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This commit is contained in:
jaseg 2023-05-25 14:48:34 +02:00
parent c5d0320696
commit 7959c72fc7
14 changed files with 265 additions and 219 deletions
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2
Makefile
View file

@ -34,8 +34,10 @@ C_SOURCES := src/main.c \
src/adc.c \
src/lcd.c \
src/led.c \
src/led7seg.c \
src/cobs.c \
src/serial.c \
src/proto.c \
src/usb_if.c \
upstream/libusb_stm32/src/usbd_stm32l052_devfs.c \
upstream/libusb_stm32/src/usbd_core.c

1
include/adc.h
View file

@ -15,6 +15,7 @@ struct adc_state {
bool has_adc;
bool overload[2];
ErrorCode error;
uint64_t last_error;
};
extern struct adc_state st_adc;

22
include/global.h
View file

@ -23,21 +23,35 @@
#define APB1_PRESC (1<<(APBPrescTable[(RCC->CFGR & RCC_CFGR_PPRE1_Msk) >> RCC_CFGR_PPRE1_Pos]))
#define AHB_PRESC (1<<(AHBPrescTable[(RCC->CFGR & RCC_CFGR_HPRE_Msk) >> RCC_CFGR_HPRE_Pos]))
#define AFRL(pin, val) ((val) << ((pin)*4))
#define AFRH(pin, val) ((val) << (((pin)-8)*4))
#define AF(pin) (2<<(2*(pin)))
#define OUT(pin) (1<<(2*(pin)))
#define IN(pin) (0)
#define ANALOG(pin) (3<<(2*(pin)))
#define CLEAR(pin) (3<<(2*(pin)))
#define PULLUP(pin) (1<<(2*pin))
#define PULLDOWN(pin) (2<<(2*pin))
#define BSRR_CLEAR(pin) ((1<<pin)<<16)
#define BSRR_SET(pin) (1<<pin)
#define BSRR_VALUE(pin, value) ((((!(value))<<pin)<<16) | ((!!(value))<<pin))
#ifndef SYSTICK_INTERVAL_US
#define SYSTICK_INTERVAL_US 1000
#endif /* SYSTICK_INTERVAL_US */
enum ErrorCode {
ERR_SUCCESS = 0,
ERR_TIMEOUT,
ERR_PHYSICAL_LAYER,
ERR_FRAMING,
ERR_PROTOCOL,
ERR_DMA,
ERR_BUSY,
ERR_BUFFER_OVERFLOW,
ERR_RX_OVERRUN,
ERR_TX_OVERRUN,
ERR_FRAMING,
ERR_PROTOCOL,
};
typedef enum ErrorCode ErrorCode;
@ -58,7 +72,7 @@ enum board_config {
*/
BCFG_MOTOR,
/* When no LCD is connected and the BT0 input on the buttons connector is tied to ground, the board assumes its
/* When no LCD is connected and the BT0 input on the buttons connector is open, the board assumes its
* motor configuration. In this configuration, the board controls a motor connected through the Buttons and LCD
* connectors, and the USB control interface is enabled. The board acts as the host on the RS-485 bus.
*
@ -66,7 +80,7 @@ enum board_config {
*/
BCFG_MEAS,
/* When no LCD is connected and the BT0 input on the buttons connector is open or tied to VDD, the board assumes its
/* When no LCD is connected and the BT0 input on the buttons connector is tied to ground, the board assumes its
* senesor configuration. In this configuration, the board periodically. The board acts as a peripheral on the
* RS-485 bus, relaying measurements on the bus when requested by the host. The board's bus address is set by pins
* BT1 and BT0 of the buttons connector. Both pins have pullups enabled, and will read zero when tied to ground on

1
include/led.h
View file

@ -34,5 +34,6 @@ extern struct led_state st_led;
void led_init(void);
void led_set_global_brightness(int brightness);
void set_led(int led, uint8_t r, uint8_t g, uint8_t b);
#endif /* __LED_H__ */

