int main(void)
{
uint32_t data_counter=0; //used as data timestamp
uint8_t deadly_flashes=0,system_state=0,repetition_counter=0;
int16_t sensor_data, sensor_raw_data[3]={}; //used for handling data passed back from sensors
int16_t sfe_sensor_ref_buff[2][3],sfe_sensor_ref_buff_old[2][3];//used to detect and fix I2C bus lockup
RTC_t RTC_time;
wave_stuffer Gyro_wav_stuffer={0,0},Accel_wav_stuffer={0,0};//Used to controlling wav file bit packing
SystemInit(); //Sets up the clk
setup_gpio(); //Initialised pins, and detects boot source
DBGMCU_Config(DBGMCU_IWDG_STOP, ENABLE); //Watchdog stopped during JTAG halt
if(RCC->CSR&RCC_CSR_IWDGRSTF) { //Watchdog reset, turn off
RCC->CSR|=RCC_CSR_RMVF; //Reset the reset flags
shutdown();
}
SysTick_Configuration(); //Start up system timer at 100Hz for uSD card functionality
Watchdog_Config(WATCHDOG_TIMEOUT); //Set the watchdog
Watchdog_Reset(); //Reset watchdog as soon as possible incase it is still running at power on
rtc_init(); //Real time clock initialise - (keeps time unchanged if set)
Usarts_Init();
ISR_Config();
rprintfInit(__usart_send_char); //Printf over the bluetooth
if(USB_SOURCE==bootsource) {
Set_System(); //This actually just inits the storage layer
Set_USBClock();
USB_Interrupts_Config();
USB_Init();
uint32_t nojack=0x000FFFFF; //Countdown timer - a few hundered ms of 0v on jack detect forces a shutdown
while (bDeviceState != CONFIGURED) { //Wait for USB config - timeout causes shutdown
if(Millis>10000 || !nojack) //No USB cable - shutdown (Charger pin will be set to open drain, cant be disabled without usb)
shutdown();
if(GET_CHRG_STATE) //Jack detect resets the countdown
nojack=0x0FFFFF;
nojack--;
Watchdog_Reset(); //Reset watchdog here, if we are stalled here the Millis timeout should catch us
}
USB_Configured_LED();
EXTI_ONOFF_EN(); //Enable the off interrupt - allow some time for debouncing
while(1) { //If running off USB (mounted as mass storage), stay in this loop - dont turn on anything
if(Millis%1000>500) //1Hz on/off flashing
switch_leds_on(); //Flash the LED(s)
else
switch_leds_off();
Watchdog_Reset();
__WFI(); //Sleep until something arrives
}
}
else {
if(!GET_PWR_STATE) //Check here to make sure the power button is still pressed, if not, sleep
shutdown(); //This means a glitch on the supply line, or a power glitch results in sleep
EXTI_ONOFF_EN(); //Enable the off interrupt - allow some time for debouncing
ADC_Configuration(); //At present this is purely here to detect low battery
do {
battery_voltage=Battery_Voltage;//Have to flush adc for some reason
Delay(25000);
} while(fabs(Battery_Voltage-battery_voltage)>0.01 || !battery_voltage);
I2C_Config(); //Setup the I2C bus
Sensors=detect_sensors(0); //Search for connected sensors
if(battery_voltage<BATTERY_STARTUP_LIMIT)
deadly_flashes=1;
if(!(Sensors&(1<<FOREHEAD_ACCEL))) //Check for any missing sensors
deadly_flashes=2;
if(!(Sensors&(1<<(FOREHEAD_GYRO-1))))
deadly_flashes=3;
if(!(Sensors&(1<<(SFE_1_ACCEL-1))))
deadly_flashes=4;
if(!(Sensors&(1<<(SFE_1_MAGNO-1))))
deadly_flashes=5;
if(!(Sensors&(1<<(SFE_1_GYRO-1))))
deadly_flashes=6;
if(!(Sensors&(1<<(SFE_2_ACCEL-3))))
deadly_flashes=7;
if(!(Sensors&(1<<(SFE_2_MAGNO-3))))
deadly_flashes=8;
if(!(Sensors&(1<<(SFE_2_GYRO-3))))
deadly_flashes=9;
if((f_err_code = f_mount(0, &FATFS_Obj)))Usart_Send_Str((char*)"FatFs mount error\r\n");//This should only error if internal error
else if(!deadly_flashes){ //FATFS and the I2C initialised ok, try init the card, this also sets up the SPI1
