ban-module/Core/Src/main.c

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2023 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "nbus_app.h"
#include "memory_ec20.h"

#if MODULE == MODULE_FSR
#include "app_adc.h"
#endif

#if MODULE == MODULE_DUMMY
#include "app_dummy.h"
#endif

#if MODULE == MODULE_IMU
#include "app_imu.h"
#endif

#include "app_interface.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
ADC_HandleTypeDef hadc;
DMA_HandleTypeDef hdma_adc;

SPI_HandleTypeDef hspi1;

TIM_HandleTypeDef htim21;

UART_HandleTypeDef huart2;
DMA_HandleTypeDef hdma_usart2_tx;
DMA_HandleTypeDef hdma_usart2_rx;

/* USER CODE BEGIN PV */

/* 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_USART2_UART_Init(void);
static void MX_TIM21_Init(void);
static void MX_ADC_Init(void);
static void MX_SPI1_Init(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
uint8_t data[64];	// tmp read buffer
uint8_t *dataUART;  // pointee for rx_buffer
volatile uint8_t dataL;
volatile uint8_t dataI;

volatile uint8_t icm_data_ready = 0;

inline void uart_send(uint8_t *data, int n)
{
#if USE_USART_DMA_TX == 1
		HAL_UART_Transmit_DMA(&huart2, data, n);
#else
		HAL_UART_Transmit(&huart2, data, n, 10);
#endif
}

inline void uart_receive(uint8_t *dataNBUS, int n)
{
	dataUART = dataNBUS;
	HAL_UARTEx_ReceiveToIdle_DMA(&huart2, data, n);
}

inline void led_on(){
	HAL_GPIO_WritePin(LD3_GPIO_Port, LD3_Pin, GPIO_PIN_SET);
}

inline void led_off(){
	HAL_GPIO_WritePin(LD3_GPIO_Port, LD3_Pin, GPIO_PIN_RESET);
}

inline void led_toggle(){
	HAL_GPIO_TogglePin(LD3_GPIO_Port, LD3_Pin);
}

inline void app_delay(uint8_t ms){
	HAL_Delay(ms);
}

static inline uint8_t loop_callback() {
	if(icm_data_ready == 1){
		icm_data_ready = 0;
		return 1;
	}
	return 0;
}

//  Application callbacks
void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size){
	HAL_UARTEx_ReceiveToIdle_DMA(huart, data, 64);
	uint8_t copy_offset = 0;
	if(dataL==0){
		dataL = data[0];
		dataI = 0;
		HAL_GPIO_TogglePin(LD3_GPIO_Port, LD3_Pin);
		if(Size == 1){
			return;
		}
		dataI = 1;
		Size--;
		copy_offset = 1;
	}

	memcpy(&dataUART[dataI], &data[copy_offset], Size);
	dataI += Size;
	if(dataI >= dataL){
		HAL_GPIO_TogglePin(LD3_GPIO_Port, LD3_Pin);
		nbus_cb_UART_RX(dataI);
		dataL=0;
		dataI=0;
		data[0]=0;
	}
}

void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
	icm_data_ready = 1;
}


/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */

  /* 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_USART2_UART_Init();
  MX_TIM21_Init();
  MX_SPI1_Init();
  /* USER CODE BEGIN 2 */

  dataI=0;
  dataL=0;

#ifdef MODULE_INIT_IP_ADC
  MX_ADC_Init();
#endif

#ifdef MODULE_INIT_IP_SPI
  MX_SPI1_Init();
#endif


#if MODULE_MASTER == 1
  MX_RTC_Init();
#endif

  nBusPlatformInterface_t hw_platform = {
		  uart_receive,
		  uart_send,
		  led_on,
		  led_off,
		  led_toggle,
		  app_delay,
		  loop_callback,
  };

#if MODULE_MASTER == 1
  periph.rtc = &hrtc;
#endif


#if MODULE == MODULE_DUMMY
  nbus_init(getDummyDriver(), &hw_platform);
  nbus_init_app(NULL, NULL);
#endif

#if MODULE == MODULE_FSR
  nbus_init(getMcuAdcDriver(), &hw_platform);
  nbus_init_app(&hadc, NULL);
#endif

#if MODULE == MODULE_IMU
	 icm20948_Config config;

