int main(void)
{
uint8_t system_state=0, i2c_resets=0, si446x_resets=0;//used to track button press functionality and any errors
uint8_t sensors=0;
uint32_t repetition_counter=0; //Used to detect any I2C lockup
uint8_t L3GD20_Data_Buffer_old[8]; //Used to test for noise in the gyro data (indicating that it is working)
uint8_t UplinkFlags=0,CutFlags=0;
uint16_t UplinkBytes=0; //Counters and flags for telemetry
uint32_t last_telemetry=0,cutofftime=0,indtest=0,badgyro=0,permission_time=0,countdown_time=0,last_cuttest=0;
uint16_t sentence_counter=0;
uint8_t silab;
//Cutdown config stuff here, atm uses hardcoded polygon defined in polygon.h
static const int32_t Geofence[UK_GEOFENCE_POINTS*2]=UK_GEOFENCE;
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
RCC_APB1PeriphClockCmd(RCC_APB1Periph_PWR | RCC_APB1Periph_BKP, ENABLE);/* Enable PWR and BKP clocks */
PWR_BackupAccessCmd(ENABLE);/* Allow access to BKP Domain */
uint16_t shutdown_lock=BKP_ReadBackupRegister(BKP_DR3); //Holds the shutdown lock setting
uint16_t reset_counter=BKP_ReadBackupRegister(BKP_DR2); //The number of consecutive failed reboot cycles
PWR_BackupAccessCmd(DISABLE);
if(RCC->CSR&RCC_CSR_IWDGRSTF && shutdown_lock!=SHUTDOWNLOCK_MAGIC) {//Watchdog reset, turn off
RCC->CSR|=RCC_CSR_RMVF; //Reset the reset flags
shutdown();
}
if(USB_SOURCE==bootsource) {
RCC->CFGR &= ~(uint32_t)RCC_CFGR_PPRE1_DIV16;
RCC->CFGR |= (uint32_t)RCC_CFGR_PPRE1_DIV4;//Swap the ABP1 bus to run at 12mhz rather than 4 if we booted from USB, makes USB fast enough
}
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 && bDeviceState == UNCONNECTED)|| !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
}
PWR_BackupAccessCmd(ENABLE); /* Allow access to BKP Domain */
BKP_WriteBackupRegister(BKP_DR3,0x0000);//Wipe the shutdown lock setting
PWR_BackupAccessCmd(DISABLE);
while(1) {
if(!(Millis%1000) && bDeviceState == SUSPENDED) {
Delay(100);
if(!GET_VBUS_STATE)
shutdown();
}
Watchdog_Reset();
__WFI(); //Sleep mode
}
}
if(!GET_PWR_STATE && !(CoreDebug->DHCSR&0x00000001) && shutdown_lock!=SHUTDOWNLOCK_MAGIC) {//Check here to make sure the power button is still pressed, if not, sleep if no debug and not in always on flight mode
shutdown(); //This means a glitch on the supply line, or a power glitch results in sleep
}
// check to see if battery has enough charge to start
ADC_Configuration(); //We leave this a bit later to allow stabilisation
{
uint32_t t=Millis;
while(Millis<(t+100)){__WFI();} //Sensor+inst amplifier takes about 100ms to stabilise after power on
}
if(Battery_Voltage<BATTERY_STARTUP_LIMIT) { //We will have to turn off
if(reset_counter<10)
shutdown();
}
Watchdog_Reset(); //Card Init can take a second or two
// system has passed battery level check and so file can be opened
{//Context
uint8_t silabs_header[5]={};
uint8_t* silabs_header_=NULL; //Pointer to the array (if all goes ok)
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_err_code=f_open(&FATFS_logfile,(const TCHAR*)"time.txt",FA_OPEN_EXISTING|FA_READ|FA_WRITE))){//Try to open time file get system time
