stm32f1/application.c

/** STM32F4 application example
 *  @file
 *  @author King Kévin <kingkevin@cuvoodoo.info>
 *  @copyright SPDX-License-Identifier: GPL-3.0-or-later
 *  @date 2016-2020
 */

/* standard libraries */
#include <stdint.h> // standard integer types
#include <stdlib.h> // standard utilities
#include <string.h> // string utilities
#include <time.h> // date/time utilities
#include <ctype.h> // utilities to check chars

/* 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/desig.h> // design utilities
#include <libopencm3/stm32/flash.h> // flash utilities

/* own libraries */
#include "global.h" // board definitions
#include "print.h" // printing utilities
#include "uart.h" // USART utilities
#include "usb_cdcacm.h" // USB CDC ACM utilities
#include "terminal.h" // handle the terminal interface
#include "menu.h" // menu utilities

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

/** @defgroup main_flags flag set in interrupts to be processed in main task
 *  @{
 */
static 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 last_c = 0; // to remember on which character we last sent
	if ('\n' == c) { // send carriage return (CR) + line feed (LF) newline for each LF
		if ('\r' != last_c) { // CR has not already been sent
			uart_putchar_nonblocking('\r'); // send CR over USART
			usb_cdcacm_putchar('\r'); // send CR over USB
			length++; // remember we printed 1 character
		}
	}
	uart_putchar_nonblocking(c); // send byte over USART
	usb_cdcacm_putchar(c); // send byte over USB
	length++; // remember we printed 1 character
	last_c = c; // remember last character
	return length; // return number of characters printed
}

// menu commands

/** display available commands
 *  @param[in] argument no argument required
 */
static void command_help(void* argument);

/** show software and hardware version
 *  @param[in] argument no argument required
 */
static void command_version(void* argument)
{
	(void)argument; // we won't use the argument
	printf("firmware date: %04u-%02u-%02u\n", BUILD_YEAR, BUILD_MONTH, BUILD_DAY); // show firmware build date
	printf("device serial: %08x%08x%08x\n", DESIG_UNIQUE_ID2, DESIG_UNIQUE_ID1, DESIG_UNIQUE_ID0); // show complete serial (different than the one used for USB)
}

/** show uptime
 *  @param[in] argument no argument required
 */
static void command_uptime(void* argument)
{
	(void)argument; // we won't use the argument
	// TODO calculate time difference
	const uint32_t uptime = 0; // get time from internal RTC
	printf("uptime: %u.%02u:%02u:%02u\n", uptime / (24 * 60 * 60), (uptime / (60 * 60)) % 24, (uptime / 60) % 60, uptime % 60);
}

