/** * This file is part of the hoverboard-sideboard-hack project. * * Copyright (C) 2020-2021 Emanuel FERU * * 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 . */ // Includes #include #include #include "systick.h" #include "gd32f1x0.h" #include "defines.h" #include "config.h" #include "setup.h" #include "util.h" #include "mpu6050.h" // USART variables #ifdef SERIAL_CONTROL SerialSideboard Sideboard; #endif #if defined(SERIAL_DEBUG) || defined(SERIAL_FEEDBACK) static uint8_t rx_buffer[SERIAL_BUFFER_SIZE]; // USART Rx DMA circular buffer static uint32_t rx_buffer_len = ARRAY_LEN(rx_buffer); #endif #ifdef SERIAL_FEEDBACK SerialFeedback Feedback; SerialFeedback FeedbackRaw; uint16_t timeoutCntSerial = 0; // Timeout counter for Rx Serial command uint8_t timeoutFlagSerial = 0; // Timeout Flag for Rx Serial command: 0 = OK, 1 = Problem detected (line disconnected or wrong Rx data) static uint32_t Feedback_len = sizeof(Feedback); #endif // MPU variables ErrStatus mpuStatus; // holds the MPU-6050 status: SUCCESS or ERROR // MAIN I2C variables volatile int8_t i2c_status; volatile i2c_cmd i2c_ReadWriteCmd; volatile uint8_t i2c_regAddress; volatile uint8_t i2c_slaveAddress; volatile uint8_t* i2c_txbuffer; volatile uint8_t* i2c_rxbuffer; volatile uint8_t i2c_nDABytes; volatile int8_t i2c_nRABytes; volatile uint8_t buffer[14]; #ifdef AUX45_USE_I2C // AUX I2C variables volatile int8_t i2c_aux_status; volatile i2c_cmd i2c_aux_ReadWriteCmd; volatile uint8_t i2c_aux_regAddress; volatile uint8_t i2c_aux_slaveAddress; volatile uint8_t* i2c_aux_txbuffer; volatile uint8_t* i2c_aux_rxbuffer; volatile uint8_t i2c_aux_nDABytes; volatile int8_t i2c_aux_nRABytes; #endif /* =========================== General Functions =========================== */ void consoleLog(char *message) { #ifdef SERIAL_DEBUG log_i("%s", message); #endif } /* retarget the C library printf function to the USART */ #ifdef SERIAL_DEBUG #ifdef __GNUC__ #define PUTCHAR_PROTOTYPE int __io_putchar(int ch) #else #define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f) #endif PUTCHAR_PROTOTYPE { usart_data_transmit(USART_MAIN, (uint8_t)ch); while(RESET == usart_flag_get(USART_MAIN, USART_FLAG_TBE)); return ch; } #ifdef __GNUC__ int _write(int file, char *data, int len) { int i; for (i = 0; i < len; i++) { __io_putchar( *data++ );} return len; } #endif #endif void toggle_led(uint32_t gpio_periph, uint32_t pin) { GPIO_OCTL(gpio_periph) ^= pin; } void intro_demo_led(uint32_t tDelay) { int i; for (i = 0; i < 3; i++) { gpio_bit_set(LED1_GPIO_Port, LED1_Pin); gpio_bit_reset(LED3_GPIO_Port, LED3_Pin); delay_1ms(tDelay); gpio_bit_set(LED2_GPIO_Port, LED2_Pin); gpio_bit_reset(LED1_GPIO_Port, LED1_Pin); delay_1ms(tDelay); gpio_bit_set(LED3_GPIO_Port, LED3_Pin); gpio_bit_reset(LED2_GPIO_Port, LED2_Pin); delay_1ms(tDelay); } for (i = 0; i < 2; i++) { gpio_bit_set(LED1_GPIO_Port, LED1_Pin); gpio_bit_set(LED2_GPIO_Port, LED2_Pin); gpio_bit_set(LED3_GPIO_Port, LED3_Pin); gpio_bit_set(LED4_GPIO_Port, LED4_Pin); gpio_bit_set(LED5_GPIO_Port, LED5_Pin); delay_1ms(tDelay); gpio_bit_reset(LED1_GPIO_Port, LED1_Pin); gpio_bit_reset(LED2_GPIO_Port, LED2_Pin); gpio_bit_reset(LED3_GPIO_Port, LED3_Pin); gpio_bit_reset(LED4_GPIO_Port, LED4_Pin); gpio_bit_reset(LED5_GPIO_Port, LED5_Pin); } } /* =========================== Input Initialization Function =========================== */ void input_init(void) { #ifdef SERIAL_CONTROL usart_Tx_DMA_config(USART_MAIN, (uint8_t *)&Sideboard, sizeof(Sideboard)); #endif #if defined(SERIAL_DEBUG) || defined(SERIAL_FEEDBACK) usart_Rx_DMA_config(USART_MAIN, (uint8_t *)rx_buffer, sizeof(rx_buffer)); #endif intro_demo_led(100); // Short LEDs intro demo with 100 ms delay. This also gives some time for the MPU-6050 to power-up. #ifdef MPU_SENSOR_ENABLE if(mpu_config()) { // IMU MPU-6050 config mpuStatus = ERROR; gpio_bit_set(LED1_GPIO_Port, LED1_Pin); // Turn on RED LED } else { mpuStatus = SUCCESS; gpio_bit_set(LED2_GPIO_Port, LED2_Pin); // Turn on GREEN LED } mpu_handle_input('h'); // Print the User Help commands to serial #else gpio_bit_set(LED2_GPIO_Port, LED2_Pin); // Turn