if(!f_stat((const TCHAR *)"time.txt",&FATFS_info)) {//Get file info
if(FATFS_info.fsize<5) { //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
}
// load settings if file exists
Watchdog_Reset(); //Card Init can take a second or two
if(!f_open(&FATFS_logfile,(const TCHAR *)"settings.dat",FA_OPEN_EXISTING | FA_READ)) {
UINT br;
int8_t rtc_correction;
f_read(&FATFS_logfile, (void*)(&rtc_correction),sizeof(rtc_correction),&br);
//Use the setting to apply correction to the RTC
if(br && (rtc_correction<30) && (rtc_correction>-92) && rtc_correction ) {
PWR_BackupAccessCmd(ENABLE);/* Allow access to BKP Domain */
uint16_t tweaked_prescale = (0x0001<<15)-2;/* Try to run the RTC slightly too fast so it can be corrected either way */
RTC_WaitForSynchro(); /* Wait for RTC registers synchronization */
if( RTC->PRLL != tweaked_prescale ) {/*Note that there is a 0.5ppm offset here (correction 0==0.5ppm slow)*/
RTC_SetPrescaler(tweaked_prescale); /* RTC period = RTCCLK/RTC_PR = (32.768 KHz)/(32767-2+1) */
RTC_WaitForLastTask();
}
BKP_SetRTCCalibrationValue((uint8_t) ((int16_t)31-(21*(int16_t)rtc_correction)/(int16_t)20) );
BKP_RTCOutputConfig(BKP_RTCOutputSource_None);/* Ensure any output is disabled here */
/* Lock access to BKP Domain */
PWR_BackupAccessCmd(DISABLE);
}
else if(br && ((uint8_t)rtc_correction==0x91) ) {/* 0x91 magic flag sets the RTC clock output on */
PWR_BackupAccessCmd(ENABLE);/* Allow access to BKP Domain */
BKP_RTCOutputConfig(BKP_RTCOutputSource_CalibClock);/* Output a 512Hz reference clock on the TAMPER pin*/
PWR_BackupAccessCmd(DISABLE);
}
if(br) {
f_read(&FATFS_logfile, (void*)(&shutdown_lock),sizeof(shutdown_lock),&br);/*This needs to be set with the same magic flag value*/
if(br==2) {
PWR_BackupAccessCmd(ENABLE);/* Allow access to BKP Domain */
BKP_WriteBackupRegister(BKP_DR3,shutdown_lock);//Wipe the shutdown lock setting
PWR_BackupAccessCmd(DISABLE);
}
}
if(br==2) { //Read was successful, next try to read 5 bytes of packet header
f_read(&FATFS_logfile, (void*)(silabs_header),5,&br);
if(br!=5)
silabs_header_=silabs_header;
}
f_close(&FATFS_logfile); //Close the settings.dat 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("%02d-%02d-%02dT%02d-%02d-%02d-%s.csv",RTC_time.year,RTC_time.month,RTC_time.mday,RTC_time.hour,RTC_time.min,RTC_time.sec,"Log");//Timestamp name
rprintfInit(__usart_send_char); //Printf over the bluetooth
#endif
Watchdog_Reset(); //Card Init can take a second or two
if((f_err_code=f_open(&FATFS_logfile,(TCHAR*)LOGFILE_NAME,FA_CREATE_ALWAYS | FA_WRITE))) {//Present
Delay(10000);
if((f_err_code=f_open(&FATFS_logfile,(TCHAR*)LOGFILE_NAME,FA_CREATE_ALWAYS | FA_WRITE))) {//Try again
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 {
Watchdog_Reset(); //Card Init can take a second or two
print_string[strlen(print_string)-4]=0x00;//Wipe the .csv off the string
strcat(print_string,"_gyro.wav");
if((f_err_code=f_open(&FATFS_wavfile_gyro,(TCHAR*)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
if(file_opened==1) {