/** show date and time
 *  @param[in] argument date and time to set
 */
static void command_datetime(void* argument)
{
	char* datetime = (char*)argument; // argument is optional date time
	if (NULL == argument) { // no date and time provided, just show the current day and time
		// TODO wait until date/time is synchronised
		const uint8_t year = ((RTC_DR >> RTC_DR_YT_SHIFT) & RTC_DR_YT_MASK) * 10 + ((RTC_DR >> RTC_DR_YU_SHIFT) & RTC_DR_YU_MASK); // get year
		const uint8_t month = ((RTC_DR >> RTC_DR_MT_SHIFT) & RTC_DR_MT_MASK) * 10 + ((RTC_DR >> RTC_DR_MU_SHIFT) & RTC_DR_MU_MASK); // get month
		const uint8_t day = ((RTC_DR >> RTC_DR_DT_SHIFT) & RTC_DR_DT_MASK) * 10 + ((RTC_DR >> RTC_DR_DU_SHIFT) & RTC_DR_DU_MASK); // get day
		const uint8_t week_day = ((RTC_DR >> RTC_DR_WDU_SHIFT) & RTC_DR_WDU_MASK); // get week day
		const char* days[] = { "??", "Su", "Mo", "Tu", "We", "Th", "Fr", "Sa"}; // the days of the week
		const uint8_t hour = ((RTC_TR >> RTC_TR_HT_SHIFT) * RTC_TR_HT_MASK) * 10 + ((RTC_TR >> RTC_TR_HU_SHIFT) & RTC_TR_HU_MASK); // get hours
		const uint8_t minute = ((RTC_TR >> RTC_TR_MNT_SHIFT) & RTC_TR_MNT_MASK) * 10 + ((RTC_TR >> RTC_TR_MNU_SHIFT) & RTC_TR_MNU_MASK); // get minutes
		const uint8_t second = ((RTC_TR >> RTC_TR_ST_SHIFT) & RTC_TR_ST_MASK) * 10 + ((RTC_TR >> RTC_TR_SU_SHIFT) & RTC_TR_SU_MASK); // get seconds
		printf("date: %s 20%02d-%02d-%02d %02d:%02d:%02d\n", days[week_day], year, month, day, hour, minute, second);
	} else { // date and time provided, set it
		const char* malformed = "date and time malformed, expecting YYYY-MM-DD HH:MM:SS\n";
		if (strlen(datetime) != (4 + 1 + 2 + 1 + 2) + 1 + (2 + 1 + 2 + 1 + 2)) { // verify date/time is long enough
			printf(malformed);
			return;
		}
		if (!(isdigit((int8_t)datetime[0]) && isdigit((int8_t)datetime[1]) && isdigit((int8_t)datetime[2]) && isdigit((int8_t)datetime[3]) && '-' == datetime[4] && isdigit((int8_t)datetime[5]) && isdigit((int8_t)datetime[6]) && '-' == datetime[7] && isdigit((int8_t)datetime[8]) && isdigit((int8_t)datetime[9]) && ' ' == datetime[10] && isdigit((int8_t)datetime[11]) && isdigit((int8_t)datetime[12]) && ':' == datetime[13] && isdigit((int8_t)datetime[14]) && isdigit((int8_t)datetime[15]) && ':' == datetime[16] && isdigit((int8_t)datetime[17]) && isdigit((int8_t)datetime[18]))) { // verify format (good enough to not fail parsing)
			printf(malformed);
			return;
		}
		/*
		time_tm.tm_year = strtol(&datetime[0], NULL, 10) - 1900; // parse year
		time_tm.tm_mon = strtol(&datetime[5], NULL, 10) - 1; // parse month
		time_tm.tm_mday = strtol(&datetime[8], NULL, 10); // parse day
		time_tm.tm_hour = strtol(&datetime[11], NULL, 10); // parse hour
		time_tm.tm_min = strtol(&datetime[14], NULL, 10); // parse minutes
		time_tm.tm_sec = strtol(&datetime[17], NULL, 10); // parse seconds
		time_t time_rtc = mktime(&time_tm); // get back seconds
		time_rtc -= rtc_offset; // remove start offset
		time_start = time_rtc * RTC_TICKS_SECOND + (rtc_get_counter_val() - time_start); // update uptime with current date
		rtc_set_counter_val(time_rtc * RTC_TICKS_SECOND); // save date/time to internal RTC
		*/
	}
}

/** reset board
 *  @param[in] argument no argument required
 */
static void command_reset(void* argument)
{
	(void)argument; // we won't use the argument
	scb_reset_system(); // reset device
	while (true); // wait for the reset to happen
}

/** switch to system memory (e.g. embedded bootloader)
 *  @param[in] argument no argument required
 */
static void command_system(void* argument)
{
	(void)argument; // we won't use the argument
	system_memory(); // jump to system memory
}

/** switch to DFU bootloader
 *  @param[in] argument no argument required
 */
static void command_bootloader(void* argument)
{
	(void)argument; // we won't use the argument
	dfu_bootloader(); // start DFU bootloader
}

/** list of all supported commands */
static const struct menu_command_t menu_commands[] = {
	{
		.shortcut = 'h',
		.name = "help",
		.command_description = "display help",
		.argument = MENU_ARGUMENT_NONE,
		.argument_description = NULL,
		.command_handler = &command_help,
	},
	{
		.shortcut = 'v',
		.name = "version",
		.command_description = "show software and hardware version",
		.argument = MENU_ARGUMENT_NONE,
		.argument_description = NULL,
		.command_handler = &command_version,
	},
	{
		.shortcut = 'u',
		.name = "uptime",
		.command_description = "show uptime",
		.argument = MENU_ARGUMENT_NONE,
		.argument_description = NULL,
		.command_handler = &command_uptime,
	},
	{
		.shortcut = 'd',
		.name = "date",
		.command_description = "show/set date and time",
		.argument = MENU_ARGUMENT_STRING,
		.argument_description = "[YYYY-MM-DD HH:MM:SS]",
		.command_handler = &command_datetime,
	},
	{
		.shortcut = 'r',
		.name = "reset",
		.command_description = "reset board",
		.argument = MENU_ARGUMENT_NONE,
		.argument_description = NULL,
		.command_handler = &command_reset,
	},
	{
		.shortcut = 's',
		.name = "system",
		.command_description = "reboot into system memory",
		.argument = MENU_ARGUMENT_NONE,
		.argument_description = NULL,
		.command_handler = &command_system,
	},
	{
		.shortcut = 'b',
		.name = "bootloader",
		.command_description = "reboot into DFU bootloader",
		.argument = MENU_ARGUMENT_NONE,
		.argument_description = NULL,
		.command_handler = &command_bootloader,
	},
};

static void command_help(void* argument)
{
	(void)argument; // we won't use the argument
	printf("available commands:\n");
	menu_print_commands(menu_commands, LENGTH(menu_commands)); // print global commands
}

