hoverboard-sideboard-hack-GD/Src/main.c

/**
  * This file is part of the hoverboard-sideboard-hack project.
  *
  * Copyright (C) 2020-2021 Emanuel FERU <aerdronix@gmail.com>
  *
  * 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/>.
*/

#include <stdio.h>
#include <string.h>
#include "gd32f1x0.h"
#include "systick.h"
#include "i2c_it.h"
#include "defines.h"
#include "setup.h"
#include "config.h"
#include "util.h"
#include "mpu6050.h"
#include "mpu6050_dmp.h"

#ifdef SERIAL_CONTROL
extern SerialSideboard Sideboard;
#endif

#ifdef SERIAL_FEEDBACK
extern SerialFeedback Feedback;
extern uint16_t timeoutCntSerial; 						// Timeout counter for Rx Serial command
extern uint8_t timeoutFlagSerial; 						// Timeout Flag for Rx Serial command: 0 = OK, 1 = Problem detected (line disconnected or wrong Rx data)
#endif

extern MPU_Data 	mpu; 								// holds the MPU-6050 data
extern ErrStatus 	mpuStatus; 							// holds the MPU-6050 status: SUCCESS or ERROR

FlagStatus			sensor1, sensor2; 					// holds the sensor1 and sensor 2 values
FlagStatus			sensor1_read, sensor2_read; 		// holds the instantaneous Read for sensor1 and sensor 2

static uint32_t 	main_loop_counter; 					// main loop counter to perform task squeduling inside main()


int main(void)
{		
	systick_config(); 									// SysTick config    
	gpio_config();										// GPIO config
	usart_nvic_config();								// USART interrupt configuration
	usart_config(USART_MAIN, USART_MAIN_BAUD); 			// USART config	
	i2c_config(); 										// I2C config			
	i2c_nvic_config();									// I2C interrupt configuration
	input_init(); 										// Input initialization

	while(1) {
		
		delay_1ms(DELAY_IN_MAIN_LOOP);
		
		// ==================================== LEDs Handling ====================================
		// toggle_led(LED4_GPIO_Port, LED4_Pin); 		// Toggle BLUE1 LED
		#ifdef SERIAL_FEEDBACK
			if (!timeoutFlagSerial) {
				if (Feedback.cmdLed & LED1_SET) { gpio_bit_set(LED1_GPIO_Port, LED1_Pin); } else { gpio_bit_reset(LED1_GPIO_Port, LED1_Pin); }
				if (Feedback.cmdLed & LED2_SET) { gpio_bit_set(LED2_GPIO_Port, LED2_Pin); } else { gpio_bit_reset(LED2_GPIO_Port, LED2_Pin); }
				if (Feedback.cmdLed & LED3_SET) { gpio_bit_set(LED3_GPIO_Port, LED3_Pin); } else { gpio_bit_reset(LED3_GPIO_Port, LED3_Pin); }
				if (Feedback.cmdLed & LED4_SET) { gpio_bit_set(LED4_GPIO_Port, LED4_Pin); } else { gpio_bit_reset(LED4_GPIO_Port, LED4_Pin); }
				if (Feedback.cmdLed & LED5_SET) { gpio_bit_set(LED5_GPIO_Port, LED5_Pin); } else { gpio_bit_reset(LED5_GPIO_Port, LED5_Pin); }
				if (Feedback.cmdLed & LED4_SET) { gpio_bit_set(AUX3_GPIO_Port, AUX3_Pin); } else { gpio_bit_reset(AUX3_GPIO_Port, AUX3_Pin); }
			}
		#endif	
		

		// ==================================== MPU-6050 Handling ====================================
		#ifdef MPU_SENSOR_ENABLE
		// Get MPU data. Because the MPU-6050 interrupt pin is not wired we have to check DMP data by pooling periodically
		if (SUCCESS == mpuStatus) {
			mpu_get_data();
		} else if (ERROR == mpuStatus && main_loop_counter % 100 == 0) {
			toggle_led(LED1_GPIO_Port, LED1_Pin);					// Toggle the Red LED every 100 ms
		}
		// Print MPU data to Console
		if (main_loop_counter % 50 == 0) {
			mpu_print_to_console();
		}
		#endif