Watchdog_Reset(); //Card Init can take a second or two
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_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_wavfile_gyro);//Close the already opened file on error
else
file_opened|=2; //So we know to close the file properly on shutdown
}
}
}
}
f_err_code|=write_wave_header(&FATFS_wavfile_gyro, 4, 100, 16);//4 channels, last channel is for the current rpm
Watchdog_Reset(); //Card Init can take a second or two
//Setup and test the silabs radio
silab=si446x_setup(silabs_header_);
if(silab!=0x44) { //Should return the device code
print_string[0]=0x00;
printf("Silabs: %02x\n",silab);
f_puts("Silabs detect error, got:",&FATFS_logfile);
f_puts(print_string,&FATFS_logfile);
shutdown_filesystem(ERR, file_opened);//So we log that something went wrong in the logfile
shutdown();
}
}//Context
/**
* @brief Calibration of External crystal oscillator auto(through Timer
*
* @param None
* @retval : None
*/
void AutoClockCalibration(void)
{
RCC_ClocksTypeDef ClockValue;
uint16_t TimerPrescalerValue=0x0003;
uint16_t CountWait;
uint16_t DeviationInteger;
uint32_t CalibrationTimer;
float f32_Deviation;
TIM_ICInitTypeDef TIM_ICInitStructure;
TIM_DeInit(TIM2);
BKP_TamperPinCmd(DISABLE);
BKP_RTCOutputConfig(BKP_RTCOutputSource_CalibClock);
/* TIM2 configuration: PWM Input mode ------------------------
The external signal is connected to TIM2 CH2 pin (PA.01),
The Rising edge is used as active edge,
The TIM2 CCR2 is used to compute the frequency value
The TIM2 CCR1 is used to compute the duty cycle value
------------------------------------------------------------ */
TIM_PrescalerConfig(TIM2,TimerPrescalerValue,TIM_PSCReloadMode_Immediate);
TIM_ICInitStructure.TIM_Channel = TIM_Channel_2;
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
TIM_ICInitStructure.TIM_ICFilter = 0x00;
TIM_PWMIConfig(TIM2, &TIM_ICInitStructure);
TIM_ICInit(TIM2, &TIM_ICInitStructure);
/* Select the TIM2 Input Trigger: TI2FP2 */
TIM_SelectInputTrigger(TIM2, TIM_TS_TI2FP2);
/* Select the slave Mode: Reset Mode */
TIM_SelectSlaveMode(TIM2, TIM_SlaveMode_Reset);
/* Enable the Master/Slave Mode */
TIM_SelectMasterSlaveMode(TIM2, TIM_MasterSlaveMode_Enable);
/* TIM enable Counter */
TIM_Cmd(TIM2, ENABLE);
LCD_Clear(Blue2);
LCD_DisplayString(Line4,Column1,"Please Wait.....");
/* Wait for 2 seconds */
CalibrationTimer = RTC_GetCounter();
while((RTC_GetCounter() - CalibrationTimer) < 2)
{
}
RCC_GetClocksFreq(&ClockValue);
TimerFrequency=(ClockValue.PCLK1_Frequency * 2)/(TimerPrescalerValue+1);
/* Enable the CC2 Interrupt Request */
TIM_ITConfig(TIM2, TIM_IT_CC2, ENABLE);
/* Wait for 2 seconds */
CalibrationTimer = RTC_GetCounter();
while((RTC_GetCounter() - CalibrationTimer) < 2)
{
}
if(!(TIM_GetFlagStatus(TIM2, TIM_FLAG_CC1)))
/* There is no signal at the timer TIM2 peripheral input */
{
LCD_Clear(Blue2);
LCD_DisplayString(Line3,Column0,"Please connect wire");
LCD_DisplayString(Line4,Column0,"link between PC13");
LCD_DisplayString(Line5,Column0,"and PA1");
LCD_DisplayString(Line7,Column0,"No calibration done");