27
include/led7seg.h Normal file
View file

@ -0,0 +1,27 @@
#ifndef __LED7SEG_H__
#define __LED7SEG_H__
#include <global.h>
struct st_7seg {
uint8_t data[3][8];
uint8_t dp[3];
int module;
int digit;
int bit;
uint16_t datagram;
};
extern struct st_7seg st_7seg;
void init_7seg(void);
void step_7seg(void);
int bt_inputs(void);
void decimal_7seg(int module, int value, int dp);
void hex_7seg(int module, uint32_t value, uint8_t dp);
void blank_7seg(int module);
#endif /* __LED7SEG_H__ */

2
include/proto.h
View file

@ -86,7 +86,7 @@ struct __attribute__((__packed__)) pkt_button_state {
struct __attribute__((__packed__)) pkt_time_sync {
struct ll_pkt ll_pkt;
uint64_t timestamp;
uint64_t time;
};
struct __attribute__((__packed__)) pkt_adc_data {

2
openocd_display.cfg
View file

@ -3,7 +3,7 @@ tcl_port disabled
telnet_port disabled
source [find interface/stlink.cfg]
hla_serial "X"
adapter serial "X"
source [find target/stm32f0x.cfg]

2
openocd_adc.cfg → openocd_motor.cfg
View file

@ -3,7 +3,7 @@ tcl_port disabled
telnet_port disabled
source [find interface/stlink.cfg]
hla_serial "U"
adapter serial "U"
source [find target/stm32f0x.cfg]

4
src/adc.c
View file

@ -113,7 +113,7 @@ void adc_init() {
adc_sync_write(ADC_REG_CLOCK, ADC_CLOCK_CH1_EN | ADC_CLOCK_CH2_EN | ADC_CLOCK_OSR_8192 | ADC_CLOCK_PWR_HIRES);
adc_sync_write(ADC_REG_GAIN, ADC_GAIN1_PGAGAIN1_4 | ADC_GAIN1_PGAGAIN0_4);
adc_sync_write(ADC_REG_MODE, (1<<ADC_MODE_WLENGTH_Pos) | ADC_MODE_TIMEOUT);
st_adc.sampling_interval_us =
st_adc.sampling_interval_us = 1000; /* FIXME */
/* wait for ~DRDY to go high (inactive) */
int i;
@ -179,7 +179,7 @@ void adc_dma_interrupt(uint32_t channel, uint32_t flags) {
}
st_adc.samples[wr_idx][1] = val;
st_adc.sample_rd_idx = wr_idx;
st_adc.sample_wr_idx = (wr_idx+1) % COUNT_OF(st_adc.data);
st_adc.sample_wr_idx = (wr_idx+1) % COUNT_OF(st_adc.samples);
st_adc.sample_count++;
if (val > ADC_FSR_POS || val < ADC_FSR_NEG) {