if(!f_open(&FATFS_logfile,"time.txt",FA_OPEN_EXISTING | FA_READ | FA_WRITE)) {//Try and open a time file to get the system time
if(!f_stat((const TCHAR *)"time.txt",&FATFS_info)) {//Get file info
if(!FATFS_info.fsize) {//Empty file
RTC_time.year=(FATFS_info.fdate>>9)+1980;//populate the time struct (FAT start==1980, RTC.year==0)
RTC_time.month=(FATFS_info.fdate>>5)&0x000F;
RTC_time.mday=FATFS_info.fdate&0x001F;
RTC_time.hour=(FATFS_info.ftime>>11)&0x001F;
RTC_time.min=(FATFS_info.ftime>>5)&0x003F;
RTC_time.sec=(FATFS_info.ftime<<1)&0x003E;
rtc_settime(&RTC_time);
rprintfInit(__fat_print_char);//printf to the open file
printf("RTC set to %d/%d/%d %d:%d:%d\n",RTC_time.mday,RTC_time.month,RTC_time.year,\
RTC_time.hour,RTC_time.min,RTC_time.sec);
}
}
f_close(&FATFS_logfile);//Close the time.txt file
}
rtc_gettime(&RTC_time); //Get the RTC time and put a timestamp on the start of the file
rprintfInit(__str_print_char); //Print to the string
//timestamp name
printf("%d-%02d-%02dT%02d-%02d-%02d",RTC_time.year,RTC_time.month,RTC_time.mday,RTC_time.hour,RTC_time.min,RTC_time.sec);
rprintfInit(__usart_send_char); //Printf over the bluetooth
f_err_code = f_mkdir(print_string); //Try to make a directory where the logfiles will live
if(f_err_code) {
printf("FatFs drive error %d\r\n",f_err_code);
if(f_err_code==FR_DISK_ERR || f_err_code==FR_NOT_READY)
Usart_Send_Str((char*)"No uSD card inserted?\r\n");
repetition_counter=1;
}
else
f_err_code=f_chdir(print_string);//enter our new directory
if(f_err_code) {
if(!repetition_counter)
printf("FatFs drive error entering direcotry %d\r\n",f_err_code);
repetition_counter=1;
}
else {
strcat(print_string,".csv");
f_err_code=f_open(&FATFS_logfile,print_string,FA_CREATE_ALWAYS | FA_WRITE);//Try to open the main 100sps csv logfile
}
if(f_err_code) {
if(!repetition_counter)
printf("FatFs drive error creating logfile %d\r\n",f_err_code);
repetition_counter=1;
}
else {
print_string[strlen(print_string)-4]=0x00; //Wipe the .csv off the string
strcat(print_string,"_accel.wav");
f_err_code=f_open(&FATFS_wavfile_accel,print_string,FA_CREATE_ALWAYS | FA_WRITE);//Try to open the accel wav logfile
}
if(f_err_code) {
if(!repetition_counter)
printf("FatFs drive error creating accel wav file %d\r\n",f_err_code);
repetition_counter=1;
}
else {
print_string[strlen(print_string)-9]=0x00; //Wipe the accel.wav off the string
strcat(print_string,"gyro.wav");
f_err_code=f_open(&FATFS_wavfile_gyro,print_string,FA_CREATE_ALWAYS | FA_WRITE);//Try to open the gyro wav logfile
}
if(f_err_code) {
if(!repetition_counter)
printf("FatFs drive error creating gyro wav file %d\r\n",f_err_code);
}
else { //We have a mounted card
print_string[0]=0x00; //Wipe the string
f_err_code=f_lseek(&FATFS_logfile, PRE_SIZE);// Pre-allocate clusters
if (f_err_code || f_tell(&FATFS_logfile) != PRE_SIZE)// Check if the file size has been increased correctly
Usart_Send_Str((char*)"Pre-Allocation error\r\n");
else {
if((f_err_code=f_lseek(&FATFS_logfile, 0)))//Seek back to start of file to start writing
Usart_Send_Str((char*)"Seek error\r\n");
else
rprintfInit(__str_print_char);//Printf to the logfile
}
if(f_err_code)
f_close(&FATFS_logfile);//Close the already opened file on error
else
file_opened=0x01;//So we know to close the file properly on shutdown - bit mask for the files
if(!f_err_code) {
f_err_code=f_lseek(&FATFS_wavfile_accel, PRE_SIZE);// Pre-allocate clusters
if (f_err_code || f_tell(&FATFS_wavfile_accel) != PRE_SIZE)// Check if the file size has been increased correctly
