554 lines
20 KiB
C
554 lines
20 KiB
C
/* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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/** STM32F1 application example
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* @file main.c
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* @author King Kévin <kingkevin@cuvoodoo.info>
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* @date 2016-2017
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*/
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/* standard libraries */
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#include <stdint.h> // standard integer types
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#include <stdlib.h> // standard utilities
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#include <string.h> // string utilities
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#include <time.h> // date/time utilities
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/* STM32 (including CM3) libraries */
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#include <libopencmsis/core_cm3.h> // Cortex M3 utilities
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#include <libopencm3/cm3/scb.h> // vector table definition
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#include <libopencm3/cm3/nvic.h> // interrupt utilities
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#include <libopencm3/stm32/gpio.h> // general purpose input output library
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#include <libopencm3/stm32/rcc.h> // real-time control clock library
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#include <libopencm3/stm32/exti.h> // external interrupt utilities
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#include <libopencm3/stm32/rtc.h> // real time clock utilities
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#include <libopencm3/stm32/iwdg.h> // independent watchdog utilities
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#include <libopencm3/stm32/dbgmcu.h> // debug utilities
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#include <libopencm3/stm32/flash.h> // flash utilities
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/* own libraries */
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#include "global.h" // board definitions
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#include "print.h" // printing utilities
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#include "usb_cdcacm.h" // USB CDC ACM utilities
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#include "sensor_forumslader.h" // forumslader communication
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#include "radio_gps.h" // GPS communication
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#include "radio_bluetooth.h" // Bluetooth communication
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#include "flash_sdcard.h" // to read/write logs on SD card
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/* FatFs library */
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#include "diskio.h" // disk access we have to implement to use FatFs
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#include "ff.h" // FatFs library
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#define WATCHDOG_PERIOD 10000 /**< watchdog period in ms */
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/** @defgroup main_flags flag set in interrupts to be processed in main task
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* @{
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*/
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volatile bool rtc_internal_tick_flag = false; /**< flag set when internal RTC ticked */
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/** @} */
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time_t time_rtc = 0; /**< time (seconds since Unix Epoch) */
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struct tm* time_tm; /**< time in tm format (time zones are not handled for non-POSIX environments) */
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size_t putc(char c)
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{
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size_t length = 0; // number of characters printed
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static char newline = 0; // to remember on which character we sent the newline
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if (0==c) {
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length = 0; // don't print string termination character
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} else if ('\r' == c || '\n' == c) { // send CR+LF newline for most carriage return and line feed combination
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if (0==newline || c==newline) { // send newline only if not already send (and only once on \r\n or \n\r)
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usb_cdcacm_putchar('\r'); // send CR over USB
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usb_cdcacm_putchar('\n'); // send LF over USB
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length += 2; // remember we printed 2 characters
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newline = c; // remember on which character we sent the newline
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} else {
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length = 0; // the \r or \n of \n\r or \r\n has already been printed
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}
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} else {
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usb_cdcacm_putchar(c); // send byte over USB
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newline = 0; // clear new line
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length++; // remember we printed 1 character
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}
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return length; // return number of characters printed
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}
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/** user input command */
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static char command[32] = {0};
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/** user input command index */
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uint8_t command_i = 0;
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/** process user command
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* @param[in] str user command string (\0 ended)
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*/
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static void process_command(char* str)
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{
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// split command
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const char* delimiter = " ";
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char* word = strtok(str,delimiter);
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if (!word) {
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goto error;
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}
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// parse command
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if (0==strcmp(word,"h") || 0==strcmp(word,"help") || 0==strcmp(word,"?")) {
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printf("available commands:\n");
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printf("led [on|off|toggle]\n");
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} else if (0==strcmp(word,"l") || 0==strcmp(word,"led")) {
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word = strtok(NULL,delimiter);
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if (!word) {
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printf("LED is ");
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if (gpio_get(GPIO(LED_PORT), GPIO(LED_PIN))) {
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printf("on\n");
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} else {
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printf("off\n");
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}
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} else if (0==strcmp(word,"on")) {
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led_on(); // switch LED on
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printf("LED switched on\n"); // notify user
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} else if (0==strcmp(word,"off")) {
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led_off(); // switch LED off
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printf("LED switched off\n"); // notify user
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} else if (0==strcmp(word,"toggle")) {