on GREEN LED #endif } /* =========================== USART READ Functions =========================== */ /* * Check for new data received on USART with DMA: refactored function from https://github.com/MaJerle/stm32-usart-uart-dma-rx-tx * - this function is called for every USART IDLE line detection, in the USART interrupt handler */ void usart_rx_check(void) { #ifdef SERIAL_DEBUG static uint32_t old_pos; uint32_t pos; pos = rx_buffer_len - dma_transfer_number_get(DMA_CH4); // Calculate current position in buffer if (pos != old_pos) { // Check change in received data if (pos > old_pos) { // "Linear" buffer mode: check if current position is over previous one usart_process_debug(&rx_buffer[old_pos], pos - old_pos); // Process data } else { // "Overflow" buffer mode usart_process_debug(&rx_buffer[old_pos], rx_buffer_len - old_pos); // First Process data from the end of buffer if (pos > 0) { // Check and continue with beginning of buffer usart_process_debug(&rx_buffer[0], pos); // Process remaining data } } } old_pos = pos; // Update old position if (old_pos == rx_buffer_len) { // Check and manually update if we reached end of buffer old_pos = 0; } #endif // SERIAL_DEBUG #ifdef SERIAL_FEEDBACK static uint32_t old_pos; uint32_t pos; uint8_t *ptr; pos = rx_buffer_len - dma_transfer_number_get(DMA_CH4); // Calculate current position in buffer if (pos != old_pos) { // Check change in received data ptr = (uint8_t *)&FeedbackRaw; // Initialize the pointer with FeedbackRaw address if (pos > old_pos && (pos - old_pos) == Feedback_len) { // "Linear" buffer mode: check if current position is over previous one AND data length equals expected length memcpy(ptr, &rx_buffer[old_pos], Feedback_len); // Copy data. This is possible only if FeedbackRaw is contiguous! (meaning all the structure members have the same size) usart_process_data(&FeedbackRaw, &Feedback); // Process data } else if ((rx_buffer_len - old_pos + pos) == Feedback_len) { // "Overflow" buffer mode: check if data length equals expected length memcpy(ptr, &rx_buffer[old_pos], rx_buffer_len - old_pos); // First copy data from the end of buffer if (pos > 0) { // Check and continue with beginning of buffer ptr += rx_buffer_len - old_pos; // Move to correct position in FeedbackRaw memcpy(ptr, &rx_buffer[0], pos); // Copy remaining data } usart_process_data(&FeedbackRaw, &Feedback); // Process data } } old_pos = pos; // Updated old position if (old_pos == rx_buffer_len) { // Check and manually update if we reached end of buffer old_pos = 0; } #endif // SERIAL_FEEDBACK } /* * Process Rx debug user command input */ #ifdef SERIAL_DEBUG void usart_process_debug(uint8_t *userCommand, uint32_t len) { for (; len > 0; len--, userCommand++) { if (*userCommand != '\n' && *userCommand != '\r') { // Do not accept 'new line' and 'carriage return' commands log_i("Command = %c\n", *userCommand); mpu_handle_input(*userCommand); } } } #endif // SERIAL_DEBUG /* * Process Rx data * - if the Feedback_in data is valid (correct START_FRAME and checksum) copy the Feedback_in to Feedback_out */ #ifdef SERIAL_FEEDBACK void usart_process_data(SerialFeedback *Feedback_in, SerialFeedback *Feedback_out) { uint16_t checksum; if (Feedback_in->start == SERIAL_START_FRAME) { checksum = (uint16_t)(Feedback_in->start ^ Feedback_in->cmd1 ^ Feedback_in->cmd2 ^ Feedback_in->speedR_meas ^ Feedback_in->speedL_meas ^ Feedback_in->batVoltage ^ Feedback_in->boardTemp ^ Feedback_in->cmdLed); if (Feedback_in->checksum == checksum) { *Feedback_out = *Feedback_in; timeoutCntSerial = 0; // Reset timeout counter timeoutFlagSerial = 0; // Clear timeout flag } } } #endif // SERIAL_FEEDBACK /* =========================== I2C WRITE Functions =========================== */ /* * write bytes to chip register */ int8_t i2c_writeBytes(uint8_t slaveAddr, uint8_t regAddr, uint8_t length, uint8_t *data) { // assign WRITE command i2c_ReadWriteCmd = WRITE; // assign inputs i2c_status = -1; i2c_slaveAddress = slaveAddr << 1; // Address is shifted one position to the left. LSB is reserved for the Read/Write