153
src/led7seg.c Normal file
View file

@ -0,0 +1,153 @@
#include <global.h>
#include <led7seg.h>
struct st_7seg st_7seg;
int bt_inputs() {
bool bt0 = !!(GPIOB->IDR & (1<<2));
bool bt1 = !!(GPIOB->IDR & (1<<1));
bool bt2 = !!(GPIOB->IDR & (1<<0));
bool bt3 = !!(GPIOB->IDR & (1<<12));
bool bt4 = !!(GPIOB->IDR & (1<<4));
bool bt5 = !!(GPIOA->IDR & (1<<15));
return (bt5<<5) | (bt4<<4) | (bt3<<3) | (bt2<<2) | (bt1<<1) | (bt0<<0);
}
void init_7seg() {
GPIOA->MODER |= OUT(15);
GPIOB->MODER |= OUT(12) | OUT(3);
GPIOA->BRR = (1<<15);
GPIOB->BRR = (1<<12) | (1<<3);
memset(&st_7seg, 0, sizeof(st_7seg));
uint16_t dgrams[] = {
0x0c01, /* Shutdown off */
0x0a03, /* Max intensity */
0x0b07, /* 8 digit scan */
};
for (size_t dgram=0; dgram<COUNT_OF(dgrams); dgram++) {
for (size_t mod=0; mod<3; mod++) {
uint16_t datagram = dgrams[dgram];
for (int bit=0; bit<16; bit++) {
delay_us(1);
GPIOB->BSRR = BSRR_VALUE(12, datagram&0x8000) | BSRR_CLEAR(3);
datagram <<= 1;
delay_us(1);
GPIOB->BSRR = BSRR_SET(3);
}
}
GPIOA->BSRR = BSRR_SET(15);
delay_us(1);
GPIOA->BSRR = BSRR_CLEAR(15);
}
}
void decimal_7seg(int module, int value, int dp) {
if (value < -9999999 || value > 99999999) {
st_7seg.data[module][0] = 0xE;
st_7seg.data[module][1] = 16; /* blank */
st_7seg.data[module][2] = 16; /* blank */
st_7seg.data[module][3] = 16; /* blank */
st_7seg.data[module][4] = 16; /* blank */
st_7seg.data[module][5] = 16; /* blank */
st_7seg.data[module][6] = 16; /* blank */
st_7seg.data[module][7] = 16; /* blank */
st_7seg.dp[module] = 0;
return;
}
for (int digit=0; digit<8; digit++) {
int f = value/10;
int r = value - f*10;
value = f;
st_7seg.data[module][digit] = r;
}
st_7seg.dp[module] = dp > 0 ? (1<<dp) : 0;
}
void hex_7seg(int module, uint32_t value, uint8_t dp) {
for (int digit=0; digit<8; digit++) {
st_7seg.data[module][digit] = value&0xf;
value >>= 4;
}
st_7seg.dp[module] = dp;
}
void blank_7seg(int module) {
st_7seg.dp[module] = 0;
for (int digit=0; digit<8; digit++) {
st_7seg.data[module][digit] = 0x10;
}
}
/* Segment map:
* +- 6 -+
* 1 5
* +- 0 -+
* 2 4
* +- 3 -+ [7]
*
* +- 40-+
* 02 20
* +- 01-+
* 04 10
* +- 08-+ [7]
*/
static uint8_t led7seg_font_lut[] = {
0x7e, /* 0 */
0x30, /* 1 */
0x6d, /* 2 */
0x79, /* 3 */
0x33, /* 4 */
0x5b, /* 5 */
0x5f, /* 6 */
0x70, /* 7 */
0x7f, /* 8 */
0x7b, /* 9 */
0x77, /* A */
0x1f, /* B */
0x4e, /* C */
0x3d, /* D */
0x4f, /* E */
0x47, /* F */
0x00, /* 0x10 ^= blank */
0x01, /* 0x11 ^= "-" */
};
void step_7seg() {
GPIOA->BSRR = BSRR_CLEAR(15);
if (st_7seg.bit&1) {
GPIOB->BSRR = BSRR_SET(3);
st_7seg.datagram <<= 1;
} else {
GPIOB->BSRR = BSRR_VALUE(12, st_7seg.datagram&0x8000) | BSRR_CLEAR(3);
}
st_7seg.bit++;
if (st_7seg.bit == 16*2) {
st_7seg.bit = 0;
st_7seg.module++;
if (st_7seg.module == 3) {
st_7seg.module = 0;
GPIOA->BSRR = BSRR_SET(15);
st_7seg.digit++;
if (st_7seg.digit == 8) {
st_7seg.digit = 0;
}
}
uint8_t dp = (st_7seg.dp[st_7seg.module] & (1<<st_7seg.digit)) ? 0x80 : 0x00;
st_7seg.datagram = ((st_7seg.digit+1)<<8) |
led7seg_font_lut[st_7seg.data[st_7seg.module][st_7seg.digit]] |
dp;
}
}