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led_toggle(); // toggle LED
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printf("LED toggled\n"); // notify user
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} else {
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goto error;
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}
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} else if (0==strcmp(word,"time")) {
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word = strtok(NULL,delimiter);
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if (!word) {
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time_rtc = rtc_get_counter_val(); // get time from internal RTC
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time_tm = localtime(&time_rtc); // convert time
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printf("time: %02d:%02d:%02d\n", time_tm->tm_hour, time_tm->tm_min, time_tm->tm_sec);
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} else if (strlen(word)!=8 || word[0]<'0' || word[0]>'2' || word[1]<'0' || word[1]>'9' || word[3]<'0' || word[3]>'5' || word[4]<'0' || word[4]>'9' || word[6]<'0' || word[6]>'5' || word[7]<'0' || word[7]>'9') { // time format is incorrect
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goto error;
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} else {
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time_rtc = rtc_get_counter_val(); // get time from internal RTC
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time_tm = localtime(&time_rtc); // convert time
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time_tm->tm_hour = (word[0]-'0')*10+(word[1]-'0')*1; // set hours
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time_tm->tm_min = (word[3]-'0')*10+(word[4]-'0')*1; // set minutes
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time_tm->tm_sec = (word[6]-'0')*10+(word[7]-'0')*1; // set seconds
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time_rtc = mktime(time_tm); // get back seconds
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rtc_set_counter_val(time_rtc); // save time to internal RTC
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printf("time set\n");
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}
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} else if (0==strcmp(word,"date")) {
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word = strtok(NULL,delimiter);
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if (!word) {
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time_rtc = rtc_get_counter_val(); // get time from internal RTC
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time_tm = localtime(&time_rtc); // convert time
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printf("date: %d-%02d-%02d\n", 1900+time_tm->tm_year, time_tm->tm_mon, time_tm->tm_mday);
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} else if (strlen(word)!=10 || word[0]!='2' || word[1]!='0' || word[2]<'0' || word[2]>'9' || word[3]<'0' || word[3]>'9' || word[5]<'0' || word[5]>'1' || word[6]<'0' || word[6]>'9' || word[8]<'0' || word[8]>'3' || word[9]<'0' || word[9]>'9') {
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goto error;
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} else {
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time_rtc = rtc_get_counter_val(); // get time from internal RTC
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time_tm = localtime(&time_rtc); // convert time
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time_tm->tm_year = ((word[0]-'0')*1000+(word[1]-'0')*100+(word[2]-'0')*10+(word[3]-'0')*1)-1900; // set year
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time_tm->tm_mon = (word[5]-'0')*10+(word[6]-'0')*1; // set month
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time_tm->tm_mday = (word[8]-'0')*10+(word[9]-'0')*1; // set day
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time_rtc = mktime(time_tm); // get back seconds
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rtc_set_counter_val(time_rtc); // save time to internal RTC
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printf("date set\n");
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}
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} else {
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goto error;
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}
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return; // command successfully processed
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error:
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printf("command not recognized. enter help to list commands\n");
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return;
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}
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#if !FF_FS_NORTC && !FF_FS_READONLY
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/** get the current time
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* @return current local time shall be returned as bit-fields packed into a DWORD value
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* @note FatFs function to be implement by user
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*/
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DWORD get_fattime (void)
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{
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time_rtc= rtc_get_counter_val(); // get time from internal RTC
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time_tm = localtime(&time_rtc); // convert time
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return ((1900+time_tm->tm_year-1800)<<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
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}
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#endif
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/** SD card status, used by FatFs */
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static DSTATUS flash_sdcard_status = STA_NOINIT;
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/** inquire the current drive status
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* @param[in] pdrv physical drive number
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* @return current drive status flags
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* @note FatFs function to be implement by user
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*/
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DSTATUS disk_status (BYTE pdrv)
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{
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if (0!=pdrv) { // drive 0 (sd card) is our only drive
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return STA_NOINIT;
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}
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return flash_sdcard_status;
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}
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/** initializes the storage device
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* @param[in] pdrv physical drive number
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* @return current drive status flags
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* @note FatFs function to be implement by user
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*/
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DSTATUS disk_initialize (BYTE pdrv)
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{
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if (0!=pdrv) { // drive 0 (sd card) is our only drive
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return STA_NOINIT;
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}
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if (flash_sdcard_setup()) {
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flash_sdcard_status &= ~(STA_NOINIT|STA_NODISK); // SD card initialized
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} else {
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flash_sdcard_status |= (STA_NOINIT|STA_NODISK); // SD card is not present or failed initialisation
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}
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return flash_sdcard_status;
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}
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/** control device specific features and miscellaneous functions other than generic read/write
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* @param[in] pdrv physical drive number
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* @param[in] cmd control command code
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* @param[io] buff pointer to the control data
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* @return RES_*