Usart_Send_Str((char*)"Pre-Allocation error\r\n");
else {
if((f_err_code=f_lseek(&FATFS_wavfile_accel, 0)))//Seek back to start of file to start writing
Usart_Send_Str((char*)"Seek error\r\n");
}
if(f_err_code)
f_close(&FATFS_wavfile_accel);//Close the already opened file on error
else
file_opened|=0x02;//So we know to close the file properly on shutdown - bit mask for the files
}
if(!f_err_code) {
f_err_code=f_lseek(&FATFS_wavfile_gyro, PRE_SIZE);// Pre-allocate clusters
if (f_err_code || f_tell(&FATFS_wavfile_gyro) != PRE_SIZE)// Check if the file size has been increased correctly
Usart_Send_Str((char*)"Pre-Allocation error\r\n");
else {
if((f_err_code=f_lseek(&FATFS_wavfile_gyro, 0)))//Seek back to start of file to start writing
Usart_Send_Str((char*)"Seek error\r\n");
}
if(f_err_code)
f_close(&FATFS_wavfile_gyro);//Close the already opened file on error
else
file_opened|=0x04;//So we know to close the file properly on shutdown - bit mask for the files
}
}
}
repetition_counter=0; //Reset this here
//We die, but flash out a number of flashes first
if(f_err_code || deadly_flashes) { //There was an init error
for(;deadly_flashes;deadly_flashes--) {
RED_LED_ON;
Delay(200000);
RED_LED_OFF;
Delay(200000);
Watchdog_Reset();
}
RED_LED_ON;
Delay(400000);
shutdown(); //Abort after a (further )single red flash
}
}
int main(void)
{
uint32_t ppg; //PPG channel
uint32_t data_counter=0; //used as data timestamp
uint8_t system_state=0; //used to track button press functionality
float sensor_data; //used for handling data passed back from sensors
RTC_t RTC_time;
_REENT_INIT_PTR(&my_reent);
_impure_ptr = &my_reent;
SystemInit(); //Sets up the clk
setup_gpio(); //Initialised pins, and detects boot source
DBGMCU_Config(DBGMCU_IWDG_STOP, ENABLE); //Watchdog stopped during JTAG halt
if(RCC->CSR&RCC_CSR_IWDGRSTF) { //Watchdog reset, turn off
RCC->CSR|=RCC_CSR_RMVF; //Reset the reset flags
shutdown();
}
SysTick_Configuration(); //Start up system timer at 100Hz for uSD card functionality
Watchdog_Config(WATCHDOG_TIMEOUT); //Set the watchdog
Watchdog_Reset(); //Reset watchdog as soon as possible incase it is still running at power on
rtc_init(); //Real time clock initialise - (keeps time unchanged if set)
Usarts_Init();
ISR_Config();
rprintfInit(__usart_send_char); //Printf over the bluetooth
if(USB_SOURCE==bootsource) {
Set_System(); //This actually just inits the storage layer
Set_USBClock();
USB_Interrupts_Config();
USB_Init();
uint32_t nojack=0x000FFFFF; //Countdown timer - a few hundered ms of 0v on jack detect forces a shutdown
while (bDeviceState != CONFIGURED) { //Wait for USB config - timeout causes shutdown
if(Millis>10000 || !nojack) //No USB cable - shutdown (Charger pin will be set to open drain, cant be disabled without usb)
shutdown();
if(GET_VBUS_STATE) //Jack detect resets the countdown
nojack=0x0FFFFF;
nojack--;
Watchdog_Reset(); //Reset watchdog here, if we are stalled here the Millis timeout should catch us
}
USB_Configured_LED();
EXTI_ONOFF_EN(); //Enable the off interrupt - allow some time for debouncing
while(1) { //If running off USB (mounted as mass storage), stay in this loop - dont turn on anything
if(Millis%1000>500) //1Hz on/off flashing
switch_leds_on(); //Flash the LED(s)
else
switch_leds_off();
Watchdog_Reset();
}
}
if(!GET_PWR_STATE) //Check here to make sure the power button is still pressed, if not, sleep
shutdown(); //This means a glitch on the supply line, or a power glitch results in sleep