230
src/main.c
View file

@ -1,31 +1,16 @@
#include <global.h>
#include <string.h>
#include <adc.h>
#include <serial.h>
#include <proto.h>
#include <lcd.h>
#include <led.h>
#include <led7seg.h>
#include <usb_if.h>
#include <usb_proto.h>
#define AFRL(pin, val) ((val) << ((pin)*4))
#define AFRH(pin, val) ((val) << (((pin)-8)*4))
#define AF(pin) (2<<(2*(pin)))
#define OUT(pin) (1<<(2*(pin)))
#define IN(pin) (0)
#define ANALOG(pin) (3<<(2*(pin)))
#define CLEAR(pin) (3<<(2*(pin)))
#define PULLUP(pin) (1<<(2*pin))
#define PULLDOWN(pin) (2<<(2*pin))
#define BSRR_CLEAR(pin) ((1<<pin)<<16)
#define BSRR_SET(pin) (1<<pin)
#define BSRR_VALUE(pin, value) ((((!(value))<<pin)<<16) | ((!!(value))<<pin))
static int bt_inputs(void);
static void init_7seg(void);
void step_7seg(void);
void decimal_7seg(int module, int value, int dp);
static void update_leds(void);
static void loop_display(void);
static void loop_motor(void);
@ -36,150 +21,6 @@ enum board_config board_config;
uint64_t sys_time_us;
uint64_t sync_time_us;
int bt_inputs() {
bool bt0 = !!(GPIOB->IDR & (1<<2));
bool bt1 = !!(GPIOB->IDR & (1<<1));
bool bt2 = !!(GPIOB->IDR & (1<<0));
bool bt3 = !!(GPIOB->IDR & (1<<12));
bool bt4 = !!(GPIOB->IDR & (1<<4));
bool bt5 = !!(GPIOA->IDR & (1<<15));
return (bt5<<5) | (bt4<<4) | (bt3<<3) | (bt2<<2) | (bt1<<1) | (bt0<<0);
}
struct {
uint8_t data[3][8];
uint8_t dp[3];
int module;
int digit;
int bit;
uint16_t datagram;
} st_7seg;
void init_7seg() {
GPIOA->BRR = (1<<15);
GPIOB->BRR = (1<<12) | (1<<3);
memset(&st_7seg, 0, sizeof(st_7seg));
uint16_t dgrams[] = {
0x0c01, /* Shutdown off */
0x0a03, /* Max intensity */
0x0b07, /* 8 digit scan */
};
for (int dgram=0; dgram<COUNT_OF(dgrams); dgram++) {
for (int mod=0; mod<3; mod++) {
uint16_t datagram = dgrams[dgram];
for (int bit=0; bit<16; bit++) {
delay_us(1);
GPIOB->BSRR = BSRR_VALUE(12, datagram&0x8000) | BSRR_CLEAR(3);
datagram <<= 1;
delay_us(1);
GPIOB->BSRR = BSRR_SET(3);
}
}
GPIOA->BSRR = BSRR_SET(15);
delay_us(1);
GPIOA->BSRR = BSRR_CLEAR(15);
}
}
void decimal_7seg(int module, int value, int dp) {
if (value < -9999999 || value > 99999999) {
st_7seg.data[module][0] = 0xE;
st_7seg.data[module][1] = 16; /* blank */
st_7seg.data[module][2] = 16; /* blank */
st_7seg.data[module][3] = 16; /* blank */
st_7seg.data[module][4] = 16; /* blank */
st_7seg.data[module][5] = 16; /* blank */
st_7seg.data[module][6] = 16; /* blank */
st_7seg.data[module][7] = 16; /* blank */
st_7seg.dp[module] = 0;
return;
}
for (int digit=0; digit<8; digit++) {
int f = value/10;
int r = value - f*10;
value = f;
st_7seg.data[module][digit] = r;
}
st_7seg.dp[module] = dp > 0 ? (1<<dp) : 0;
}
void hex_7seg(int module, uint32_t value, uint8_t dp) {
for (int digit=0; digit<8; digit++) {
st_7seg.data[module][digit] = value&0xf;
value >>= 4;
}
st_7seg.dp[module] = dp;
}
/* Segment map:
* +- 6 -+
* 1 5
* +- 0 -+
* 2 4
* +- 3 -+ [7]
*
* +- 40-+
* 02 20
* +- 01-+
* 04 10
* +- 08-+ [7]
*/
uint8_t font_lut[] = {
0x7e, /* 0 */