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* @note FatFs function to be implement by user
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*/
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DRESULT disk_ioctl (BYTE drv, BYTE cmd, void *buff)
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{
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if (0!=drv) { // drive 0 (sd card) is our only drive
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return RES_PARERR;
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}
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if (flash_sdcard_status&STA_NOINIT) { // SD card not initialized
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return RES_NOTRDY;
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}
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DRESULT to_return = RES_ERROR;
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switch (cmd) {
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case CTRL_SYNC: // nothing to flush (writes are complete)
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to_return = RES_OK;
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break;
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case GET_SECTOR_COUNT:
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*(DWORD*)buff = flash_sdcard_size()/512;
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to_return = RES_OK;
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break;
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case GET_SECTOR_SIZE:
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*(DWORD*)buff = 512;
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to_return = RES_OK;
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break;
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case GET_BLOCK_SIZE:
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*(DWORD*)buff = flash_sdcard_erase_size()/512;
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to_return = RES_OK;
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break;
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default:
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to_return = RES_ERROR;
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}
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return to_return;;
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}
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/** read data from the sector(s) of storage device
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* @param[in] pdrv physical drive number
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* @param[out] buff pointer to the read data buffer
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* @param[in] sector start sector number
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* @param[in] count number of sectors to read
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* @return RES_*
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* @note FatFs function to be implement by user
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*/
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DRESULT disk_read (BYTE pdrv, BYTE* buff, DWORD sector, UINT count)
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{
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if (0!=pdrv) { // drive 0 (sd card) is our only drive
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return RES_PARERR;
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}
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if (flash_sdcard_status&STA_NOINIT) { // SD card not initialized
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return RES_NOTRDY;
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}
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if (NULL==buff || 0==count) { // can't read no data
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return RES_PARERR;
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}
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for (UINT i=0; i<count; i++) {
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if (!flash_sdcard_read_data(sector+i, &((uint8_t*)buff)[i*512])) {
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return RES_ERROR;
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}
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}
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return RES_OK;
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}
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/** write data to the sector(s) of storage device.
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* @param[in] pdrv physical drive number
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* @param[out] buff pointer to the data to be written
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* @param[in] sector sector number to write from
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* @param[in] count number of sectors to write
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* @return RES_*
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* @note FatFs function to be implement by user
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*/
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DRESULT disk_write (BYTE drv, const BYTE* buff, DWORD sector, UINT count)
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{
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if (0!=drv) { // drive 0 (sd card) is our only drive
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return RES_PARERR;
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}
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if (flash_sdcard_status&STA_NOINIT) { // SD card not initialized
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return RES_NOTRDY;
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}
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if (NULL==buff || 0==count) { // can't write no data
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return RES_PARERR;
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}
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for (UINT i=0; i<count; i++) {
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if (!flash_sdcard_write_data(sector+i, &((uint8_t*)buff)[i*512])) {
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return RES_ERROR;
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}
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}
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return RES_OK;
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}
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/** program entry point
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* this is the firmware function started by the micro-controller
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*/
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void main(void);
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void main(void)
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{
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rcc_clock_setup_in_hse_8mhz_out_72mhz(); // use 8 MHz high speed external clock to generate 72 MHz internal clock
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#if DEBUG
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// enable functionalities for easier debug
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DBGMCU_CR |= DBGMCU_CR_IWDG_STOP; // stop independent watchdog counter when code is halted
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DBGMCU_CR |= DBGMCU_CR_WWDG_STOP; // stop window watchdog counter when code is halted
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DBGMCU_CR |= DBGMCU_CR_STANDBY; // allow debug also in standby mode (keep digital part and clock powered)
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DBGMCU_CR |= DBGMCU_CR_STOP; // allow debug also in stop mode (keep clock powered)
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DBGMCU_CR |= DBGMCU_CR_SLEEP; // allow debug also in sleep mode (keep clock powered)
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#else
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// setup watchdog to reset in case we get stuck (i.e. when an error occurred)
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iwdg_set_period_ms(WATCHDOG_PERIOD); // set independent watchdog period
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iwdg_start(); // start independent watchdog
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#endif
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board_setup(); // setup board
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usb_cdcacm_setup(); // setup USB CDC ACM (for printing)
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printf("\nwelcome to the CuVoodoo STM32F1 forumlader-logger\n"); // print welcome message