bit. i2c_regAddress = regAddr; i2c_txbuffer = data; i2c_nDABytes = length; i2c_nRABytes = 1; // enable the I2C0 interrupt i2c_interrupt_enable(MPU_I2C, I2C_INT_ERR | I2C_INT_BUF | I2C_INT_EV); // the master waits until the I2C bus is idle while(i2c_flag_get(MPU_I2C, I2C_FLAG_I2CBSY)); // the master sends a start condition to I2C bus i2c_start_on_bus(MPU_I2C); // Wait until all data bytes are sent/received while(i2c_nDABytes > 0); return i2c_status; } /* * write 1 byte to chip register */ int8_t i2c_writeByte(uint8_t slaveAddr, uint8_t regAddr, uint8_t data) { return i2c_writeBytes(slaveAddr, regAddr, 1, &data); } /* * write one bit to chip register */ int8_t i2c_writeBit(uint8_t slaveAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data) { uint8_t b; i2c_readByte(slaveAddr, regAddr, &b); b = (data != 0) ? (b | (1 << bitNum)) : (b & ~(1 << bitNum)); return i2c_writeByte(slaveAddr, regAddr, b); } /* =========================== I2C READ Functions =========================== */ /* * read bytes from chip register */ int8_t i2c_readBytes(uint8_t slaveAddr, uint8_t regAddr, uint8_t length, uint8_t *data) { // assign READ command i2c_ReadWriteCmd = READ; // assign inputs i2c_status = -1; i2c_slaveAddress = slaveAddr << 1; // Address is shifted one position to the left. LSB is reserved for the Read/Write bit. i2c_regAddress = regAddr; i2c_rxbuffer = data; i2c_nDABytes = length; i2c_nRABytes = 1; // enable the I2C0 interrupt i2c_interrupt_enable(MPU_I2C, I2C_INT_ERR | I2C_INT_BUF | I2C_INT_EV); if(2 == i2c_nDABytes){ i2c_ackpos_config(MPU_I2C, I2C_ACKPOS_NEXT); // send ACK for the next byte } // the master waits until the I2C bus is idle while(i2c_flag_get(MPU_I2C, I2C_FLAG_I2CBSY)); // the master sends a start condition to I2C bus i2c_start_on_bus(MPU_I2C); // Wait until all data bytes are sent/received while(i2c_nDABytes > 0); // Return status return i2c_status; } /* * read 1 byte from chip register */ int8_t i2c_readByte(uint8_t slaveAddr, uint8_t regAddr, uint8_t *data) { return i2c_readBytes(slaveAddr, regAddr, 1, data); } /* * read 1 bit from chip register */ int8_t i2c_readBit(uint8_t slaveAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data) { uint8_t b; int8_t status = i2c_readByte(slaveAddr, regAddr, &b); *data = b & (1 << bitNum); return status; } #ifdef AUX45_USE_I2C /* * write bytes to chip register */ int8_t i2c_aux_writeBytes(uint8_t slaveAddr, uint8_t regAddr, uint8_t length, uint8_t *data) { // assign WRITE command i2c_aux_ReadWriteCmd = WRITE; // assign inputs i2c_aux_status = -1; i2c_aux_slaveAddress = slaveAddr << 1; // Address is shifted one position to the left. LSB is reserved for the Read/Write bit. i2c_aux_regAddress = regAddr; i2c_aux_txbuffer = data; i2c_aux_nDABytes = length; i2c_aux_nRABytes = 1; // enable the I2C0 interrupt i2c_interrupt_enable(AUX_I2C, I2C_INT_ERR | I2C_INT_BUF | I2C_INT_EV); // the master waits until the I2C bus is idle while(i2c_flag_get(AUX_I2C, I2C_FLAG_I2CBSY)); // the master sends a start condition to I2C bus i2c_start_on_bus(AUX_I2C); // Wait until all data bytes are sent/received while(i2c_aux_nDABytes > 0); return i2c_aux_status; } /* * read bytes from chip register */ int8_t i2c_aux_readBytes(uint8_t slaveAddr, uint8_t regAddr, uint8_t length, uint8_t *data) { // assign READ command i2c_aux_ReadWriteCmd = READ; // assign inputs i2c_aux_status = -1; i2c_aux_slaveAddress = slaveAddr << 1; // Address is shifted one position to the left. LSB is reserved for the Read/Write bit. i2c_aux_regAddress = regAddr; i2c_aux_rxbuffer = data; i2c_aux_nDABytes = length; i2c_aux_nRABytes = 1; // enable the I2C0 interrupt i2c_interrupt_enable(AUX_I2C, I2C_INT_ERR | I2C_INT_BUF | I2C_INT_EV); if(2 == i2c_aux_nDABytes){ i2c_ackpos_config(AUX_I2C, I2C_ACKPOS_NEXT); // send ACK for the next byte } // the master waits until the I2C bus is idle while(i2c_flag_get(AUX_I2C, I2C_FLAG_I2CBSY)); // the master sends a start condition to I2C bus i2c_start_on_bus(AUX_I2C); // Wait until all data bytes are sent/received while(i2c_aux_nDABytes > 0); // Return status return i2c_aux_status; } #endif