0x30, /* 1 */
0x6d, /* 2 */
0x79, /* 3 */
0x33, /* 4 */
0x5b, /* 5 */
0x5f, /* 6 */
0x70, /* 7 */
0x7f, /* 8 */
0x7b, /* 9 */
0x77, /* A */
0x1f, /* B */
0x4e, /* C */
0x3d, /* D */
0x4f, /* E */
0x47, /* F */
0x00, /* blank */
0x01, /* "-" */
};
void step_7seg() {
GPIOA->BSRR = BSRR_CLEAR(15);
if (st_7seg.bit&1) {
GPIOB->BSRR = BSRR_SET(3);
st_7seg.datagram <<= 1;
} else {
GPIOB->BSRR = BSRR_VALUE(12, st_7seg.datagram&0x8000) | BSRR_CLEAR(3);
}
st_7seg.bit++;
if (st_7seg.bit == 16*2) {
st_7seg.bit = 0;
st_7seg.module++;
if (st_7seg.module == 3) {
st_7seg.module = 0;
GPIOA->BSRR = BSRR_SET(15);
st_7seg.digit++;
if (st_7seg.digit == 8) {
st_7seg.digit = 0;
}
}
uint8_t dp = (st_7seg.dp[st_7seg.module] & (1<<st_7seg.digit)) ? 0x80 : 0x00;
st_7seg.datagram = ((st_7seg.digit+1)<<8) |
font_lut[st_7seg.data[st_7seg.module][st_7seg.digit]] |
dp;
}
}
int main(void) {
/* Enable HSE w/ 8 MHz crystal */
@ -242,7 +83,7 @@ int main(void) {
*/
GPIOA->MODER &= (~(CLEAR(15))); /* Clear JTAG TDI pin mode */
GPIOA->MODER |= AF(0) | OUT(1) | OUT(2) | ANALOG(3) | OUT(4) | AF(5) | AF(6) | AF(7) | AF(8) | AF(9) | AF(10) | IN(11)
| IN(12) | IN(13) | IN(14) | OUT(15);
| IN(12) | IN(13) | IN(14) | IN(15);
GPIOA->AFR[0] = AFRL( 0, 2) | /* TIM2 ETR */
AFRL( 2, 2) | /* TIM2 CH3 to ADC CS */
AFRL( 5, 0) | /* SPI1 SCK (to ADC) */
@ -285,8 +126,8 @@ int main(void) {
* 15 - LED_HOPI
*/
GPIOB->MODER = IN(0) | IN(1) | IN(2) | OUT(3) | AF(4) | AF(5) | AF(6) | AF(7) | AF(8) | IN(9) | AF(10) | AF(11) |
OUT(12) | AF(13) | AF(14) | AF(15);
GPIOB->MODER = IN(0) | IN(1) | IN(2) | IN(3) | AF(4) | AF(5) | AF(6) | AF(7) | AF(8) | IN(9) | AF(10) | AF(11) |
IN(12) | AF(13) | AF(14) | AF(15);
GPIOB->AFR[0] = AFRL( 4, 1) | /* TIM3 CH1 (Encoder) */
AFRL( 5, 1) | /* TIM3 CH2 */
AFRL( 6, 1) | /* I2C1 SCL (Display) */
@ -338,13 +179,16 @@ int main(void) {
board_config = BCFG_DISPLAY;
uart_st.addr = BADDR_DISPLAY;
blank_7seg(0);
blank_7seg(1);
blank_7seg(2);
} else {
uart_dma_init(USART3, 7, 1);
int bt = bt_inputs();
if (bt&0) {
if (bt&1) {
set_led(LED_DISPLAY, 0, 0, 255); /* blue */
set_led(LED_BUTTONS, 0, 0, 255); /* blue */
tx_state = 0;
board_config = BCFG_MOTOR;
uart_st.addr = BADDR_MOTOR;
@ -355,6 +199,7 @@ int main(void) {
uart_st.addr = BADDR_MEAS_BASE + ((bt>>1) & 3);
}
}
proto_init();
usb_init();
@ -372,17 +217,11 @@ int main(void) {
NVIC_EnableIRQ(USART3_4_IRQn);
NVIC_SetPriority(USART3_4_IRQn, 1<<5);
for (size_t i=0; i<10; i++) {
st_led.led[i].r = i*10;
st_led.led[i].g = i*20;
st_led.led[i].b = i*3;
}
int n = 0;
while (23) {
n++;
if (n&64) {
update_leds();
//update_leds();
}
proto_loop();
@ -402,7 +241,7 @@ int main(void) {
void update_leds() {
static uint64_t last_error = 0;
static int blink_flag = (sys_time_us & (512*1024-1)) < 384*1024;
int blink_flag = (sys_time_us & (512*1024-1)) < (384*1024);
/* "Error" status LED */
if (st_adc.has_adc && st_adc.error) {
@ -420,6 +259,7 @@ void update_leds() {
if (uart_st.error && (sys_time_us - uart_st.last_error) < LED_ERROR_TIMEOUT_MS*1000) {
