Moderator: RoccoMarco
Code: Select all
chprintf((BaseSequentialStream *)&SDU1, "Hello World");
Code: Select all
/*
ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
*/
#include "ch.h"
#include "hal.h"
#include "test.h"
#include "buttons.h"
#include "display.h"
#include "bxcan.h"
#include "eeprom.h"
#include "crc.h"
#include "chprintf.h"
#include "shell.h"
/*
* Endpoints to be used for USBD1.
*/
#define USBD1_DATA_REQUEST_EP 1
#define USBD1_DATA_AVAILABLE_EP 1
#define USBD1_INTERRUPT_REQUEST_EP 2
/*
* Serial over USB Driver structure.
*/
static SerialUSBDriver SDU1;
extern OneButton Button[];
uint8_t u8Rate = 10;
uint8_t u8Test = 0;
uint8_t i2cTxBuffer[2] = {0x00, 0xAB};
uint8_t i2cRxBuffer[8];
uint8_t status = 0;
uint8_t u8EEPDataWrite[7] = {1, 2, 3, 4, 5, 6, 7};
uint8_t u8EEPDataRead[8];
uint8_t *pu8EEPDataWrite = u8EEPDataWrite;
uint8_t *pu8EEPDataRead = &u8Test;
uint8_t filtID;
uint8_t *pfiltID = &filtID;
uint8_t length;
uint8_t *plength = &length;
uint8_t tempo = 2;
void tick100ms(void);
static const SPIConfig spi1cfg = {
NULL,
/* HW dependent part.*/
NULL,
NULL,
SPI_CR1_MSTR | SPI_CR1_BR_0 | SPI_CR1_SSI | SPI_CR1_SSM,
SPI_CR2_FRXTH | SPI_CR2_DS_0 | SPI_CR2_DS_1 | SPI_CR2_DS_2
};
static const CANConfig cancfg = {
CAN_MCR_NART,
CAN_BTR_SJW(3) | CAN_BTR_TS2(0) | CAN_BTR_TS1(3) | CAN_BTR_BRP(7)
};
static const I2CConfig i2cfg1 = {
STM32_TIMINGR_PRESC(0x02) | STM32_TIMINGR_SCLH(0x09) | STM32_TIMINGR_SCLL(0x0E),
I2C_CR1_PE,
I2C_CR2_AUTOEND
};
static const PWMConfig pwmcfg = {
1000000, /* 1000000 1us - 1MHz PWM clock frequency. */
250,//2273, /* 250 Initial PWM period 250us - 4kHz */
NULL,
{
{PWM_OUTPUT_ACTIVE_HIGH, NULL},
{PWM_OUTPUT_ACTIVE_LOW, NULL},
},
NULL,
NULL
};
/*
* USB Device Descriptor.
*/
static const uint8_t vcom_device_descriptor_data[18] = {
USB_DESC_DEVICE (0x0110, /* bcdUSB (1.1). */
0x02, /* bDeviceClass (CDC). */
0x00, /* bDeviceSubClass. */
0x00, /* bDeviceProtocol. */
0x40, /* bMaxPacketSize. */
0x0483, /* idVendor (ST). */
0x5740, /* idProduct. */
0x0200, /* bcdDevice. */
1, /* iManufacturer. */
2, /* iProduct. */
3, /* iSerialNumber. */
1) /* bNumConfigurations. */
};
/*
* Device Descriptor wrapper.