		// ==================================== SENSORS Handling ====================================
		sensor1_read = gpio_input_bit_get(SENSOR1_GPIO_Port, SENSOR1_Pin);
		sensor2_read = gpio_input_bit_get(SENSOR2_GPIO_Port, SENSOR2_Pin);

		// SENSOR1
		if (sensor1 == RESET && sensor1_read == SET) {
			// Sensor ACTIVE: Do something here (one time task on activation)
			sensor1 = SET;
			gpio_bit_set(LED4_GPIO_Port, LED4_Pin);
			consoleLog("-- SENSOR 1 Active --\n");			
		} else if(sensor1 == SET && sensor1_read == RESET) {
			// Sensor DEACTIVE: Do something here (one time task on deactivation)
			sensor1 = RESET;
			gpio_bit_reset(LED4_GPIO_Port, LED4_Pin);
			consoleLog("-- SENSOR 1 Deactive --\n");			
		}
		
		// SENSOR2
		if (sensor2 == RESET && sensor2_read == SET) {			
			// Sensor ACTIVE: Do something here (one time task on activation)
			sensor2 = SET;
			gpio_bit_set(LED5_GPIO_Port, LED5_Pin);
			consoleLog("-- SENSOR 2 Active --\n");			
		} else if (sensor2 == SET && sensor2_read == RESET) {
			// Sensor DEACTIVE: Do something here (one time task on deactivation)
			sensor2 = RESET;
			gpio_bit_reset(LED5_GPIO_Port, LED5_Pin);
			consoleLog("-- SENSOR 2 Deactive --\n");			
		}

		if (sensor1 == SET) {
			// Sensor ACTIVE: Do something here (continuous task)
		}
		if (sensor2 == SET) {
			// Sensor ACTIVE: Do something here (continuous task)
		}
		
		
		// ==================================== SERIAL Tx/Rx Handling ====================================
		#ifdef SERIAL_CONTROL
			// To transmit on USART
			if (main_loop_counter % 5 == 0 && dma_transfer_number_get(DMA_CH3) == 0) { 	// Check if DMA channel counter is 0 (meaning all data has been transferred)
				Sideboard.start    	= (uint16_t)SERIAL_START_FRAME;
				Sideboard.roll    	= (int16_t)mpu.euler.roll;
				Sideboard.pitch    	= (int16_t)mpu.euler.pitch;
				Sideboard.yaw    	= (int16_t)mpu.euler.yaw;
				Sideboard.sensors	= (uint16_t)(sensor1 | (sensor2 << 1) | (mpuStatus << 2));
				Sideboard.checksum 	= (uint16_t)(Sideboard.start ^ Sideboard.roll ^ Sideboard.pitch ^ Sideboard.yaw ^ Sideboard.sensors);
			
				dma_channel_disable(DMA_CH3);
				DMA_CHCNT(DMA_CH3) 		= sizeof(Sideboard);
				DMA_CHMADDR(DMA_CH3) 	= (uint32_t)&Sideboard;
				dma_channel_enable(DMA_CH3);		
			}
		#endif
		
		#ifdef SERIAL_FEEDBACK
			if (timeoutCntSerial++ >= SERIAL_TIMEOUT) { 				// Timeout qualification
				timeoutFlagSerial = 1;                      			// Timeout detected
				timeoutCntSerial  = SERIAL_TIMEOUT;         			// Limit timout counter value
			}
			if (timeoutFlagSerial && main_loop_counter % 100 == 0) {  	// In case of timeout bring the system to a Safe State and indicate error if desired
				toggle_led(LED3_GPIO_Port, LED3_Pin);					// Toggle the Yellow LED every 100 ms
			}
		#endif		
		
		main_loop_counter++;
		
	}
}