296 lines
6.5 KiB
C
296 lines
6.5 KiB
C
#include "../config.h"
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#include "drivers/llcan.h"
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#include "drivers/llgpio.h"
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#include "drivers/clock.h"
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#include "drivers/adc.h"
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#include "drivers/dac.h"
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#include "drivers/timer.h"
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#include "gpio.h"
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#include "libc.h"
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#define CAN CAN1
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//#define PEDAL_USB
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#ifdef PEDAL_USB
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#include "drivers/uart.h"
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#include "drivers/usb.h"
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#else
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// no serial either
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int puts(const char *a) { return 0; }
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void puth(unsigned int i) {}
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#endif
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#define ENTER_BOOTLOADER_MAGIC 0xdeadbeef
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uint32_t enter_bootloader_mode;
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void __initialize_hardware_early() {
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early();
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}
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// ********************* serial debugging *********************
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#ifdef PEDAL_USB
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void debug_ring_callback(uart_ring *ring) {
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char rcv;
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while (getc(ring, &rcv)) {
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putc(ring, rcv);
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}
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}
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int usb_cb_ep1_in(uint8_t *usbdata, int len, int hardwired) { return 0; }
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void usb_cb_ep2_out(uint8_t *usbdata, int len, int hardwired) {}
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void usb_cb_ep3_out(uint8_t *usbdata, int len, int hardwired) {}
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void usb_cb_enumeration_complete() {}
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int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
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int resp_len = 0;
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uart_ring *ur = NULL;
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switch (setup->b.bRequest) {
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// **** 0xe0: uart read
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case 0xe0:
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ur = get_ring_by_number(setup->b.wValue.w);
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if (!ur) break;
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if (ur == &esp_ring) uart_dma_drain();
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// read
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while ((resp_len < MIN(setup->b.wLength.w, MAX_RESP_LEN)) &&
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getc(ur, (char*)&resp[resp_len])) {
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++resp_len;
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}
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break;
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}
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return resp_len;
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}
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#endif
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// ***************************** pedal can checksum *****************************
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uint8_t pedal_checksum(uint8_t *dat, int len) {
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uint8_t crc = 0xFF;
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uint8_t poly = 0xD5; // standard crc8
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int i, j;
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for (i = len - 1; i >= 0; i--) {
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crc ^= dat[i];
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for (j = 0; j < 8; j++) {
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if ((crc & 0x80) != 0) {
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crc = (uint8_t)((crc << 1) ^ poly);
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}
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else {
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crc <<= 1;
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}
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}
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}
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return crc;
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}
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// ***************************** can port *****************************
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// addresses to be used on CAN
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#define CAN_GAS_INPUT 0x200
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#define CAN_GAS_OUTPUT 0x201
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#define CAN_GAS_SIZE 6
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#define COUNTER_CYCLE 0xF
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void CAN1_TX_IRQHandler() {
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// clear interrupt
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CAN->TSR |= CAN_TSR_RQCP0;
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}
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// two independent values
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uint16_t gas_set_0 = 0;
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uint16_t gas_set_1 = 0;
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#define MAX_TIMEOUT 10
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uint32_t timeout = 0;
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uint32_t current_index = 0;
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#define NO_FAULT 0
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#define FAULT_BAD_CHECKSUM 1
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#define FAULT_SEND 2
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#define FAULT_SCE 3
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#define FAULT_STARTUP 4
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#define FAULT_TIMEOUT 5
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#define FAULT_INVALID 6
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uint8_t state = FAULT_STARTUP;
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void CAN1_RX0_IRQHandler() {
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while (CAN->RF0R & CAN_RF0R_FMP0) {
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#ifdef DEBUG
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puts("CAN RX\n");
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#endif
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uint32_t address = CAN->sFIFOMailBox[0].RIR>>21;
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if (address == CAN_GAS_INPUT) {
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// softloader entry
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if (CAN->sFIFOMailBox[0].RDLR == 0xdeadface) {
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if (CAN->sFIFOMailBox[0].RDHR == 0x0ab00b1e) {
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enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC;
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NVIC_SystemReset();
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} else if (CAN->sFIFOMailBox[0].RDHR == 0x02b00b1e) {
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enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
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NVIC_SystemReset();
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}
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}
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// normal packet
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uint8_t dat[8];
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uint8_t *rdlr = (uint8_t *)&CAN->sFIFOMailBox[0].RDLR;
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uint8_t *rdhr = (uint8_t *)&CAN->sFIFOMailBox[0].RDHR;
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for (int i=0; i<4; i++) {
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dat[i] = rdlr[i];
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dat[i+4] = rdhr[i];
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}