/* UART protocol error */
set_led(LED_CONNECTED, 255, 0, 0); /* red */
}
if (st_usb.error && (sys_time_us - st_usb.last_error) < LED_ERROR_TIMEOUT_MS*1000) {
/* USB error */
@ -450,8 +290,8 @@ void update_leds() {
/* ADC hardware error */
set_led(LED_ACQUIRING, 255, 0, 0); /* red */
set_led(LED_OVERLOAD, 0, 0, 0); /* off */
set_led(CHANNEL_A, 0, 0, 0); /* off */
set_led(CHANNEL_B, 0, 0, 0); /* off */
set_led(LED_CHANNEL_A, 0, 0, 0); /* off */
set_led(LED_CHANNEL_B, 0, 0, 0); /* off */
} else {
if (st_adc.has_adc) {
@ -468,12 +308,13 @@ void update_leds() {
set_led(led_ch, 0, 0, 0); /* off */
} else {
if (st_adc.data[i] >= 0) {
int val = st_adc.data[i] >> 15;
int sample = st_adc.samples[st_adc.sample_rd_idx][i];
if (sample >= 0) {
int val = sample >> 15;
set_led(led_ch, 255, 255-val, 255-val); /* white (0) -> red (fsr-1) */
} else {
int val = (-st_adc.data[i]) >> 15;
int val = (-sample) >> 15;
if (val == 256) {
val = 255;
}
@ -484,8 +325,8 @@ void update_leds() {
} else {
set_led(LED_ACQUIRING, 0, 0, 0); /* off */
set_led(LED_OVERLOAD, 0, 0, 0); /* off */
set_led(CHANNEL_A, 0, 0, 0); /* off */
set_led(CHANNEL_B, 0, 0, 0); /* off */
set_led(LED_CHANNEL_A, 0, 0, 0); /* off */
set_led(LED_CHANNEL_B, 0, 0, 0); /* off */
}
}
}
@ -533,15 +374,12 @@ void handle_usb_packet(void *packet, size_t len) {
}
}
void uart_handle_user_packet(struct ll_pkt *pkt, size_t len) {
}
void DMA1_Channel2_3_IRQHandler() {
int flags = DMA1->ISR;
DMA1->IFCR = DMA_IFCR_CGIF2 | DMA_IFCR_CGIF3;
if (flags & DMA_ISR_FLAGS_CH(2)) {
if (st_adc.has_adc) {
if (board_config == BCFG_MEAS) {
adc_dma_interrupt(2, flags>>DMA_ISR_FLAGS_Pos(2));
} else {
uart_dma_interrupt(2, flags>>DMA_ISR_FLAGS_Pos(2));
@ -550,7 +388,7 @@ void DMA1_Channel2_3_IRQHandler() {
}
if (flags & DMA_ISR_FLAGS_CH(3)) {
if (st_adc.has_adc) {
if (board_config == BCFG_MEAS) {
adc_dma_interrupt(3, flags>>DMA_ISR_FLAGS_Pos(3));
}
}
@ -561,13 +399,13 @@ void DMA1_Channel4_5_6_7_IRQHandler() {
DMA1->IFCR = DMA_IFCR_CGIF4 | DMA_IFCR_CGIF5 | DMA_IFCR_CGIF6 | DMA_IFCR_CGIF7;
if (flags & DMA_ISR_FLAGS_CH(6)) {
if (st_lcd.has_lcd) {
if (board_config == BCFG_DISPLAY) {
lcd_dma_interrupt(6, flags>>DMA_ISR_FLAGS_Pos(6));
}
}
if (flags & DMA_ISR_FLAGS_CH(7)) {
if (st_lcd.has_lcd) {
if (board_config == BCFG_DISPLAY) {
lcd_dma_interrupt(6, flags>>DMA_ISR_FLAGS_Pos(7));
} else {
uart_dma_interrupt(7, flags>>DMA_ISR_FLAGS_Pos(7));
@ -605,7 +443,9 @@ void *memcpy(void *restrict dest, const void *restrict src, size_t n)
unsigned char *d = dest;
const unsigned char *s = src;
for (; n; n--) *d++ = *s++;
for (; n; n--) {
*d++ = *s++;
}
return dest;
}
@ -623,7 +463,15 @@ void *memset(void *dest, int c, size_t n)
return dest;
}
void __libc_init_array (void) __attribute__((weak));
void __libc_init_array ()
size_t strlen(const char *s)
{
const char *start = s;
while (*s) {
s++;
}
return s - start;
}
void __libc_init_array (void) __attribute__((weak));
void __libc_init_array () {
}