}
else
{
/* Calulate Deviation in ppm using the formula :
Deviation in ppm = (Deviation from 511.968/511.968)*1 million*/
if(f32_Frequency > 511.968)
{
f32_Deviation=((f32_Frequency-511.968)/511.968)*1000000;
}
else
{
f32_Deviation=((511.968-f32_Frequency)/511.968)*1000000;
}
DeviationInteger = (uint16_t)f32_Deviation;
if(f32_Deviation >= (DeviationInteger + 0.5))
{
DeviationInteger = ((uint16_t)f32_Deviation)+1;
}
CountWait=0;
/* Frequency deviation in ppm should be les than equal to 121 ppm*/
if(DeviationInteger <= 121)
{
while(CountWait<128)
{
if(CalibrationPpm[CountWait] == DeviationInteger)
break;
CountWait++;
}
BKP_SetRTCCalibrationValue(CountWait);
LCD_Clear(Blue2);
LCD_DisplayString(Line4,Column1,"Calibration Value");
LCD_DisplayChar(Line5,Column10,(CountWait%10)+0x30);
CountWait=CountWait/10;
LCD_DisplayChar(Line5,Column9,(CountWait%10)+0x30);
CountWait=CountWait/10;
if(CountWait>0)
{
LCD_DisplayChar(Line5,Column8,(CountWait%10)+0x30);
}
}
else /* Frequency deviation in ppm is more than 121 ppm, hence calibration
can not be done */
{
LCD_Clear(Blue2);
LCD_DisplayString(Line3,Column1,"Out Of Calibration");
LCD_DisplayString(Line4,Column4,"Range");
}
}
BKP_RTCOutputConfig(BKP_RTCOutputSource_None);
TIM_ITConfig(TIM2, TIM_IT_CC2, DISABLE);
TIM_Cmd(TIM2, DISABLE);
TIM_DeInit(TIM2);
CalibrationTimer=RTC_GetCounter();
/* Wait for 2 seconds */
while((RTC_GetCounter() - CalibrationTimer) < 5)
{
}
MenuInit();
}
static rt_err_t rt_rtc_control(rt_device_t dev, rt_uint8_t cmd, void *args)
{
rt_time_t *time;
unsigned char calivalue;
RT_ASSERT(dev != RT_NULL);
switch (cmd) {
case RT_DEVICE_CTRL_RTC_GET_TIME:
time = (rt_time_t *)args;
/* read device */
*time = RTC_GetCounter();
break;
case RT_DEVICE_CTRL_RTC_SET_TIME:
time = (rt_time_t *)args;
/* Enable PWR and BKP clocks */
//RCC_APB1PeriphClockCmd(RCC_APB1Periph_PWR | RCC_APB1Periph_BKP, ENABLE);
/* Allow access to BKP Domain */
PWR_BackupAccessCmd(ENABLE);
/* Wait until last write operation on RTC registers has finished */
RTC_WaitForLastTask();
/* Change the current time */
RTC_SetCounter(*time);
/* Wait until last write operation on RTC registers has finished */
RTC_WaitForLastTask();
BKP_WriteBackupRegister(RTC_SET_FLAG_BKP16BITS, 0xA5A5);
PWR_BackupAccessCmd(DISABLE);
break;
case RT_DEVICE_CTRL_RTC_CALI_SET:
/*calibration clock default*/
if (RT_EOK == get_rtc_cali_param(&calivalue)) {
if (RTC_CALIBRATION_DEF_VALUE == calivalue) {
rt_kprintf("rtc not cfg cali val\n");
} else if (calivalue<=0x7f) {
PWR_BackupAccessCmd(ENABLE);
BKP_SetRTCCalibrationValue(calivalue);
PWR_BackupAccessCmd(DISABLE);
} else
rt_kprintf("rtc calivalue(%d) error\n", calivalue);
} else {
rt_kprintf("get rtc cali value fail\n");
}
break;
default:
break;
}
return RT_EOK;
}
/*******************************************************************************
* Function Name : AutoClockCalibration
* Description : Calibration of External crystal oscillator auto(through Timer
peripheral)
* Input : None
* Output : None
* Return : None