*/
static const USBDescriptor vcom_device_descriptor = {
sizeof vcom_device_descriptor_data,
vcom_device_descriptor_data
};
/* Configuration Descriptor tree for a CDC.*/
static const uint8_t vcom_configuration_descriptor_data[67] = {
/* Configuration Descriptor.*/
USB_DESC_CONFIGURATION(67, /* wTotalLength. */
0x02, /* bNumInterfaces. */
0x01, /* bConfigurationValue. */
0, /* iConfiguration. */
0xC0, /* bmAttributes (self powered). */
50), /* bMaxPower (100mA). */
/* Interface Descriptor.*/
USB_DESC_INTERFACE (0x00, /* bInterfaceNumber. */
0x00, /* bAlternateSetting. */
0x01, /* bNumEndpoints. */
0x02, /* bInterfaceClass (Communications
Interface Class, CDC section
4.2). */
0x02, /* bInterfaceSubClass (Abstract
Control Model, CDC section 4.3). */
0x01, /* bInterfaceProtocol (AT commands,
CDC section 4.4). */
0), /* iInterface. */
/* Header Functional Descriptor (CDC section 5.2.3).*/
USB_DESC_BYTE (5), /* bLength. */
USB_DESC_BYTE (0x24), /* bDescriptorType (CS_INTERFACE). */
USB_DESC_BYTE (0x00), /* bDescriptorSubtype (Header
Functional Descriptor. */
USB_DESC_BCD (0x0110), /* bcdCDC. */
/* Call Management Functional Descriptor. */
USB_DESC_BYTE (5), /* bFunctionLength. */
USB_DESC_BYTE (0x24), /* bDescriptorType (CS_INTERFACE). */
USB_DESC_BYTE (0x01), /* bDescriptorSubtype (Call Management
Functional Descriptor). */
USB_DESC_BYTE (0x00), /* bmCapabilities (D0+D1). */
USB_DESC_BYTE (0x01), /* bDataInterface. */
/* ACM Functional Descriptor.*/
USB_DESC_BYTE (4), /* bFunctionLength. */
USB_DESC_BYTE (0x24), /* bDescriptorType (CS_INTERFACE). */
USB_DESC_BYTE (0x02), /* bDescriptorSubtype (Abstract
Control Management Descriptor). */
USB_DESC_BYTE (0x02), /* bmCapabilities. */
/* Union Functional Descriptor.*/
USB_DESC_BYTE (5), /* bFunctionLength. */
USB_DESC_BYTE (0x24), /* bDescriptorType (CS_INTERFACE). */
USB_DESC_BYTE (0x06), /* bDescriptorSubtype (Union
Functional Descriptor). */
USB_DESC_BYTE (0x00), /* bMasterInterface (Communication
Class Interface). */
USB_DESC_BYTE (0x01), /* bSlaveInterface0 (Data Class
Interface). */
/* Endpoint 2 Descriptor.*/
USB_DESC_ENDPOINT (USBD1_INTERRUPT_REQUEST_EP|0x80,
0x03, /* bmAttributes (Interrupt). */
0x0008, /* wMaxPacketSize. */
0xFF), /* bInterval. */
/* Interface Descriptor.*/
USB_DESC_INTERFACE (0x01, /* bInterfaceNumber. */
0x00, /* bAlternateSetting. */
0x02, /* bNumEndpoints. */
0x0A, /* bInterfaceClass (Data Class
Interface, CDC section 4.5). */
0x00, /* bInterfaceSubClass (CDC section
4.6). */
0x00, /* bInterfaceProtocol (CDC section
4.7). */
0x00), /* iInterface. */
/* Endpoint 3 Descriptor.*/
USB_DESC_ENDPOINT (USBD1_DATA_AVAILABLE_EP, /* bEndpointAddress.*/
0x02, /* bmAttributes (Bulk). */
0x0040, /* wMaxPacketSize. */
0x00), /* bInterval. */
/* Endpoint 1 Descriptor.*/
USB_DESC_ENDPOINT (USBD1_DATA_REQUEST_EP|0x80, /* bEndpointAddress.*/
0x02, /* bmAttributes (Bulk). */
0x0040, /* wMaxPacketSize. */
0x00) /* bInterval. */
};
/*
* Configuration Descriptor wrapper.
*/
static const USBDescriptor vcom_configuration_descriptor = {
sizeof vcom_configuration_descriptor_data,
vcom_configuration_descriptor_data
};
/*
* U.S. English language identifier.
*/
static const uint8_t vcom_string0[] = {
USB_DESC_BYTE(4), /* bLength. */
USB_DESC_BYTE(USB_DESCRIPTOR_STRING), /* bDescriptorType. */
USB_DESC_WORD(0x0409) /* wLANGID (U.S. English). */
};
/*
* Vendor string.