22
src/proto.c
View file

@ -19,7 +19,7 @@ void proto_init() {
void proto_loop() {
if (board_config == BCFG_MOTOR) { /* We are the protocol host */
if (sys_time_us - st_proto.last_start > PROTO_UPDATE_INTERVAL_MS*1000 - st_proto.delta ) {
if (sys_time_us - st_proto.last_start > PROTO_UPDATE_INTERVAL_MS*1000UL - st_proto.delta ) {
st_proto.fsm = ST_START;
proto_handle_host(false);
@ -40,7 +40,7 @@ void uart_handle_user_packet(struct ll_pkt *pkt, size_t len) {
st_proto.rx_estop = st_proto.rx_buttons & PROTO_DSP_BT_ESTOP;
} else if (pkt->type == PK_TIME_SYNC) {
sync_time_us = ((pkt_time_sync *)pkt)->timestamp;
sync_time_us = ((struct pkt_time_sync *)pkt)->time;
}
if (board_config == BCFG_MOTOR) { /* We are the protocol host */
@ -68,7 +68,7 @@ void proto_handle_host(bool timeout) {
ErrorCode rc = ERR_SUCCESS;
switch (st_proto.fsm) {
case ST_START:
st_proto.delta += (sys_time_us - st_proto.last_start) - UPDATE_INTERVAL_MS*1000;
st_proto.delta += (sys_time_us - st_proto.last_start) - PROTO_UPDATE_INTERVAL_MS*1000;
st_proto.last_start = sys_time_us;
tx_time_sync();
st_proto.fsm = ST_TIME_SYNC;
@ -123,8 +123,8 @@ void tx_adc_data() {
/* Format samples stored in native 32 bit ints into 24 bit fields */
ssize_t rd_idx = st_adc.sample_rd_idx;
uint8_t *p = samples;
for (size_t i=0; i<COUNT_OF(pk.samples)) {
uint8_t *p = (uint8_t *)pk.samples;
for (size_t i=0; i<COUNT_OF(pk.samples); i++) {
uint32_t sp = st_adc.samples[rd_idx][0];
*p++ = sp&0xff;
*p++ = (sp>>8)&0xff;
@ -141,7 +141,7 @@ void tx_adc_data() {
}
}
ErrorCode rc = uart_send_packet_nonblocking(&pk, sizeof(pk));
ErrorCode rc = uart_send_packet_nonblocking(&pk.ll_pkt, sizeof(pk));
if (rc) {
st_proto.error = rc;
st_proto.last_error = sys_time_us;
@ -156,10 +156,10 @@ void tx_time_sync() {
.pid = 0,
.type = PK_TIME_SYNC,
},
.time = sys_time_us;
.time = sys_time_us,
};
ErrorCode rc = uart_send_packet_nonblocking(&pk, sizeof(pk));
ErrorCode rc = uart_send_packet_nonblocking(&pk.ll_pkt, sizeof(pk));
if (rc) {
st_proto.error = rc;
st_proto.last_error = sys_time_us;
@ -212,11 +212,11 @@ ErrorCode tx_update_display() {
memset(pk.lcd, ' ', sizeof(pk.lcd));
if (st_proto.error_msg) {
memcpy(pk.lcd[0], st_proto.error_msg, strlen(st_proto.error_msg));
memcpy(pk.lcd, st_proto.error_msg, strlen(st_proto.error_msg));
} else if (st_proto.status_msg) {
memcpy(pk.lcd[0], st_proto.status_msg, strlen(st_proto.status_msg));
memcpy(pk.lcd, st_proto.status_msg, strlen(st_proto.status_msg));
}
return uart_send_packet_nonblocking(&pk, sizeof(pk));
return uart_send_packet_nonblocking(&pk.ll_pkt, sizeof(pk));
}

4
src/serial.c
View file

@ -71,14 +71,14 @@ void uart_interrupt(uint32_t isr) {
return;
if (rc < 0) {
uart_st.error = ERR_RX_FRAMING;
uart_st.error = ERR_FRAMING;
uart_st.last_error = sys_time_us;
return;
}
/* A complete frame received */
if (rc < (int)sizeof(struct ll_pkt)) {
uart_st.error = ERR_RX_PROTOCOL;
uart_st.error = ERR_PROTOCOL;
uart_st.last_error = sys_time_us;
return;
}

12
src/usb_if.c
View file

@ -148,16 +148,16 @@ static usbd_respond usb_getdesc (usbd_ctlreq *req, void **address, uint16_t *len
const uint8_t dtype = req->wValue >> 8;
const uint8_t dnumber = req->wValue & 0xFF;
switch (dtype) {
case USB_DTYPE_DEVICE: *address = &device_desc; *length = device_desc.bLength; return usbd_ack;
case USB_DTYPE_CONFIGURATION: *address = &config_desc; *length = sizeof(config_desc); return usbd_ack;
case USB_DTYPE_DEVICE: *address = (void **)&device_desc; *length = device_desc.bLength; return usbd_ack;
case USB_DTYPE_CONFIGURATION: *address = (void **)&config_desc; *length = sizeof(config_desc); return usbd_ack;
case USB_DTYPE_STRING: break;
default: return usbd_fail;
}
switch (dnumber) {
case 0: *address = &lang_desc; *length = lang_desc.bLength; return usbd_ack;
case 1: *address = &manuf_desc_en; *length = manuf_desc_en.bLength; return usbd_ack;
case 2: *address = &prod_desc_en; *length = prod_desc_en.bLength; return usbd_ack;
case 0: *address = (void **)&lang_desc; *length = lang_desc.bLength; return usbd_ack;
case 1: *address = (void **)&manuf_desc_en; *length = manuf_desc_en.bLength; return usbd_ack;
case 2: *address = (void **)&prod_desc_en; *length = prod_desc_en.bLength; return usbd_ack;
default: return usbd_fail;
}
}
@ -271,7 +271,7 @@ static usbd_respond usb_setconf (usbd_device *dev, uint8_t cfg) {
}
void usb_init() {
memset(st_usb, 0, sizeof(st_usb));
memset(&st_usb, 0, sizeof(st_usb));
usbd_init(&st_usb.usb_dev, &usbd_hw, USB_EP0_SIZE, st_usb.usb_buf, sizeof(st_usb.usb_buf));
usbd_reg_config(&st_usb.usb_dev, usb_setconf);
usbd_reg_control(&st_usb.usb_dev, usb_control);