*******************************************************************************/
void AutoClockCalibration(void)
{
RCC_ClocksTypeDef ClockValue;
u16 u16_TimerPrescalerValue=0x0003;
u16 u16_CountWait;
u16 u16_DeviationInteger;
u32 u32_CalibrationTimer;
float f32_Deviation;
TIM_ICInitTypeDef TIM_ICInitStructure;
TIM_DeInit(TIM2);
BKP_TamperPinCmd(DISABLE);
BKP_RTCOutputConfig(BKP_RTCOutputSource_CalibClock);
/* TIM2 configuration: PWM Input mode ------------------------
The external signal is connected to TIM2 CH2 pin (PA.01),
The Rising edge is used as active edge,
The TIM2 CCR2 is used to compute the frequency value
The TIM2 CCR1 is used to compute the duty cycle value
------------------------------------------------------------ */
TIM_PrescalerConfig(TIM2,u16_TimerPrescalerValue,TIM_PSCReloadMode_Immediate);
TIM_ICInitStructure.TIM_Channel = TIM_Channel_2;
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
TIM_ICInitStructure.TIM_ICFilter = 0x00;
TIM_PWMIConfig(TIM2, &TIM_ICInitStructure);
TIM_ICInit(TIM2, &TIM_ICInitStructure);
/* Select the TIM2 Input Trigger: TI2FP2 */
TIM_SelectInputTrigger(TIM2, TIM_TS_TI2FP2);
/* Select the slave Mode: Reset Mode */
TIM_SelectSlaveMode(TIM2, TIM_SlaveMode_Reset);
/* Enable the Master/Slave Mode */
TIM_SelectMasterSlaveMode(TIM2, TIM_MasterSlaveMode_Enable);
/* TIM enable u16_Counter */
TIM_Cmd(TIM2, ENABLE);
/* Wait for 2 seconds */
u32_CalibrationTimer = RTC_GetCounter();
while((RTC_GetCounter() - u32_CalibrationTimer) < 2)
{
}
RCC_GetClocksFreq(&ClockValue);
u32_TimerFrequency=(ClockValue.PCLK1_Frequency * 2)/(u16_TimerPrescalerValue+1);
/* Enable the CC2 Interrupt Request */
TIM_ITConfig(TIM2, TIM_IT_CC2, ENABLE);
/* Wait for 2 seconds */
u32_CalibrationTimer = RTC_GetCounter();
while((RTC_GetCounter() - u32_CalibrationTimer) < 2)
{
}
if(!(TIM_GetFlagStatus(TIM2, TIM_FLAG_CC1)))
/* There is no signal at the timer TIM2 peripheral input */
{
}
else
{
/* Calulate Deviation in ppm using the formula :
Deviation in ppm = (Deviation from 511.968/511.968)*1 million*/
if(f32_Frequency > 511.968)
{
f32_Deviation=((f32_Frequency-511.968)/511.968)*1000000;
}
else
{
f32_Deviation=((511.968-f32_Frequency)/511.968)*1000000;
}
u16_DeviationInteger = (u16)f32_Deviation;
if(f32_Deviation >= (u16_DeviationInteger + 0.5))
{
u16_DeviationInteger = ((u16)f32_Deviation)+1;
}
u16_CountWait=0;
/* Frequency deviation in ppm should be les than equal to 121 ppm*/
if(u16_DeviationInteger <= 121)
{
while(u16_CountWait<128)
{
if(u8_CalibrationPpm[u16_CountWait] == u16_DeviationInteger)
break;
u16_CountWait++;
}
BKP_SetRTCCalibrationValue(u16_CountWait);
u16_CountWait=u16_CountWait/10;
u16_CountWait=u16_CountWait/10;
if(u16_CountWait>0)
{
}
}
else /* Frequency deviation in ppm is more than 121 ppm, hence calibration
can not be done */
{
}
}
BKP_RTCOutputConfig(BKP_RTCOutputSource_None);
TIM_ITConfig(TIM2, TIM_IT_CC2, DISABLE);
TIM_Cmd(TIM2, DISABLE);
TIM_DeInit(TIM2);
u32_CalibrationTimer=RTC_GetCounter();
/* Wait for 2 seconds */
while((RTC_GetCounter() - u32_CalibrationTimer) < 5)
{
}
//MenuInit();
}