*/
static const uint8_t vcom_string1[] = {
USB_DESC_BYTE(38), /* bLength. */
USB_DESC_BYTE(USB_DESCRIPTOR_STRING), /* bDescriptorType. */
'S', 0, 'T', 0, 'M', 0, 'i', 0, 'c', 0, 'r', 0, 'o', 0, 'e', 0,
'l', 0, 'e', 0, 'c', 0, 't', 0, 'r', 0, 'o', 0, 'n', 0, 'i', 0,
'c', 0, 's', 0
};
/*
* Device Description string.
*/
static const uint8_t vcom_string2[] = {
USB_DESC_BYTE(56), /* bLength. */
USB_DESC_BYTE(USB_DESCRIPTOR_STRING), /* bDescriptorType. */
'C', 0, 'h', 0, 'i', 0, 'b', 0, 'i', 0, 'O', 0, 'S', 0, '/', 0,
'R', 0, 'T', 0, ' ', 0, 'V', 0, 'i', 0, 'r', 0, 't', 0, 'u', 0,
'a', 0, 'l', 0, ' ', 0, 'C', 0, 'O', 0, 'M', 0, ' ', 0, 'P', 0,
'o', 0, 'r', 0, 't', 0
};
/*
* Serial Number string.
*/
static const uint8_t vcom_string3[] = {
USB_DESC_BYTE(8), /* bLength. */
USB_DESC_BYTE(USB_DESCRIPTOR_STRING), /* bDescriptorType. */
'0' + CH_KERNEL_MAJOR, 0,
'0' + CH_KERNEL_MINOR, 0,
'0' + CH_KERNEL_PATCH, 0
};
/*
* Strings wrappers array.
*/
static const USBDescriptor vcom_strings[] = {
{sizeof vcom_string0, vcom_string0},
{sizeof vcom_string1, vcom_string1},
{sizeof vcom_string2, vcom_string2},
{sizeof vcom_string3, vcom_string3}
};
/*
* Handles the GET_DESCRIPTOR callback. All required descriptors must be
* handled here.
*/
static const USBDescriptor *get_descriptor(USBDriver *usbp,
uint8_t dtype,
uint8_t dindex,
uint16_t lang) {
(void)usbp;
(void)lang;
switch (dtype) {
case USB_DESCRIPTOR_DEVICE:
return &vcom_device_descriptor;
case USB_DESCRIPTOR_CONFIGURATION:
return &vcom_configuration_descriptor;
case USB_DESCRIPTOR_STRING:
if (dindex < 4)
return &vcom_strings[dindex];
}
return NULL;
}
/**
* @brief IN EP1 state.
*/
static USBInEndpointState ep1instate;
/**
* @brief OUT EP1 state.
*/
static USBOutEndpointState ep1outstate;
/**
* @brief EP1 initialization structure (both IN and OUT).
*/
static const USBEndpointConfig ep1config = {
USB_EP_MODE_TYPE_BULK,
NULL,
NULL,
NULL,
0x0040,
0x0040,
&ep1instate,
&ep1outstate,
1,
NULL
};
/**
* @brief IN EP2 state.
*/
static USBInEndpointState ep2instate;
/**
* @brief EP2 initialization structure (IN only).
*/
static const USBEndpointConfig ep2config = {
USB_EP_MODE_TYPE_INTR,
NULL,
NULL,
NULL,
0x0010,
0x0000,
&ep2instate,
NULL,
1,
NULL
};
/*
* Handles the USB driver global events.
*/
static void usb_event(USBDriver *usbp, usbevent_t event) {
switch (event) {
case USB_EVENT_RESET:
return;
case USB_EVENT_ADDRESS:
return;
case USB_EVENT_CONFIGURED:
chSysLockFromISR();
/* Enables the endpoints specified into the configuration.
Note, this callback is invoked from an ISR so I-Class functions
must be used.*/
usbInitEndpointI(usbp, USBD1_DATA_REQUEST_EP, &ep1config);
usbInitEndpointI(usbp, USBD1_INTERRUPT_REQUEST_EP, &ep2config);
/* Resetting the state of the CDC subsystem.*/
sduConfigureHookI(&SDU1);
chSysUnlockFromISR();
return;
case USB_EVENT_SUSPEND:
return;
case USB_EVENT_WAKEUP:
return;
case USB_EVENT_STALLED:
return;
}
return;
}
/*
* USB driver configuration.