	 McuPin_typeDef pinCS;
	 pinCS.pin = SPI_SS_Pin;
	 pinCS.port = SPI_SS_GPIO_Port;
	 config.pinCS = &pinCS;
	 config.gyro.low_pass_filter = GYRO_lpf_196_6Hz;
	 config.gyro.sample_rate = GYRO_samplerate_281_3Hz;
	 config.accel.low_pass_filter = ACCEL_lpf_246Hz;
	 config.accel.sample_rate = ACCEL_samplerate_281_3Hz;
	 config.int_source = interrupt_RAW_DATA_0_RDY_EN;
	 config.mag.mode = mag_mode_power_down;

	 nbus_init(getImuDriver(), &hw_platform);
	 nbus_init_app(&hspi1, &config);
	 //nbus_set_app_callback(loop_callback);
#endif

  nBus_MemoryDriver memory_ec20 = {
  		DS28EC20_init,
  		DS28EC20_readData4B,
  		DS28EC20_readData2B,
  		DS28EC20_writeData4B,
  		DS28EC20_writeData2B,
		DS28EC20_getId
  };


  memory_ec20.init(ONE_WIRE_GPIO_Port, ONE_WIRE_Pin);
  nbus_init_memory_driver(&memory_ec20,16);

  nbus_stack();

  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
  RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};

  /** Configure the main internal regulator output voltage
  */
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLLMUL_6;
  RCC_OscInitStruct.PLL.PLLDIV = RCC_PLLDIV_3;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  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();
  }
  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USART2;
  PeriphClkInit.Usart2ClockSelection = RCC_USART2CLKSOURCE_PCLK1;
  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
  {
    Error_Handler();
  }
}

/**
  * @brief ADC Initialization Function
  * @param None
  * @retval None
  */
static void MX_ADC_Init(void)
{

  /* USER CODE BEGIN ADC_Init 0 */

  /* USER CODE END ADC_Init 0 */

  ADC_ChannelConfTypeDef sConfig = {0};

  /* USER CODE BEGIN ADC_Init 1 */

  /* USER CODE END ADC_Init 1 */

  /** Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion)
  */
  hadc.Instance = ADC1;
  hadc.Init.OversamplingMode = DISABLE;
  hadc.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV2;
  hadc.Init.Resolution = ADC_RESOLUTION_12B;
  hadc.Init.SamplingTime = ADC_SAMPLETIME_79CYCLES_5;
  hadc.Init.ScanConvMode = ADC_SCAN_DIRECTION_FORWARD;
  hadc.Init.DataAlign = ADC_DATAALIGN_RIGHT;
  hadc.Init.ContinuousConvMode = ENABLE;
  hadc.Init.DiscontinuousConvMode = DISABLE;
  hadc.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
  hadc.Init.ExternalTrigConv = ADC_SOFTWARE_START;
  hadc.Init.DMAContinuousRequests = ENABLE;
  hadc.Init.EOCSelection = ADC_EOC_SEQ_CONV;
  hadc.Init.Overrun = ADC_OVR_DATA_PRESERVED;
  hadc.Init.LowPowerAutoWait = DISABLE;
  hadc.Init.LowPowerFrequencyMode = DISABLE;
  hadc.Init.LowPowerAutoPowerOff = DISABLE;
  if (HAL_ADC_Init(&hadc) != HAL_OK)
  {
    Error_Handler();
  }

  /** Configure for the selected ADC regular channel to be converted.
  */
  sConfig.Channel = ADC_CHANNEL_0;
  sConfig.Rank = ADC_RANK_CHANNEL_NUMBER;
  if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }

  /** Configure for the selected ADC regular channel to be converted.
  */
  sConfig.Channel = ADC_CHANNEL_1;
  if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }

  /** Configure for the selected ADC regular channel to be converted.
  */
  sConfig.Channel = ADC_CHANNEL_2;
  if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }

  /** Configure for the selected ADC regular channel to be converted.
  */
  sConfig.Channel = ADC_CHANNEL_3;
  if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }

  /** Configure for the selected ADC regular channel to be converted.
  */
  sConfig.Channel = ADC_CHANNEL_4;
  if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }

  /** Configure for the selected ADC regular channel to be converted.
  */
  sConfig.Channel = ADC_CHANNEL_6;
  if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }

  /** Configure for the selected ADC regular channel to be converted.
  */
  sConfig.Channel = ADC_CHANNEL_7;
  if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }

  /** Configure for the selected ADC regular channel to be converted.
  */
  sConfig.Channel = ADC_CHANNEL_8;
  if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN ADC_Init 2 */

  /* USER CODE END ADC_Init 2 */

}

/**
  * @brief SPI1 Initialization Function
  * @param None
  * @retval None
  */
static void MX_SPI1_Init(void)
{

  /* USER CODE BEGIN SPI1_Init 0 */

  /* USER CODE END SPI1_Init 0 */

  /* USER CODE BEGIN SPI1_Init 1 */

  /* USER CODE END SPI1_Init 1 */
  /* SPI1 parameter configuration*/
  hspi1.Instance = SPI1;
  hspi1.Init.Mode = SPI_MODE_MASTER;
  hspi1.Init.Direction = SPI_DIRECTION_2LINES;
  hspi1.Init.DataSize = SPI_DATASIZE_8BIT;
  hspi1.Init.CLKPolarity = SPI_POLARITY_LOW;
  hspi1.Init.CLKPhase = SPI_PHASE_1EDGE;
  hspi1.Init.NSS = SPI_NSS_SOFT;
  hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_4;
  hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
  hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
  hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
  hspi1.Init.CRCPolynomial = 7;
  if (HAL_SPI_Init(&hspi1) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN SPI1_Init 2 */