for(uint8_t n=0;n<PPG_CHANNELS;n++)
init_buffer(&(Buff[n]),PPG_BUFFER_SIZE);//Enough for ~0.25S of data
setup_pwm(); //Enable the PWM outputs on all three channels
Delay(100000); //Sensor+inst amplifier takes about 100ms to stabilise after power on
ADC_Configuration(); //We leave this a bit later to allow stabilisation
calibrate_sensor(); //Calibrate the offset on the diff pressure sensor
EXTI_ONOFF_EN(); //Enable the off interrupt - allow some time for debouncing
I2C_Config(); //Setup the I2C bus
uint8_t sensors_=detect_sensors(); //Search for connected sensors
sensor_data=GET_BATTERY_VOLTAGE; //Have to flush adc for some reason
Delay(10000);
if(!(sensors_&~(1<<PRESSURE_HOSE))||GET_BATTERY_VOLTAGE<BATTERY_STARTUP_LIMIT) {//We will have to turn off
Watchdog_Reset(); //LED flashing takes a while
if(abs(Reported_Pressure)>PRESSURE_MARGIN)
Set_Motor(-1); //If the is air backpressure, dump to rapidly drop to zero pressure before turnoff
if(file_opened)
f_close(&FATFS_logfile); //be sure to terminate file neatly
red_flash();
Delay(400000);
red_flash(); //Two flashes means battery abort -----------------ABORT 2
if(sensors_&~(1<<PRESSURE_HOSE))
shutdown();
Delay(400000);
red_flash(); //Three flashes means no sensors abort ------------ABORT 3
shutdown();
}
if((f_err_code = f_mount(0, &FATFS_Obj)))Usart_Send_Str((char*)"FatFs mount error\r\n");//This should only error if internal error
else { //FATFS initialised ok, try init the card, this also sets up the SPI1
if(!f_open(&FATFS_logfile,"time.txt",FA_OPEN_EXISTING | FA_READ | FA_WRITE)) {//Try and open a time file to get the system time
if(!f_stat((const TCHAR *)"time.txt",&FATFS_info)) {//Get file info
if(!FATFS_info.fsize) { //Empty file
RTC_time.year=(FATFS_info.fdate>>9)+1980;//populate the time struct (FAT start==1980, RTC.year==0)
RTC_time.month=(FATFS_info.fdate>>5)&0x000F;
RTC_time.mday=FATFS_info.fdate&0x001F;
RTC_time.hour=(FATFS_info.ftime>>11)&0x001F;
RTC_time.min=(FATFS_info.ftime>>5)&0x003F;
RTC_time.sec=(FATFS_info.ftime<<1)&0x003E;
rtc_settime(&RTC_time);
rprintfInit(__fat_print_char);//printf to the open file
printf("RTC set to %d/%d/%d %d:%d:%d\n",RTC_time.mday,RTC_time.month,RTC_time.year,\
RTC_time.hour,RTC_time.min,RTC_time.sec);
}
}
f_close(&FATFS_logfile); //Close the time.txt file
}
#ifndef SINGLE_LOGFILE
rtc_gettime(&RTC_time); //Get the RTC time and put a timestamp on the start of the file
rprintfInit(__str_print_char); //Print to the string
printf("%d-%d-%dT%d-%d-%d.txt",RTC_time.year,RTC_time.month,RTC_time.mday,RTC_time.hour,RTC_time.min,RTC_time.sec);//Timestamp name
rprintfInit(__usart_send_char); //Printf over the bluetooth
#endif
if((f_err_code=f_open(&FATFS_logfile,LOGFILE_NAME,FA_CREATE_ALWAYS | FA_WRITE))) {//Present
printf("FatFs drive error %d\r\n",f_err_code);
if(f_err_code==FR_DISK_ERR || f_err_code==FR_NOT_READY)
Usart_Send_Str((char*)"No uSD card inserted?\r\n");
}
else { //We have a mounted card
f_err_code=f_lseek(&FATFS_logfile, PRE_SIZE);// Pre-allocate clusters
if (f_err_code || f_tell(&FATFS_logfile) != PRE_SIZE)// Check if the file size has been increased correctly
Usart_Send_Str((char*)"Pre-Allocation error\r\n");
else {
if((f_err_code=f_lseek(&FATFS_logfile, 0)))//Seek back to start of file to start writing
Usart_Send_Str((char*)"Seek error\r\n");
else
rprintfInit(__str_print_char);//Printf to the logfile
}
if(f_err_code)
f_close(&FATFS_logfile);//Close the already opened file on error
else
file_opened=1; //So we know to close the file properly on shutdown
}
}
