH(buffer)-1, &read)) { // read log file
if (0==read || read>LENGTH(buffer)-1) { // end of file
break;
}
buffer[read] = 0; // end string
radio_bluetooth_transmit(buffer); // send log data
}
f_close(&log_file); // close file
radio_bluetooth_transmit("$FLL,CAT,EOF;\r\n"); // notify user the file ended
} else {
radio_bluetooth_transmit("$FLL,CAT,ERROR;\r\n"); // notify user file removal failed
}
}
} else {
sensor_forumslader_transmit((const char*)radio_bluetooth_message); // forward message to forumslader
if (!log((char*)radio_bluetooth_message)) { // log Bluetooth message
printf("logging Bluetooth message failed\n");
}
}
//printf("Bluetooth: %s", radio_bluetooth_message); // print message
}
while (radio_gps_received) { // a GPS message has been received
radio_gps_received = false; // clear flag
action = true; // action has been performed
if (!gps_rtc_synced) { // if the RTC has not been synced with the GPS time, try to do it
if (0==strncmp((const char *)radio_gps_message,"$GPRMC,",7)) { // get time from GPS
uint8_t arg = 0;
uint8_t arg_start = 0;
for (uint8_t i = 0; i < LENGTH(radio_gps_message) && radio_gps_message[i]!='\0'; i++) {
if (','==radio_gps_message[i]) { // argument end
if (1==arg) { // got time
if (i-arg_start<7) { // time not provided
break;
} else {
time_tm->tm_hour = (radio_gps_message[arg_start+1]-'0')*10+(radio_gps_message[arg_start+2]-'0')*1; // set hours
time_tm->tm_min = (radio_gps_message[arg_start+3]-'0')*10+(radio_gps_message[arg_start+4]-'0')*1; // set minutes
time_tm->tm_sec = (radio_gps_message[arg_start+5]-'0')*10+(radio_gps_message[arg_start+6]-'0')*1; // set seconds
}
} else if (2==arg) { // got validity
if (i-arg_start<2) { // validity not provided
break;
} else if ('A'!=radio_gps_message[arg_start+1]) { // not valid
break;
}
} else if (9==arg) { // got date
if (i-arg_start<7) { // date not provided
break;
} else {
time_tm->tm_mday = (radio_gps_message[arg_start+1]-'0')*10+(radio_gps_message[arg_start+2]-'0')*1; // set day of month
time_tm->tm_mon = (radio_gps_message[arg_start+3]-'0')*10+(radio_gps_message[arg_start+4]-'0')*1; // set month
time_tm->tm_year = 2000+(radio_gps_message[arg_start+5]-'0')*10+(radio_gps_message[arg_start+6]-'0')*1-1900; // set year
time_rtc = mktime(time_tm); // get back seconds
rtc_set_counter_val(time_rtc); // save date/time to internal RTC
gps_rtc_synced = true; // remember we synced the time
printf("GPS date saved: %d-%02d-%02d %02d:%02d:%02d\n", 1900+time_tm->tm_year, time_tm->tm_mon, time_tm->tm_mday, time_tm->tm_hour, time_tm->tm_min, time_tm->tm_sec);
}
}
arg++; // next argument starts
arg_start = i; // save start of next argument
}
}
}
}
//printf("GPS: %s", radio_gps_message); // print GPS message
if (!log((char*)radio_gps_message)) { // log GPS message
printf("logging GPS message failed\n");
}
}
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
}
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