*/
static const USBConfig usbcfg = {
usb_event,
get_descriptor,
sduRequestsHook,
NULL
};
/*
* Serial over USB driver configuration.
*/
static const SerialUSBConfig serusbcfg = {
&USBD1,
USBD1_DATA_REQUEST_EP,
USBD1_DATA_AVAILABLE_EP,
USBD1_INTERRUPT_REQUEST_EP
};
/*
* Blue LED blinker thread, times are in milliseconds.
*/
static THD_WORKING_AREA(waThread1, 128);
static THD_FUNCTION(Thread1, arg) {
(void)arg;
chRegSetThreadName("thBlinker1");
while (true) {
//palClearPad(GPIOB, 15);
//GPIOB->ODR &= ~0x8000;
chThdSleepMilliseconds(20);
//palSetPad(GPIOB, 15);
//GPIOB->ODR |= 0x8000;
chThdSleepMilliseconds(20);
}
}
/*
* Green LED blinker thread, times are in milliseconds.
*/
static THD_WORKING_AREA(waThread2, 128);
static THD_FUNCTION(Thread2, arg) {
(void)arg;
chRegSetThreadName("thBlinker2");
while (true) {
//palClearPad(GPIOB, 14);
chThdSleepMilliseconds(u8Rate);
//palSetPad(GPIOB, 14);
chThdSleepMilliseconds(u8Rate);
}
}
static THD_WORKING_AREA(waThread3, 512);
static THD_FUNCTION(Thread3, arg) {
(void)arg;
chRegSetThreadName("thButtons");
while (true) {
tick100ms();
chThdSleepMilliseconds(100);
}
}
static THD_WORKING_AREA(waThread4, 512);
static THD_FUNCTION(Thread4, arg) {
(void)arg;
chRegSetThreadName("thDispalyUpdate");
while (true) {
display_update();
chThdSleepMicroseconds(100);
palSetPad(GPIOB, 4);
//chThdSleepMicroseconds(100);
palClearPad(GPIOB, 4);
chThdSleepMilliseconds(1000);
}
}
//static THD_WORKING_AREA(waThread5, 512);
//static THD_FUNCTION(Thread5, arg) {
//
// (void)arg;
// chRegSetThreadName("godfather");
// while (true) {
// if(u8Test == 1)
// {
// chThdSleepMilliseconds(1000*tempo);
// TIM15->ARR = 2403;
// chThdSleepMilliseconds(250*tempo);
// TIM15->ARR = 2273;
// chThdSleepMilliseconds(250*tempo);
// TIM15->ARR = 2145;
// chThdSleepMilliseconds(1250*tempo);
// TIM15->ARR = 2273;
// chThdSleepMilliseconds(750*tempo);
// TIM15->ARR = 2865;
// chThdSleepMilliseconds(3000*tempo);
// TIM15->ARR = 2273;
// chThdSleepMilliseconds(1000*tempo);
// TIM15->ARR = 2403;
// chThdSleepMilliseconds(250*tempo);
// TIM15->ARR = 2273;
// chThdSleepMilliseconds(250*tempo);
// TIM15->ARR = 2145;
// chThdSleepMilliseconds(1250*tempo);
// TIM15->ARR = 2273;
// chThdSleepMilliseconds(750*tempo);
// TIM15->ARR = 3030;
// chThdSleepMilliseconds(3000*tempo);
// TIM15->ARR = 2273;
// }
// chThdSleepMilliseconds(100);
// }
//}
/*
* Application entry point.
*/
int main(void) {
/*
* System initializations.
* - HAL initialization, this also initializes the configured device drivers
* and performs the board-specific initializations.
* - Kernel initialization, the main() function becomes a thread and the
* RTOS is active.`
*/
halInit();
SYSCFG->CFGR1 |= SYSCFG_CFGR1_I2C1_DMA_RMP; //premapovani I2C na DMA kanaly 6 a 7
chSysInit();
CRC_Init();
canFiltersInit();
/*
* Activates the serial driver 1 using the driver default configuration.
