main.c

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/* USER CODE BEGIN Header */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
 
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "cmd_processing.h"
#include "driver_mpu9250_basic.h"
#include "loop_fcn.h"
#include "sensor_fcn.h"
#include <stdio.h>
/* USER CODE END Includes */
 
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
 
/* USER CODE END PTD */
 
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
#define RX_BUFFER_LEN 64
#define uart_rx_write_ptr (RX_BUFFER_LEN - hdma_usart1_rx.Instance->CNDTR)
 
/* USER CODE END PD */
 
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
 
/* USER CODE END PM */
 
/* Private variables ---------------------------------------------------------*/
SPI_HandleTypeDef hspi2;
 
UART_HandleTypeDef huart1;
DMA_HandleTypeDef hdma_usart1_rx;
 
/* USER CODE BEGIN PV */
static uint8_t uart_rx_buf[RX_BUFFER_LEN];     
static volatile uint16_t uart_rx_read_ptr = 0; 
 
sensor_data_t measured_data;                   
settings_t    set_data;                        
 
/* USER CODE END PV */
 
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_DMA_Init(void);
static void MX_USART1_UART_Init(void);
static void MX_SPI2_Init(void);
/* USER CODE BEGIN PFP */
 
void setting_init(void);
 
void valve_init(void);
 
/* USER CODE END PFP */
 
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
int _write(int file, char const *buf, int n)
{
    /* stdout redirection to UART2 */
    HAL_UART_Transmit(&huart1, (uint8_t*)(buf), n, HAL_MAX_DELAY);
    return n;
}
 
 
void setting_init(void)
{
    /* Default data */
    set_data.angle  = 90; 
    set_data.time_a = 10; 
    set_data.time_l = 20; 
    set_data.time_r = 20; 
    set_data.home   =  0; 
}
 
void valve_init(void)
{
    /* Valves are closed by default */
    HAL_GPIO_WritePin(VALVE_L_GPIO_Port, VALVE_L_Pin, 0);
    HAL_GPIO_WritePin(VALVE_R_GPIO_Port, VALVE_R_Pin, 0);
}
/* USER CODE END 0 */
 
int main(void)
{
 
    /* USER CODE BEGIN 1 */
    uint32_t cmd_reg = 0;
    float set_position = 0;
    float gyr_offset[3];
 
    setting_init();
    valve_init();
    /* USER CODE END 1 */
 
    /* MCU Configuration--------------------------------------------------------*/
 
    /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
    HAL_Init();
 
    /* USER CODE BEGIN Init */
 
    /* USER CODE END Init */
 
    /* Configure the system clock */
    SystemClock_Config();
 
    /* USER CODE BEGIN SysInit */
 
    /* USER CODE END SysInit */
 
    /* Initialize all configured peripherals */
    MX_GPIO_Init();
    MX_DMA_Init();
    MX_USART1_UART_Init();
    MX_SPI2_Init();
    /* USER CODE BEGIN 2 */
    HAL_UART_Receive_DMA(&huart1, uart_rx_buf, RX_BUFFER_LEN);
 
    sensor_init(gyr_offset);
 
    /* USER CODE END 2 */
 
    /* Infinite loop */
    /* USER CODE BEGIN WHILE */
    while (1)
    {
        while (uart_rx_read_ptr != uart_rx_write_ptr)
        {
            uint8_t b = uart_rx_buf[uart_rx_read_ptr];
            /* increase read pointer */
            if (++uart_rx_read_ptr >= RX_BUFFER_LEN)
            {
                uart_rx_read_ptr = 0;
            }
            /* process every received byte with the RX state machine */
            uart_byte_available(b, &cmd_reg);
 
        }
 
        autoread_fcn(cmd_reg);
        valve_fcn(&cmd_reg, &set_position);
        regul_fcn(&cmd_reg, set_position);
        sensor_get_value(gyr_offset);
 
        /* USER CODE END WHILE */
 
        /* USER CODE BEGIN 3 */
    }
    /* USER CODE END 3 */
}
 
void SystemClock_Config(void)
{
    RCC_OscInitTypeDef RCC_OscInitStruct = {0};
    RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
 
    RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
    RCC_OscInitStruct.HSEState = RCC_HSE_ON;
    RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
    RCC_OscInitStruct.HSIState = RCC_HSI_ON;
    RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
    RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
    RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL4;
    if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
    {
        Error_Handler();
    }
 
    RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
            |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
    RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
    RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
    RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
    RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
 
    if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1) != HAL_OK)
    {
        Error_Handler();
    }
}
 
static void MX_SPI2_Init(void)
{
 
    /* USER CODE BEGIN SPI2_Init 0 */
 
    /* USER CODE END SPI2_Init 0 */
 
    /* USER CODE BEGIN SPI2_Init 1 */
 
    /* USER CODE END SPI2_Init 1 */
    /* SPI2 parameter configuration*/
    hspi2.Instance = SPI2;
    hspi2.Init.Mode = SPI_MODE_MASTER;
    hspi2.Init.Direction = SPI_DIRECTION_2LINES;
    hspi2.Init.DataSize = SPI_DATASIZE_8BIT;
    hspi2.Init.CLKPolarity = SPI_POLARITY_LOW;
    hspi2.Init.CLKPhase = SPI_PHASE_1EDGE;
    hspi2.Init.NSS = SPI_NSS_SOFT;
    hspi2.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32;
    hspi2.Init.FirstBit = SPI_FIRSTBIT_MSB;
    hspi2.Init.TIMode = SPI_TIMODE_DISABLE;
    hspi2.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
    hspi2.Init.CRCPolynomial = 10;
    if (HAL_SPI_Init(&hspi2) != HAL_OK)
    {
        Error_Handler();
    }
    /* USER CODE BEGIN SPI2_Init 2 */
 
    /* USER CODE END SPI2_Init 2 */
 
}
 
static void MX_USART1_UART_Init(void)
{
 
    /* USER CODE BEGIN USART1_Init 0 */
 
    /* USER CODE END USART1_Init 0 */
 
    /* USER CODE BEGIN USART1_Init 1 */
 
    /* USER CODE END USART1_Init 1 */
    huart1.Instance = USART1;
    huart1.Init.BaudRate = 9600;
    huart1.Init.WordLength = UART_WORDLENGTH_8B;
    huart1.Init.StopBits = UART_STOPBITS_1;
    huart1.Init.Parity = UART_PARITY_NONE;
    huart1.Init.Mode = UART_MODE_TX_RX;
    huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
    huart1.Init.OverSampling = UART_OVERSAMPLING_16;
    if (HAL_UART_Init(&huart1) != HAL_OK)
    {
        Error_Handler();
    }
    /* USER CODE BEGIN USART1_Init 2 */
 
    /* USER CODE END USART1_Init 2 */
 
}
 
static void MX_DMA_Init(void)
{
 
    /* DMA controller clock enable */
    __HAL_RCC_DMA1_CLK_ENABLE();
 
    /* DMA interrupt init */
    /* DMA1_Channel5_IRQn interrupt configuration */
    HAL_NVIC_SetPriority(DMA1_Channel5_IRQn, 0, 0);
    HAL_NVIC_EnableIRQ(DMA1_Channel5_IRQn);
 
}
 
static void MX_GPIO_Init(void)
{
    GPIO_InitTypeDef GPIO_InitStruct = {0};
    /* USER CODE BEGIN MX_GPIO_Init_1 */
 
    /* USER CODE END MX_GPIO_Init_1 */
 
    /* GPIO Ports Clock Enable */
    __HAL_RCC_GPIOC_CLK_ENABLE();
    __HAL_RCC_GPIOD_CLK_ENABLE();
    __HAL_RCC_GPIOA_CLK_ENABLE();
    __HAL_RCC_GPIOB_CLK_ENABLE();
 
    /*Configure GPIO pin Output Level */
    HAL_GPIO_WritePin(BOARD_LED_GPIO_Port, BOARD_LED_Pin, GPIO_PIN_RESET);
 
    /*Configure GPIO pin Output Level */
    HAL_GPIO_WritePin(GPIOA, VALVE_R_Pin|VALVE_L_Pin|LED_R_Pin|LED_G_Pin, GPIO_PIN_RESET);
 
    /*Configure GPIO pin Output Level */
    HAL_GPIO_WritePin(SPI2_CS_GPIO_Port, SPI2_CS_Pin, GPIO_PIN_RESET);
 
    /*Configure GPIO pin : BOARD_LED_Pin */
    GPIO_InitStruct.Pin = BOARD_LED_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    HAL_GPIO_Init(BOARD_LED_GPIO_Port, &GPIO_InitStruct);
 
    /*Configure GPIO pins : VALVE_R_Pin VALVE_L_Pin LED_R_Pin LED_G_Pin */
    GPIO_InitStruct.Pin = VALVE_R_Pin|VALVE_L_Pin|LED_R_Pin|LED_G_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
    /*Configure GPIO pin : LED_Y_Pin */
    GPIO_InitStruct.Pin = LED_Y_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    HAL_GPIO_Init(LED_Y_GPIO_Port, &GPIO_InitStruct);
 
    /*Configure GPIO pin : SPI2_CS_Pin */
    GPIO_InitStruct.Pin = SPI2_CS_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    HAL_GPIO_Init(SPI2_CS_GPIO_Port, &GPIO_InitStruct);
 
    /* USER CODE BEGIN MX_GPIO_Init_2 */
 
    /* USER CODE END MX_GPIO_Init_2 */
}
 
/* USER CODE BEGIN 4 */
 
/* USER CODE END 4 */
 
void Error_Handler(void)
{
    /* USER CODE BEGIN Error_Handler_Debug */
    /* User can add his own implementation to report the HAL error return state */
    __disable_irq();
    while (1)
    {
    }
    /* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
void assert_failed(uint8_t *file, uint32_t line)
{
    /* USER CODE BEGIN 6 */
    /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
    /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */