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hal.cpp
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// #include <FreeRTOS.h>
// #include <task.h>
// #include <semphr.h>
// #include <queue.h>
#include "hal.h"
#include "stm32f10x.h"
#include "stm32f10x_flash.h"
#include "stm32f10x_gpio.h"
#include "stm32f10x_rcc.h"
#include "stm32f10x_pwr.h"
#include "stm32f10x_tim.h"
#include "stm32f10x_adc.h"
#include "stm32f10x_exti.h"
#include "stm32f10x_iwdg.h"
#include "misc.h"
#include "uart.h"
#include "uart1.h"
#include "uart2.h"
#include "spi1.h"
#include "adc.h"
#include "systick.h"
#ifdef WITH_BEEPER
#include "beep.h"
#include "fifo.h"
#endif
#if defined(WITH_I2C1) || defined(WITH_I2C2)
#include "i2c.h"
#endif
// ======================================================================================
// to deal with the HC-06 Bluetooth module:
// http://wiki.mikrokopter.de/en/HC-06
// http://mcuoneclipse.com/2013/06/19/using-the-hc-06-bluetooth-module/
// ask version: AT+VERSION
// set name: AT+NAMEOGN
// set pin: AT+PIN1234
// set baud 115200: AT+BAUD8
// ======================================================================================
// RF board pin-out: RFM69HW
// RESET 1 16 NC
// DIO0 2 15 NSS
// DIO1 3 14 MOSI
// DIO2 4 13 MISO
// DIO3 5 12 SCK
// DIO4 6 11 GND
// DIO5 7 10 ANT
// 3.3V 8 9 GND
// RF board pin-out: RFM95
// GND 1 16 DIO2
// MISO 2 15 DIO1
// MOSI 3 14 DIO0
// SCK 4 13 3.3V
// NSS 5 12 DIO4
// RESET 6 11 DIO3
// DIO5 7 10 ANT
// GND 8 9 GND
// ======================================================================================
// Blue Pill pin-out: STM32F103C8T6, 64kB of Flash, CPU chip facing up
// Vbat 3.3V -> LED, I2C pull-up
// LED <- PC13 GND <- Li-Ion battery
// XTAL - PC14 5.0V <- Li-Ion battery
// XTAL - PC15 PB 9 TIM4.CH4 -> Buzzer
// ENA <- TIM2.CH1 PA 0 PB 8 TIM4.CH3 -> Buzzer
// PPS -> TIM2.CH2 PA 1 PB 7 I2C1.SDA <-> Baro/Gyro/...
// GPS <- USART2.Tx PA 2 PB 6 I2C1.SCL <-> Baro/Gyro/...
// GPS -> USART2.Rx PA 3 PB 5 -> RF.RESET
// RF <- SPI1.SS PA 4 PB 4 <- RF.DIO0
// RF <- SPI1.SCK PA 5 PB 3 <- RF.DIO4
// RF -> SPI1.MISO PA 6 PA15
// RF <- SPI1.MOSI PA 7 PA12 TIM1.ETR <-> USB
// POT -> TIM3.CH3 PB 0 PA11 TIM1.CH4 <-> USB
// BAT -> TIM3.CH4 PB 1 PA10 USART1.Rx <- Console/BT
// BT <- USART3.Tx PB10 PA 9 USART1.Tx -> Console/BT
// BT -> USART3.Rx PB11 PA 8 TIM1.CH1
// RESET PB15 SPI2.MOSI -> SD card
// RF <- 3.3V PB14 SPI2.MISO <- SD card
// RF <- GND PB13 SPI2.SCK -> SD card
// GND PB12 SPI2.SS -> SD card
// ---------------------------------------------------------------------------------------
// Maple Mini pin-out: STM32F103..., 128kB of Flash, CPU chip facing up
// VCC VCC
// GND GND
// Vbat Vbat
// LED <- PC13 14 15 PB 7 I2C1.SDA <-> Gyro/Baro
// XTAL PC14 13 16 PB 6 I2C1.SCL <-> Gyro/Baro
// XTAL PC15 12 17 PB 5 -> RF.RESET
// RESET 18 PB 4 <- RF.DIO0
// ENA <- TIM2.CH1 PA 0 11 19 PB 3 <- RF.DIO4
// PPS -> TIM2.CH2 PA 1 10 20 PA15
// GPS <- USART2.Rx PA 2 9 21 PA14 SWCLK
// GPS -> USART2.Tx PA 3 8 22 PA13 SWDIO
// RF <- SPI1.SS PA 4 7 23 PA12 TIM1.ETR <-> USB
// RF <- SPI1.SCK PA 5 6 24 PA11 TIM1.CH4 <-> USB
// RF -> SPI1.MISO PA 6 5 25 PA10 USART1.Rx <- Console/BT
// RF <- SPI1.MOSI PA 7 4 26 PA 9 USART1.Tx -> Console/BT
// POT -> TIM3.CH3 PB 0 3 27 PA 8 TIM1.CH1
// Boot1 PB 2 2 28 PB15 SPI2.MOSI -> SD card
// BT <- USART3.Tx PB10 1 29 PB14 SPI2.MISO <- SD card
// BT -> USART3.Tx PB11 0 30 PB13 SPI2.SCK -> SD card
// Vin 31 PB12 SPI2.SS -> DC card
// PB 8 = push button => Boot0
// PB 1 = PCB LED
// where to put the buzzer ? PB8/9 are not available
// Good document: https://www.mikrocontroller.net/attachment/275556/test.pdf
// ---------------------------------------------------------------------------------------
// OGN-CUBE-1 board by Miroslav: different GPIO, swapped Console and GSP UART, I2C2 for baro
// CPU: STM32F103CBT6 (same as Maple Mini)
// LED <- PA 1
// Console <- PA 2 USART2.Tx
// COnsole -> PA 3 USART2.Rx
// GPS <- PA 9 USART1.Tx
// GPS -> PA10 USART1.Rx
// Baro <-> PB10 I2C2.SCL
// Baro <-> PB11 I2C2.SDA
// RF.SS <- PB 0
// RF.RESET <- PB 1
// RF.DIO0 -> PB 2
// RF.SCK <- PA 5 SPI1.SCK
// RF.MISO -> PA 6 SPI1.MISO
// RF.MOSI <- PA 7 SPI1.MOSI
// ======================================================================================
uint32_t getUniqueAddress(void)
{ uint32_t ID = UniqueID[0] ^ UniqueID[1] ^ UniqueID[2]; return ID&0x00FFFFFF; }
FlashParameters Parameters; // parameters to be stored in Flash, on the last page
// ======================================================================================
#ifdef WITH_MAVLINK
uint8_t MAV_Seq = 0; // sequence number for MAVlink message sent out
#endif
// ======================================================================================
void RCC_Configuration(void)
{
RCC_DeInit (); // RCC system reset(for debug purpose)
uint32_t Timeout=80000;
RCC_HSEConfig (RCC_HSE_ON); // Enable HSE (High Speed External clock = Xtal)
while (RCC_GetFlagStatus(RCC_FLAG_HSERDY) == RESET) // Wait till HSE is not ready
{ Timeout--; if(Timeout==0) break; } // but it may never come up... as some boards have no Xtal !
if(Timeout==0) RCC_HSEConfig (RCC_HSE_OFF); // if Timeout went down to zero: Xtal did not come up
/*
RCC_HSEConfig (RCC_HSE_OFF);
while (RCC_GetFlagStatus(RCC_FLAG_HSIRDY) == RESET); // Wait till HSI is not ready
Timeout=0;
*/
RCC_HCLKConfig (RCC_SYSCLK_Div1); // HCLK = SYSCLK (for AHB bus)
RCC_PCLK2Config (RCC_HCLK_Div1); // PCLK2 = HCLK (for APB2 periph. max. 72MHz)
RCC_PCLK1Config (RCC_HCLK_Div2); // PCLK1 = HCLK/2 (for APB1 periph. max. 36MHz)
RCC_ADCCLKConfig (RCC_PCLK2_Div4); // ADCCLK = PCLK2/4 (for ADC: max. 12MHz)
// *(vu32 *)0x40022000 = 0x01; // Flash 2 wait state
FLASH_SetLatency(FLASH_Latency_2); // Flash 2 wait state
FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable); // Enable Prefetch Buffer
if(Timeout) // if HSE came up: use it
RCC_PLLConfig (RCC_PLLSource_HSE_Div2, RCC_PLLMul_15); // PLLCLK = 4MHz * 15 = 60 MHz
else // if HSE did not come up: use internal oscilator
RCC_PLLConfig (RCC_PLLSource_HSI_Div2, RCC_PLLMul_15); // PLLCLK = 4MHz * 15 = 60 MHz
RCC_PLLCmd (ENABLE); // Enable PLL
while (RCC_GetFlagStatus(RCC_FLAG_PLLRDY) == RESET); // Wait till PLL is ready
RCC_SYSCLKConfig (RCC_SYSCLKSource_PLLCLK); // Select PLL as system clock source
while (RCC_GetSYSCLKSource() != 0x08); // Wait till PLL is used as system clock source
}
// -------------------------------------------------------------------------------------------------------
#ifdef WITH_BLUE_PILL
void LED_PCB_On (void) { GPIO_ResetBits(GPIOC, GPIO_Pin_13); } // LED is on PC.13 and LOW-active
void LED_PCB_Off (void) { GPIO_SetBits (GPIOC, GPIO_Pin_13); }
#endif
#ifdef WITH_MAPLE_MINI
void LED_PCB_On (void) { GPIO_SetBits (GPIOB, GPIO_Pin_1); } // LED is on PB.1 and HIGH-active
void LED_PCB_Off (void) { GPIO_ResetBits(GPIOB, GPIO_Pin_1); }
#endif
#ifdef WITH_OGN_CUBE_1
void LED_PCB_On (void) { GPIO_ResetBits(GPIOA, GPIO_Pin_1); } // LED is on PA1 and LOW-active
void LED_PCB_Off (void) { GPIO_SetBits (GPIOA, GPIO_Pin_1); }
#endif
#ifdef WITH_LED_RX
void LED_RX_On (void) { GPIO_ResetBits(GPIOD, GPIO_Pin_3); }
void LED_RX_Off (void) { GPIO_SetBits (GPIOD, GPIO_Pin_3); }
#endif
#ifdef WITH_LED_TX
void LED_TX_On (void) { GPIO_ResetBits(GPIOD, GPIO_Pin_4); }
void LED_TX_Off (void) { GPIO_SetBits (GPIOD, GPIO_Pin_4); }
#endif
static void LED_GPIO_Configuration (void) // LED on the PCB
{ GPIO_InitTypeDef GPIO_InitStructure;
#ifdef WITH_BLUE_PILL
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13; // Configure PC.13 as output (blue LED on the PCB)
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_Init(GPIOC, &GPIO_InitStructure);
#endif
#ifdef WITH_MAPLE_MINI
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; // Configure PB.1 as output (blue LED on the PCB)
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
#endif
#ifdef WITH_OGN_CUBE_1
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; // Configure PA.1 as output (blue LED on the PCB)
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
#endif
LED_PCB_Off(); }
// -------------------------------------------------------------------------------------------------------
// function to control and read status of the RF chip
#if defined(WITH_BLUE_PILL) || defined(WITH_MAPLE_MINI) // classical DIY-Tracker
// PB5: RF chip RESET: active HIGH for RFM69, active low for RFM95
#ifdef SPEEDUP_STM_LIB
inline void RFM_RESET_High (void) { GPIOB->BSRR = GPIO_Pin_5; }
inline void RFM_RESET_Low (void) { GPIOB->BRR = GPIO_Pin_5; }
#else
inline void RFM_RESET_High (void) { GPIO_SetBits (GPIOB, GPIO_Pin_5); }
inline void RFM_RESET_Low (void) { GPIO_ResetBits(GPIOB, GPIO_Pin_5); }
#endif
void RFM_Select (void) { SPI1_Select(); }
void RFM_Deselect(void) { SPI1_Deselect(); }
// PB4: RF chip IRQ: active HIGH
#ifdef SPEEDUP_STM_LIB
bool RFM_IRQ_isOn(void) { return (GPIOB->IDR & GPIO_Pin_4) != 0; }
// bool RFM_DIO4_isOn(void) { return (GPIOB->IDR & GPIO_Pin_3) != 0; }
#else
bool RFM_IRQ_isOn(void) { return GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_4) != Bit_RESET; }
// bool RFM_DIO4_isOn(void) { return GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_3) != Bit_RESET; }
#endif
#endif // BLUE_PILL or MAPLE_MINI
#ifdef WITH_OGN_CUBE_1 // OGN-CUBE-1
// PB1: RF chip RESET: active HIGH for RFM69, active low for RFM95
#ifdef SPEEDUP_STM_LIB
inline void RFM_RESET_High (void) { GPIOB->BSRR = GPIO_Pin_1; }
inline void RFM_RESET_Low (void) { GPIOB->BRR = GPIO_Pin_1; }
#else
inline void RFM_RESET_High (void) { GPIO_SetBits (GPIOB, GPIO_Pin_1); }
inline void RFM_RESET_Low (void) { GPIO_ResetBits(GPIOB, GPIO_Pin_1); }
#endif
// PB0: RF chip SELECT: active LOW
#ifdef SPEEDUP_STM_LIB
void RFM_Select (void) { GPIOB->BRR = GPIO_Pin_0; }
void RFM_Deselect(void) { GPIOB->BSRR = GPIO_Pin_0; }
#else
void RFM_Select (void) { GPIO_WriteBit(GPIOB, GPIO_Pin_0, Bit_RESET); }
void RFM_Deselect(void) { GPIO_WriteBit(GPIOB, GPIO_Pin_0, Bit_SET ); }
#endif
// PB2: RF chip IRQ: active HIGH
#ifdef SPEEDUP_STM_LIB
bool RFM_IRQ_isOn(void) { return (GPIOB->IDR & GPIO_Pin_2) != 0; }
#else
bool RFM_IRQ_isOn(void) { return GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_2) != Bit_RESET; }
#endif
#endif // OGN_CUBE
#ifdef WITH_RFM95 // RESET is active LOW
void RFM_RESET(uint8_t On)
{ if(On) RFM_RESET_Low();
else RFM_RESET_High(); }
#endif
#if defined(WITH_RFM69) || defined(WITH_SX1272) // RESET is active HIGH
void RFM_RESET(uint8_t On)
{ if(On) RFM_RESET_High();
else RFM_RESET_Low(); }
#endif
// RF chip interface for OGN-CUBE-1:
// RF.SS <- PB 0
// RF.RESET <- PB 1
// RF.DIO0 -> PB 2
// RF.SCK <- PA 5 SPI1.SCK
// RF.MISO -> PA 6 SPI1.MISO
// RF.MOSI <- PA 7 SPI1.MOSI
static void RFM_GPIO_Configuration(void)
{ GPIO_InitTypeDef GPIO_InitStructure;
#if defined(WITH_BLUE_PILL) || defined(WITH_MAPLE_MINI)
GPIO_InitStructure.GPIO_Pin = /* GPIO_Pin_3 | */ GPIO_Pin_4; // PB4 = DIO0 and PB3 = DIO4 of RFM69
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
// GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5; // PB5 = RESET
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_Init(GPIOB, &GPIO_InitStructure);
#ifdef WITH_RF_IRQ
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_InitStructure.NVIC_IRQChannel = EXTI4_IRQn; // Enable the external I/O Interrupt
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1; // 0 = highest, 15 = lowest priority
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
GPIO_EXTILineConfig(GPIO_PortSourceGPIOB, GPIO_PinSource4);
EXTI_InitTypeDef EXTI_InitStructure;
EXTI_InitStructure.EXTI_Line = EXTI_Line4;
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStructure);
NVIC_EnableIRQ(EXTI4_IRQn);
#endif // WITH_RF_IRQ
#endif // WITH_BLUE_PILL || WITH_MAPLE_MINI
#ifdef WITH_OGN_CUBE_1
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; // PB2 = DIO0 RFM69/95
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
// GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1; // PB1 = RESET, PB0 = SS
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_Init(GPIOB, &GPIO_InitStructure);
#ifdef WITH_RF_IRQ
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_InitStructure.NVIC_IRQChannel = EXTI2_IRQn; // Enable the external I/O Interrupt
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1; // 0 = highest, 15 = lowest priority
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
GPIO_EXTILineConfig(GPIO_PortSourceGPIOB, GPIO_PinSource2);
EXTI_InitTypeDef EXTI_InitStructure;
EXTI_InitStructure.EXTI_Line = EXTI_Line2;
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStructure);
NVIC_EnableIRQ(EXTI2_IRQn);
#endif // WITH_RF_IRQ
#endif // WITH_OGN_CUBE_1
RFM_RESET(0);
RFM_Deselect();
}
#ifdef WITH_RF_IRQ
void (*RF_IRQ_Callback)(void) = 0;
#endif
#ifdef WITH_RF_IRQ
#ifdef __cplusplus
extern "C"
#endif
#ifdef WITH_BLUE_PILL
void EXTI4_IRQHandler(void) // RF chip DIO0 interrupt
{
if(EXTI_GetITStatus(EXTI_Line4) != RESET)
{ if(RF_IRQ_Callback) (*RF_IRQ_Callback)(); } // execute the callback
EXTI_ClearITPendingBit(EXTI_Line4);
}
#endif
#ifdef WITH_OGN_CUBE_1
void EXTI2_IRQHandler(void) // RF chip DIO0 interrupt
{
if(EXTI_GetITStatus(EXTI_Line2) != RESET)
{ if(RF_IRQ_Callback) (*RF_IRQ_Callback)(); } // execute the callback
EXTI_ClearITPendingBit(EXTI_Line2);
}
#endif
#endif
uint8_t RFM_TransferByte(uint8_t Byte) { return SPI1_TransferByte(Byte); }
// -------------------------------------------------------------------------------------------------------
SemaphoreHandle_t ADC1_Mutex; // ADC1 Mutex for Knob, temperature/voltage readout, etc.
uint16_t ADC_Read_MCU_Vtemp(void) { return ADC1_Read(ADC_Channel_TempSensor); }
uint16_t ADC_Read_MCU_Vref (void) { return ADC1_Read(ADC_Channel_Vrefint); }
uint16_t ADC_Read_Knob (void) { return ADC1_Read(ADC_Channel_8); }
uint16_t ADC_Read_Vbatt (void) { return ADC1_Read(ADC_Channel_9); }
uint16_t MCU_Vref=0; // [0.25ADC] measured internal voltage reference = 1.25V
uint16_t MCU_Vtemp=0; // [0.25ADC]
int16_t MCU_Temp=0; // [0.1degC] measured internal temperature sensor
uint16_t MCU_Vbatt=0; // [0.001V] measured battery voltage
uint16_t Measure_MCU_Vref(void)
{ xSemaphoreTake(ADC1_Mutex, portMAX_DELAY);
ADC_Read_MCU_Vref();
if(MCU_Vref==0) MCU_Vref = ADC_Read_MCU_Vref()*4;
uint16_t Vref=ADC_Read_MCU_Vref();
xSemaphoreGive(ADC1_Mutex);
MCU_Vref = (3*MCU_Vref+2)/4 + Vref;
return MCU_Vref; } // [0.25ADC]
int16_t Measure_MCU_Temp(void)
{ Measure_MCU_Vref();
xSemaphoreTake(ADC1_Mutex, portMAX_DELAY);
ADC_Read_MCU_Vtemp();
if(MCU_Vtemp==0) MCU_Vtemp = ADC_Read_MCU_Vtemp()*4;
uint16_t Vtemp = ADC_Read_MCU_Vtemp();
xSemaphoreGive(ADC1_Mutex);
MCU_Vtemp = (3*MCU_Vtemp+2)/4 + Vtemp;
// MCU_Vtemp = ((int32_t)1250*MCU_Vtemp+(MCU_Vref>>1))/MCU_Vref; // [mV]
// MCU_Temp = 250 + ((((int32_t)1430-MCU_Vtemp)*37+8)>>4); // [0.1degC]
// MCU_Temp = 250 + ( ( ( (int32_t)1430 - ((int32_t)1250*(int32_t)MCU_Vtemp+(MCU_Vref>>1))/MCU_Vref )*(int32_t)37 +8 )>>4); // [0.1degC]
MCU_Temp = 250 + ( ( ( (int32_t)14300 - ((int32_t)12500*(int32_t)MCU_Vtemp+(MCU_Vref>>1))/MCU_Vref )*(int32_t)119 + 256 )>>9); // [0.1degC]
return MCU_Temp; } // [0.1degC]
// Datasheet, page 80, 1.43V at 25degC, 4.3mV/degC, 17us sampling time
uint16_t Measure_MCU_VCC(void)
{ Measure_MCU_Vref(); // this assumes Vref of the MCU = VCC and internal reference is 2.5V
return ( ((uint32_t)5000<<12)+(MCU_Vref>>1))/MCU_Vref; } // [1mV]}
#ifdef WITH_VBATT_SENSE
uint16_t Measure_Vbatt(void)
{ Measure_MCU_Vref();
xSemaphoreTake(ADC1_Mutex, portMAX_DELAY);
ADC_Read_Vbatt();
uint16_t Vtemp = ADC_Read_Vbatt() + ADC_Read_Vbatt(); // [0.5ADC]
xSemaphoreGive(ADC1_Mutex);
// MCU_Vbatt = ((int32_t)154*(int32_t)Vbatt+(MCU_Vref>>1))/MCU_Vref; } // [1/64V] battery voltage assuming 1:1 divider from battery to PB1
MCU_Vbatt = ((int32_t)1250*(int32_t)Vbatt+(MCU_Vref>>1))/MCU_Vref; // [1mV] battery voltage assuming 1:1 divider from battery to PB1
return MCU_Vbatt; }
#endif
// -------------------------------------------------------------------------------------------------------
#ifdef WITH_GPS_ENABLE
void GPS_DISABLE(void) { GPIO_ResetBits(GPIOA, GPIO_Pin_0); }
void GPS_ENABLE (void) { GPIO_SetBits (GPIOA, GPIO_Pin_0); }
#endif
#ifdef WITH_GPS_PPS
bool GPS_PPS_isOn(void) { return GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_1) != Bit_RESET; }
#endif
static void GPS_GPIO_Configuration (void)
{ GPIO_InitTypeDef GPIO_InitStructure;
#ifdef WITH_GPS_ENABLE
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; // Configure PA.00 as output: GPS Enable(HIGH) / Shutdown(LOW)
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
#endif
#ifdef WITH_GPS_PPS
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; // Configure PA.01 as input: PPS from GPS
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD;
GPIO_Init(GPIOA, &GPIO_InitStructure);
#endif
#ifdef WITH_PPS_IRQ
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_InitStructure.NVIC_IRQChannel = EXTI1_IRQn; // Enable the external I/O Interrupt
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1; // 0 = highest, 15 = lowest priority
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
GPIO_EXTILineConfig(GPIO_PortSourceGPIOA, GPIO_PinSource1);
EXTI_InitTypeDef EXTI_InitStructure;
EXTI_InitStructure.EXTI_Line = EXTI_Line1;
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStructure);
NVIC_EnableIRQ(EXTI1_IRQn);
#endif
#ifdef WITH_GPS_ENABLE
GPS_ENABLE();
#endif
}
#ifdef WITH_PPS_IRQ
void (*GPS_PPS_IRQ_Callback)(uint32_t TickCount, uint32_t TickTime) = 0;
#endif
#ifdef WITH_PPS_IRQ
#ifdef __cplusplus
extern "C"
#endif
void EXTI1_IRQHandler(void) // PPS interrupt
{ uint32_t TickTime = getSysTick_Count(); // [CPU tick] what time before the next RTOS tick the interrupt arrived
uint32_t Load = getSysTick_Reload(); // [CPU tick] period of the SysTick - 1
TickTime = Load-TickTime; // [CPU tick] what time after RTOS tick the PPS arrived
TickType_t TickCount = xTaskGetTickCountFromISR(); // [RTOS tick] RTOS tick counter
if(EXTI_GetITStatus(EXTI_Line1) != RESET)
{ if( GPS_PPS_IRQ_Callback && GPS_PPS_isOn() ) (*GPS_PPS_IRQ_Callback)(TickCount, TickTime); } // execute the callback
EXTI_ClearITPendingBit(EXTI_Line1);
}
#endif
// -------------------------------------------------------------------------------------------------------
SemaphoreHandle_t CONS_Mutex; // console port Mutex
void UART_Configuration(int CONS_BaudRate, int GPS_BaudRate)
{
CONS_Mutex = xSemaphoreCreateMutex();
#ifdef WITH_SWAP_UARTS
UART2_Configuration(CONS_BaudRate);
UART1_Configuration(GPS_BaudRate);
#else
UART1_Configuration(CONS_BaudRate);
UART2_Configuration(GPS_BaudRate);
#endif
}
#ifdef WITH_SWAP_UARTS
int CONS_UART_Read (uint8_t &Byte) { return UART2_Read (Byte); }
void CONS_UART_Write (char Byte) { UART2_Write(Byte); }
int CONS_UART_Free (void) { return UART2_Free(); }
int CONS_UART_Full (void) { return UART2_Full(); }
void CONS_UART_SetBaudrate(int BaudRate) { UART2_SetBaudrate(BaudRate); }
int GPS_UART_Read (uint8_t &Byte) { return UART1_Read (Byte); }
void GPS_UART_Write (char Byte) { UART1_Write(Byte); }
void GPS_UART_SetBaudrate(int BaudRate) { UART1_SetBaudrate(BaudRate); }
#else
int CONS_UART_Read (uint8_t &Byte) { return UART1_Read (Byte); }
void CONS_UART_Write (char Byte) { UART1_Write(Byte); }
int CONS_UART_Free (void) { return UART1_Free(); }
int CONS_UART_Full (void) { return UART1_Full(); }
void CONS_UART_SetBaudrate(int BaudRate) { UART1_SetBaudrate(BaudRate); }
int GPS_UART_Read (uint8_t &Byte) { return UART2_Read (Byte); }
void GPS_UART_Write (char Byte) { UART2_Write(Byte); }
void GPS_UART_SetBaudrate(int BaudRate) { UART2_SetBaudrate(BaudRate); }
#endif
// -------------------------------------------------------------------------------------------------------
// -------------------------------------------------------------------------------------------------------
void IO_Configuration(void)
{
RCC_Configuration();
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE);
LED_GPIO_Configuration(); // LED
GPS_GPIO_Configuration(); // GPS PPS, Enable, PPS IRQ
RFM_GPIO_Configuration(); // RF Reset, IRQ
SPI1_Configuration(); // RF SPI
ADC1_Mutex = xSemaphoreCreateMutex();
ADC_Configuration(); // ADC to measure MCU temperature and supply voltage
#ifdef WITH_BEEPER
Beep_Configuration();
#endif
#ifdef WITH_I2C1
I2C_Configuration(I2C1, I2C_SPEED); // 400kHz I2C bus speed
#endif
#ifdef WITH_I2C2
I2C_Configuration(I2C2, I2C_SPEED); // 400kHz I2C bus speed
#endif
#if defined(WITH_I2C1) || defined(WITH_I2C2)
I2C_Mutex = xSemaphoreCreateMutex();
#endif
IWDG_Configuration(); // setup watch-dog
IWDG_ReloadCounter();
IWDG_Enable();
}
// -------------------------------------------------------------------------------------------------------
void IWDG_Configuration(void) // setup watch-dog
{ IWDG_WriteAccessCmd(IWDG_WriteAccess_Enable);
IWDG_SetPrescaler(IWDG_Prescaler_8); // about 40kHz/8 = 5kHz counter
IWDG_SetReload(250); } // reload with 250 thus 50ms timeout ?
// -------------------------------------------------------------------------------------------------------
#ifdef WITH_BEEPER
uint8_t Vario_Note=0x00; // 0x40;
uint16_t Vario_Period=800;
uint16_t Vario_Fill=50;
static volatile uint16_t Vario_Time=0;
static volatile uint8_t Play_Note=0; // Note being played
static volatile uint8_t Play_Counter=0; // [ms] time counter
static FIFO<uint16_t, 8> Play_FIFO; // queue of notes to play
void Play(uint8_t Note, uint8_t Len) // [Note] [ms] put a new not to play in the queue
{ uint16_t Word = Note; Word<<=8; Word|=Len; Play_FIFO.Write(Word); }
uint8_t Play_Busy(void) { return Play_Counter; } // is a note being played right now ?
static void Play_TimerCheck(void) // every ms serve the note playing
{ uint8_t Counter=Play_Counter;
if(Counter) // if counter non-zero
{ Counter--; // decrement it
if(!Counter) Beep_Note(Play_Note=0x00); // if reached zero, stop playing the note
}
if(!Counter) // if counter reached zero
{ if(!Play_FIFO.isEmpty()) // check for notes in the queue
{ uint16_t Word=0; Play_FIFO.Read(Word); // get the next note
Beep_Note(Play_Note=Word>>8); Counter=Word&0xFF; } // start playing it, load counter with the note duration
}
Play_Counter=Counter;
uint16_t Time=Vario_Time;
Time++; if(Time>=Vario_Period) Time=0;
Vario_Time = Time;
if(Counter==0) // when no notes are being played, make the vario sound
{ if(Time<=Vario_Fill)
{ if(Play_Note!=Vario_Note) Beep_Note(Play_Note=Vario_Note); }
else
{ if(Play_Note!=0) Beep_Note(Play_Note=0x00); }
}
}
#endif // WITH_BEEPER
// -------------------------------------------------------------------------------------------------------
volatile uint8_t LED_PCB_Counter = 0;
void LED_PCB_Flash(uint8_t Time) { if(Time>LED_PCB_Counter) LED_PCB_Counter=Time; } // [ms]
#ifdef WITH_LED_TX
volatile uint8_t LED_TX_Counter = 0;
void LED_TX_Flash(uint8_t Time) { if(Time>LED_TX_Counter) LED_TX_Counter=Time; } // [ms]
#endif
#ifdef WITH_LED_RX
volatile uint8_t LED_RX_Counter = 0;
void LED_RX_Flash(uint8_t Time) { if(Time>LED_RX_Counter) LED_RX_Counter=Time; } // [ms]
#endif
#ifdef WITH_LED_BAT
volatile uint8_t LED_BAT_Counter = 0;
void LED_BAT_Flash(uint8_t Time) { if(Time>LED_BAT_Counter) LED_BAT_Counter=Time; } // [ms]
#endif
void LED_TimerCheck(uint8_t Ticks)
{ uint8_t Counter=LED_PCB_Counter;
if(Counter)
{ if(Ticks<Counter) Counter-=Ticks;
else Counter =0;
if(Counter) LED_PCB_On();
else LED_PCB_Off();
LED_PCB_Counter=Counter; }
#ifdef WITH_LED_TX
Counter=LED_TX_Counter;
if(Counter)
{ if(Ticks<Counter) Counter-=Ticks;
else Counter =0;
if(Counter) LED_TX_On();
else LED_TX_Off();
LED_TX_Counter=Counter; }
#endif
#ifdef WITH_LED_RX
Counter=LED_RX_Counter;
if(Counter)
{ if(Ticks<Counter) Counter-=Ticks;
else Counter =0;
if(Counter) LED_RX_On();
else LED_RX_Off();
LED_RX_Counter=Counter; }
#endif
#ifdef WITH_LED_BAT
Counter=LED_BAT_Counter;
if(Counter)
{ if(Ticks<Counter) Counter-=Ticks;
else Counter =0;
if(Counter) LED_BAT_On();
else LED_BAT_Off();
LED_BAT_Counter=Counter; }
#endif
}
// -------------------------------------------------------------------------------------------------------
extern "C"
void vApplicationIdleHook(void) // when RTOS is idle: should call "sleep until an interrupt"
{ __WFI(); // wait-for-interrupt
}
extern "C"
void vApplicationTickHook(void) // RTOS timer tick hook
{ IWDG_ReloadCounter(); // reset watch-dog at every tick (primitive, but enough to start)
LED_TimerCheck(1);
#ifdef WITH_BEEPER
Play_TimerCheck(); // Play note periodic check
#endif
}
// -------------------------------------------------------------------------------------------------------
SemaphoreHandle_t I2C_Mutex;
static I2C_TypeDef *I2C_Bus[2] = { I2C1, I2C2 } ;
uint8_t I2C_Read(uint8_t Bus, uint8_t Addr, uint8_t Reg, uint8_t *Data, uint8_t Len, uint8_t Wait)
{ return I2C_Read(I2C_Bus[Bus], Addr, Reg, Data, Len); }
uint8_t I2C_Write(uint8_t Bus, uint8_t Addr, uint8_t Reg, uint8_t *Data, uint8_t Len, uint8_t Wait)
{ return I2C_Write(I2C_Bus[Bus], Addr, Reg, Data, Len); }
uint8_t I2C_Restart(uint8_t Bus)
{ I2C_Restart(I2C_Bus[Bus], I2C_SPEED); return 0; }
// -------------------------------------------------------------------------------------------------------