* PA9 and PA10 are routed to USART1.
*/
// sdStart(&SD1, NULL);
// palSetPadMode(GPIOA, 9, PAL_MODE_ALTERNATE(1)); /* USART1 TX. */
// palSetPadMode(GPIOA, 10, PAL_MODE_ALTERNATE(1)); /* USART1 RX. */
//SPI works
canStart(&CAND1, &cancfg);
spiStart(&SPID1, &spi1cfg);
i2cStart(&I2CD1, &i2cfg1);
usbStart(&USBD1, &usbcfg);
pwmStart(&PWMD15, &pwmcfg);
shellInit();
/*
* Creates the blinker threads.
*/
chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);
chThdCreateStatic(waThread2, sizeof(waThread2), NORMALPRIO, Thread2, NULL);
chThdCreateStatic(waThread3, sizeof(waThread3), NORMALPRIO, Thread3, NULL);
chThdCreateStatic(waThread4, sizeof(waThread4), NORMALPRIO, Thread4, NULL);
// chThdCreateStatic(waThread5, sizeof(waThread5), NORMALPRIO, Thread5, NULL);
/*
* Initializes a serial-over-USB CDC driver.
*/
sduObjectInit(&SDU1);
sduStart(&SDU1, &serusbcfg);
/*
* Activates the USB driver and then the USB bus pull-up on D+.
* Note, a delay is inserted in order to not have to disconnect the cable
* after a reset.
*/
usbDisconnectBus(serusbcfg.usbp);
chThdSleepMilliseconds(1500);
usbStart(serusbcfg.usbp, &usbcfg);
usbConnectBus(serusbcfg.usbp);
/*
* Normal main() thread activity, in this demo it does nothing except
* sleeping in a loop and check the button state, when the button is
* pressed the test procedure is launched with output on the serial
* driver 1.
*/
while (true) {
// if (palReadPad(GPIOA, GPIOA_PIN0))
// TestThread(&SD1);
chThdSleepMilliseconds(500);
}
}
void tick100ms(void)
{
button_scan();
if(Button[0].flags & BTN_SHORT)
{
//u8Rate = u8Rate + 10;
//EEP_writeUint8(0x10, 0x11);
//EEP_writePageUint8(0x00, u8EEPDataWrite, 0x07);
u8EEPDataWrite[0]++;
chprintf((BaseSequentialStream *)&SDU1, "Hello World");
// pwmEnableChannel(&PWMD1, 2, PWM_PERCENTAGE_TO_WIDTH(&PWMD1, 5000));
// pwmEnableChannel(&PWMD1, 3, PWM_PERCENTAGE_TO_WIDTH(&PWMD1, 5000));
Button[0].flags &= ~(BTN_SHORT);
}
if(Button[1].flags & BTN_SHORT)
{
//EEP_readUint8(0x06, pu8EEPDataRead);
//EEP_readPageUint8(0x00, u8EEPDataRead);
//bxCAN_ReadDataFIFO0(NULL, pfiltID, i2cRxBuffer, plength);
//pwmEnableChannel(&PWMD15, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD15, 5000));
//pwmEnableChannel(&PWMD15, 1, PWM_PERCENTAGE_TO_WIDTH(&PWMD15, 5000));
u8Test = 1;
Button[1].flags &= ~(BTN_SHORT);
}
if(Button[2].flags & BTN_SHORT)
{
bxCAN_SendDataMailbox2(0xAC, i2cTxBuffer, 2);
//pwmDisableChannel(&PWMD15, 0);
//pwmDisableChannel(&PWMD15, 1);
//TIM15->CCER &= ~(0x01 | 0x10);
//TIM15->BDTR = 0;
// pwmEnableChannel(&PWMD15, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD15, 5000));
// pwmEnableChannel(&PWMD15, 1, PWM_PERCENTAGE_TO_WIDTH(&PWMD15, 5000));
Button[2].flags &= ~(BTN_SHORT);
}
if(Button[2].flags & BTN_LONG)
{
bxCAN_ReadDataFIFO1(NULL, pfiltID, i2cRxBuffer, plength);
Button[2].flags &= ~(BTN_LONG);
}
}