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#if !(DEBUG)
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// show watchdog information
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printf("watchdog set to (%.2fs)\n",WATCHDOG_PERIOD/1000.0);
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if (FLASH_OBR&FLASH_OBR_OPTERR) {
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printf("option bytes not set in flash: software wachtdog used (not started at reset)\n");
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} else if (FLASH_OBR&FLASH_OBR_WDG_SW) {
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printf("software wachtdog used (not started at reset)\n");
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} else {
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printf("hardware wachtdog used (started at reset)\n");
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}
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#endif
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// setup RTC
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printf("setup internal RTC: ");
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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)
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rtc_interrupt_enable(RTC_SEC); // enable RTC interrupt on "seconds"
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nvic_enable_irq(NVIC_RTC_IRQ); // allow the RTC to interrupt
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printf("OK\n");
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printf("setup forumslader UART: ");
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sensor_forumslader_setup(); // setup USART
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printf("OK\n");
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printf("setup Bluetooth UART: ");
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radio_bluetooth_setup(); // setup USART
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printf("OK\n");
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printf("setup GPS: ");
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radio_gps_setup();
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bool gps_rtc_synced = false; // has the RTC been synced with the GPS time
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printf("OK\n");
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printf("setup SD card file system: ");
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FATFS card_fs;
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FRESULT result = f_mount(&card_fs, "", 0);
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if (FR_OK!=result) {
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printf("failed (result=%u)\n", result);
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} else {
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printf("OK\n");
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DIR directory;
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result = f_opendir(&directory, "");
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if (FR_OK!=result) {
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printf("failed to open directory (result=%u)\n", result);
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} else {
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printf("directory opened\n");
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FILINFO info;
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result = f_findfirst(&directory, &info, "", "*");
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if (FR_OK!=result) {
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printf("failed to find item (result=%u)\n", result);
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} else {
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printf("item found: %s\n", info.fname);
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FIL file;
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result = f_open(&file, info.fname, FA_READ);
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if (FR_OK!=result) {
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printf("failed to open file (result=%u)\n", result);
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} else {
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printf("file opened\n");
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printf("file content:\n");
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char line[100];
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while (f_gets(line, sizeof(line), &file)) {
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printf(line);
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}
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f_close(&file);
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FIL file2;
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result = f_open(&file2, info.fname, FA_OPEN_APPEND | FA_WRITE);
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if (FR_OK!=result) {
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printf("failed to open file for appending (result=%u)\n", result);
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} else {
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int chars = f_puts("hello me\n", &file2);
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if (-1==chars) {
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printf("failed to append file\n");
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} else {
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printf("file appended by %d characters\n", chars);
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}
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f_close(&file2);
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}
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}
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}
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}
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}
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// print time
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time_rtc= rtc_get_counter_val(); // get time from internal RTC
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time_tm = localtime(&time_rtc); // convert time
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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);
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// main loop
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printf("command input: ready\n");
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bool action = false; // if an action has been performed don't go to sleep
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button_flag = false; // reset button flag
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char c = '\0'; // to store received character
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bool char_flag = false; // a new character has been received
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while (true) { // infinite loop
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iwdg_reset(); // kick the dog
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while (usb_cdcacm_received) { // data received over USB
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action = true; // action has been performed
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led_toggle(); // toggle LED
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c = usb_cdcacm_getchar(); // store receive character
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char_flag = true; // notify character has been received
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}
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while (char_flag) { // user data received
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char_flag = false; // reset flag
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|
action = true; // action has been performed
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|
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
|
|
if (!sensor_forumslader_transmit("hello\n")) {
|
|
printf("could not transmit to forumslader\n");
|
|
}
|
|
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
|
|
}
|
|
while (radio_bluetooth_received) { // a message has been received over Bluetooth
|
|
radio_bluetooth_received = false; // clear flag
|
|
action = true; // action has been performed
|
|
sensor_forumslader_transmit((const char*)radio_bluetooth_message); // forward message to forumslader
|
|
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
|
|
//printf("GPS: %s", radio_gps_message); // print GPS message
|
|
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
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
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
|
|
}
|