/** process user command
 *  @param[in] str user command string (\0 ended)
 */
static void process_command(char* str)
{
	// ensure actions are available
	if (NULL == menu_commands || 0 == LENGTH(menu_commands)) {
		return;
	}
	// don't handle empty lines
	if (!str || 0 == strlen(str)) {
		return;
	}
	bool command_handled = false;
	if (!command_handled) {
		command_handled = menu_handle_command(str, menu_commands, LENGTH(menu_commands)); // try if this is not a global command
	}
	if (!command_handled) {
		printf("command not recognized. enter help to list commands\n");
	}
}

/** program entry point
 *  this is the firmware function started by the micro-controller
 */
void main(void);
void main(void)
{

#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
	uart_setup(); // setup USART (for printing)
	usb_cdcacm_setup(); // setup USB CDC ACM (for printing)
	puts("\nwelcome to the CuVoodoo STM32F4 example firmware\n"); // print welcome message

#if DEBUG
	// show reset cause
	if (RCC_CSR & (RCC_CSR_LPWRRSTF | RCC_CSR_WWDGRSTF | RCC_CSR_IWDGRSTF | RCC_CSR_SFTRSTF | RCC_CSR_PORRSTF | RCC_CSR_PINRSTF)) {
		puts("reset cause(s):");
		if (RCC_CSR & RCC_CSR_LPWRRSTF) {
			puts(" low-power");
		}
		if (RCC_CSR & RCC_CSR_WWDGRSTF) {
			puts(" window-watchdog");
		}
		if (RCC_CSR & RCC_CSR_IWDGRSTF) {
			puts(" independent-watchdog");
		}
		if (RCC_CSR & RCC_CSR_SFTRSTF) {
			puts(" software");
		}
		if (RCC_CSR & RCC_CSR_PORRSTF) {
			puts(" POR/PDR");
		}
		if (RCC_CSR & RCC_CSR_PINRSTF) {
			puts(" pin");
		}
		putc('\n');
		RCC_CSR |= RCC_CSR_RMVF; // clear reset flags
	}
#endif
#if !(DEBUG)
	// show watchdog information
	printf("setup watchdog: %.2fs", WATCHDOG_PERIOD / 1000.0);
	if (FLASH_OBR & FLASH_OBR_OPTERR) {
		puts(" (option bytes not set in flash: software wachtdog used, not automatically started at reset)\n");
	} else if (FLASH_OBR & FLASH_OBR_WDG_SW) {
		puts(" (software watchdog used, not automatically started at reset)\n");
	} else {
		puts(" (hardware watchdog used, automatically started at reset)\n");
	}
#endif

	// setup terminal
	terminal_prefix = ""; // set default prefix
	terminal_process = &process_command; // set central function to process commands
	terminal_setup(); // start terminal

	// start main loop
	bool action = false; // if an action has been performed don't go to sleep
	button_flag = false; // reset button flag
	led_on(); // switch LED to indicate booting completed
	while (true) { // infinite loop
		iwdg_reset(); // kick the dog
		if (user_input_available) { // user input is available
			action = true; // action has been performed
			led_toggle(); // toggle LED
			char c = user_input_get(); // store receive character
			terminal_send(c); // send received character to terminal
		}
		if (button_flag) { // user pressed button
			action = true; // action has been performed
			puts("button pressed\n");
			led_toggle(); // toggle LED
			sleep_ms(100); // wait a bit to remove noise and double trigger
			button_flag = false; // reset flag
		}
/*
		if (rtc_internal_tick_flag) { // the internal RTC ticked
			rtc_internal_tick_flag = false; // reset flag
			action = true; // action has been performed
			if (0 == (rtc_get_counter_val() % RTC_TICKS_SECOND)) { // one second has passed
				led_toggle(); // toggle LED (good to indicate if main function is stuck)
			}
		}
*/
		if (action) { // go to sleep if nothing had to be done, else recheck for activity
			action = false;
		} else {
			__WFI(); // go to sleep
		}
	} // main loop
}