  /* USER CODE END SPI1_Init 2 */

}

/**
  * @brief TIM21 Initialization Function
  * @param None
  * @retval None
  */
static void MX_TIM21_Init(void)
{

  /* USER CODE BEGIN TIM21_Init 0 */

  /* USER CODE END TIM21_Init 0 */

  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
  TIM_MasterConfigTypeDef sMasterConfig = {0};

  /* USER CODE BEGIN TIM21_Init 1 */

  /* USER CODE END TIM21_Init 1 */
  htim21.Instance = TIM21;
  htim21.Init.Prescaler = 32000;
  htim21.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim21.Init.Period = 100;
  htim21.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim21.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  if (HAL_TIM_Base_Init(&htim21) != HAL_OK)
  {
    Error_Handler();
  }
  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
  if (HAL_TIM_ConfigClockSource(&htim21, &sClockSourceConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim21, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN TIM21_Init 2 */

  /* USER CODE END TIM21_Init 2 */

}

/**
  * @brief USART2 Initialization Function
  * @param None
  * @retval None
  */
static void MX_USART2_UART_Init(void)
{

  /* USER CODE BEGIN USART2_Init 0 */

  /* USER CODE END USART2_Init 0 */

  /* USER CODE BEGIN USART2_Init 1 */

  /* USER CODE END USART2_Init 1 */
  huart2.Instance = USART2;
  huart2.Init.BaudRate = UART_BAUDRATE;
  huart2.Init.WordLength = UART_WORDLENGTH_8B;
  huart2.Init.StopBits = UART_STOPBITS_1;
  huart2.Init.Parity = UART_PARITY_NONE;
  huart2.Init.Mode = UART_MODE_TX_RX;
  huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  huart2.Init.OverSampling = UART_OVERSAMPLING_16;
  huart2.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
  huart2.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
  if (HAL_RS485Ex_Init(&huart2, UART_DE_POLARITY_HIGH, 0, 0) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN USART2_Init 2 */

  /* USER CODE END USART2_Init 2 */

}

/**
  * Enable DMA controller clock
  */
static void MX_DMA_Init(void)
{

  /* DMA controller clock enable */
  __HAL_RCC_DMA1_CLK_ENABLE();

  /* DMA interrupt init */
  /* DMA1_Channel1_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 0, 0);
  HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
  /* DMA1_Channel4_5_6_7_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(DMA1_Channel4_5_6_7_IRQn, 0, 0);
  HAL_NVIC_EnableIRQ(DMA1_Channel4_5_6_7_IRQn);

}

/**
  * @brief GPIO Initialization Function
  * @param None
  * @retval None
  */
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_GPIOA_CLK_ENABLE();
  __HAL_RCC_GPIOB_CLK_ENABLE();

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(SPI_SS_GPIO_Port, SPI_SS_Pin, GPIO_PIN_SET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(LD3_GPIO_Port, LD3_Pin, GPIO_PIN_RESET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(ONE_WIRE_GPIO_Port, ONE_WIRE_Pin, GPIO_PIN_SET);

  /*Configure GPIO pin : SPI_SS_Pin */
  GPIO_InitStruct.Pin = SPI_SS_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_PULLUP;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
  HAL_GPIO_Init(SPI_SS_GPIO_Port, &GPIO_InitStruct);

  /*Configure GPIO pin : LD3_Pin */
  GPIO_InitStruct.Pin = LD3_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(LD3_GPIO_Port, &GPIO_InitStruct);

  /*Configure GPIO pin : ONE_WIRE_Pin */
  GPIO_InitStruct.Pin = ONE_WIRE_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_PULLUP;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_MEDIUM;
  HAL_GPIO_Init(ONE_WIRE_GPIO_Port, &GPIO_InitStruct);

  /*Configure GPIO pin : SPI_INT_Pin */
  GPIO_InitStruct.Pin = SPI_INT_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
  GPIO_InitStruct.Pull = GPIO_PULLUP;
  HAL_GPIO_Init(SPI_INT_GPIO_Port, &GPIO_InitStruct);

  /*Configure GPIO pins : PB6 PB7 */
  GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_7;
  GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
  GPIO_InitStruct.Alternate = GPIO_AF1_I2C1;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

  /* EXTI interrupt init*/
  HAL_NVIC_SetPriority(EXTI4_15_IRQn, 0, 0);
  HAL_NVIC_EnableIRQ(EXTI4_15_IRQn);

/* USER CODE BEGIN MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
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
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
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 */