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uint16_t value_0 = (dat[0] << 8) | dat[1];
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uint16_t value_1 = (dat[2] << 8) | dat[3];
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uint8_t enable = (dat[4] >> 7) & 1;
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uint8_t index = dat[4] & COUNTER_CYCLE;
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if (pedal_checksum(dat, CAN_GAS_SIZE - 1) == dat[5]) {
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if (((current_index + 1) & COUNTER_CYCLE) == index) {
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#ifdef DEBUG
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puts("setting gas ");
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puth(value);
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puts("\n");
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#endif
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if (enable) {
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gas_set_0 = value_0;
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gas_set_1 = value_1;
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} else {
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// clear the fault state if values are 0
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if (value_0 == 0 && value_1 == 0) {
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state = NO_FAULT;
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} else {
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state = FAULT_INVALID;
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}
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gas_set_0 = gas_set_1 = 0;
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}
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// clear the timeout
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timeout = 0;
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}
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current_index = index;
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} else {
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// wrong checksum = fault
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state = FAULT_BAD_CHECKSUM;
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}
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}
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// next
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CAN->RF0R |= CAN_RF0R_RFOM0;
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}
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}
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void CAN1_SCE_IRQHandler() {
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state = FAULT_SCE;
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llcan_clear_send(CAN);
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}
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int pdl0 = 0, pdl1 = 0;
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int pkt_idx = 0;
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int led_value = 0;
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void TIM3_IRQHandler() {
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#ifdef DEBUG
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puth(TIM3->CNT);
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puts(" ");
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puth(pdl0);
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puts(" ");
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puth(pdl1);
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puts("\n");
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#endif
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// check timer for sending the user pedal and clearing the CAN
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if ((CAN->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
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uint8_t dat[8];
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dat[0] = (pdl0>>8) & 0xFF;
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dat[1] = (pdl0>>0) & 0xFF;
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dat[2] = (pdl1>>8) & 0xFF;
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dat[3] = (pdl1>>0) & 0xFF;
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dat[4] = (state & 0xF) << 4 | pkt_idx;
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dat[5] = pedal_checksum(dat, CAN_GAS_SIZE - 1);
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CAN->sTxMailBox[0].TDLR = dat[0] | (dat[1]<<8) | (dat[2]<<16) | (dat[3]<<24);
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CAN->sTxMailBox[0].TDHR = dat[4] | (dat[5]<<8);
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CAN->sTxMailBox[0].TDTR = 6; // len of packet is 5
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CAN->sTxMailBox[0].TIR = (CAN_GAS_OUTPUT << 21) | 1;
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++pkt_idx;
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pkt_idx &= COUNTER_CYCLE;
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} else {
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// old can packet hasn't sent!
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state = FAULT_SEND;
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#ifdef DEBUG
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puts("CAN MISS\n");
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#endif
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}
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// blink the LED
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set_led(LED_GREEN, led_value);
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led_value = !led_value;
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TIM3->SR = 0;
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// up timeout for gas set
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if (timeout == MAX_TIMEOUT) {
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state = FAULT_TIMEOUT;
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} else {
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timeout += 1;
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}
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}
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// ***************************** main code *****************************
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void pedal() {
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// read/write
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pdl0 = adc_get(ADCCHAN_ACCEL0);
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pdl1 = adc_get(ADCCHAN_ACCEL1);
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// write the pedal to the DAC
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if (state == NO_FAULT) {
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dac_set(0, MAX(gas_set_0, pdl0));
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dac_set(1, MAX(gas_set_1, pdl1));
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} else {
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dac_set(0, pdl0);
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dac_set(1, pdl1);
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}
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watchdog_feed();
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}
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int main() {
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__disable_irq();
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// init devices
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clock_init();
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periph_init();
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gpio_init();
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#ifdef PEDAL_USB
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// enable USB
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usb_init();
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#endif
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// pedal stuff
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dac_init();
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adc_init();
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// init can
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llcan_set_speed(CAN1, 5000, false, false);
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llcan_init(CAN1);
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// 48mhz / 65536 ~= 732
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timer_init(TIM3, 15);
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NVIC_EnableIRQ(TIM3_IRQn);
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watchdog_init();
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puts("**** INTERRUPTS ON ****\n");
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__enable_irq();
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// main pedal loop
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while (1) {
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pedal();
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}
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return 0;
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}
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