Sliders_McGee/Core/Src/main.c

/* USER CODE BEGIN Header */
/**
 ******************************************************************************
 * @file           : main.c
 * @brief          : Main program body
 ******************************************************************************
 * @attention
 *
 * Copyright (c) 2024 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"
#include "adc.h"
#include "dma.h"
#include "i2c.h"
#include "tim.h"
#include "usart.h"
#include "usb_device.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include <stdbool.h>
#include "usbd_cdc_if.h"
#include "version.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
typedef struct EMA_Filter
{
    float filtered_sample;
    uint32_t last_sample;
    float coeff;
} EMA_Filter_t;
/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
#define NUM_SLIDERS (6u)
#define SLIDER_COEFF 0.30f

#define MAX_PWM_VALUE (10000u)
#define PWM_LIMIT       (0.5f)

#define BTN_POLL_TIME (100u)
#define UART_LOOP_TIME (1000u)
/* USER CODE END PD */

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

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
uint16_t m_adc1[4];
uint16_t m_adc2[2];
bool m_adc1_filtered_ready = false;
bool m_adc2_filtered_ready = false;

EMA_Filter_t m_slider_filters[NUM_SLIDERS];

float m_sliders[NUM_SLIDERS];

uint8_t m_buttons = 0;

char buf[512] = {0};
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
void filter_adc1(void);
void filter_adc2(void);
void set_pwm_outputs(void);
float map(float x, float in_min, float in_max, float out_min, float out_max);
float map_clamp(float x, float in_min, float in_max, float out_min, float out_max);
#ifdef __GNUC__
/* With GCC/RAISONANCE, small printf (option LD Linker->Libraries->Small printf
   set to 'Yes') calls __io_putchar() */
#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
#else
#define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
#endif /* __GNUC__ */
/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

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

    /* USER CODE BEGIN 1 */
    uint32_t prev_uart_tick = UART_LOOP_TIME;
    uint32_t prev_btn_time = BTN_POLL_TIME;
    /* 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_I2C1_Init();
    MX_TIM1_Init();
    MX_TIM2_Init();
    MX_TIM3_Init();
    MX_ADC1_Init();
    MX_ADC2_Init();
    MX_USART1_UART_Init();
    MX_USB_Device_Init();
    /* USER CODE BEGIN 2 */

    // int len = snprintf(buf, 128, "Version: %s\r\n", VERSION_STR);
    // CDC_Transmit_FS((uint8_t *)buf, len);

    // Initialize EMA filters
    for (uint32_t i = 0; i < NUM_SLIDERS; i++)
    {
        m_slider_filters[i].last_sample = 0;
        m_slider_filters[i].coeff = SLIDER_COEFF;
    }

    // ADC setup
    // Calibrate
    HAL_ADCEx_Calibration_Start(&hadc1, ADC_SINGLE_ENDED);
    HAL_ADCEx_Calibration_Start(&hadc2, ADC_SINGLE_ENDED);

    HAL_ADC_Start_DMA(&hadc1, (uint32_t *)m_adc1, 4);
    HAL_ADC_Start_DMA(&hadc2, (uint32_t *)m_adc2, 2);

    // PWM Setup
    htim1.Instance->CCR1 = 0;
    htim1.Instance->CCR2 = 0;
    htim1.Instance->CCR3 = 0;

    htim2.Instance->CCR1 = 0;
    htim2.Instance->CCR2 = 0;
    htim2.Instance->CCR3 = 0;

    HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
    HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2);
    HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3);

    HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1);
    HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_2);
    HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);

    HAL_TIM_Base_Start(&htim3);

    /* USER CODE END 2 */

    /* Infinite loop */
    /* USER CODE BEGIN WHILE */
    while (1)
    {
        if ((m_adc1_filtered_ready) == true && (m_adc2_filtered_ready == true))
        {
            // Map ADC value to PWM value
            for (uint32_t i = 0; i < NUM_SLIDERS; i++)
            {
                m_sliders[i] = map_clamp(m_slider_filters[i].filtered_sample, 100.0f, 3900.0f, 0.0f, 100.0f);
            }

            // Channel 1 is master, Channels 2-6 are slaves
            for (uint32_t j = 1; j < NUM_SLIDERS; j++)
            {
                m_sliders[j] = map_clamp(m_sliders[j], 0.0f, 100.0f, 0.0f, m_sliders[0]);
            }

            set_pwm_outputs();

            m_adc1_filtered_ready = false;
            m_adc2_filtered_ready = false;
        }

        // if ((HAL_GetTick() - prev_uart_tick) >= UART_LOOP_TIME)
        // {
        //     prev_uart_tick = HAL_GetTick();

        //     int len = snprintf(buf, 512, "Master\tCh1\tCh2\tCh3\tCh4\t\r\n");

        //     len += snprintf((buf + len), (512 - len), "%03.1f\t%03.1f\t%03.1f\t%03.1f\t%03.1f\t\r\n",
        //                    m_sliders[0], m_sliders[1], m_sliders[2], m_sliders[3], m_sliders[4]);

        //     len += snprintf((buf + len), (512 - len), "Version: %s\r\n", VERSION_STR);

        //     CDC_Transmit_FS((uint8_t *)buf, len);
        // }

        if ((HAL_GetTick() - prev_btn_time) >= BTN_POLL_TIME)
        {
            prev_btn_time = HAL_GetTick();

            m_buttons |= (m_buttons & ~0x01) | HAL_GPIO_ReadPin(Btn_0_GPIO_Port, Btn_0_Pin);
            m_buttons |= (m_buttons & ~0x02) | HAL_GPIO_ReadPin(Btn_1_GPIO_Port, Btn_1_Pin) << 1;
            m_buttons |= (m_buttons & ~0x04) | HAL_GPIO_ReadPin(Btn_2_GPIO_Port, Btn_2_Pin) << 2;
            m_buttons |= (m_buttons & ~0x08) | HAL_GPIO_ReadPin(Btn_3_GPIO_Port, Btn_3_Pin) << 3;
            m_buttons |= (m_buttons & ~0x10) | HAL_GPIO_ReadPin(Btn_4_GPIO_Port, Btn_4_Pin) << 4;
            m_buttons |= (m_buttons & ~0x20) | HAL_GPIO_ReadPin(Btn_5_GPIO_Port, Btn_5_Pin) << 5;
            m_buttons |= (m_buttons & ~0x40) | HAL_GPIO_ReadPin(Btn_6_GPIO_Port, Btn_6_Pin) << 6;
            m_buttons |= (m_buttons & ~0x80) | HAL_GPIO_ReadPin(Btn_7_GPIO_Port, Btn_7_Pin) << 7;
        }
        /* 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};

    /** Configure the main internal regulator output voltage
     */
    HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1_BOOST);

    /** Initializes the RCC Oscillators according to the specified parameters
     * in the RCC_OscInitTypeDef structure.
     */
    RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI48 | RCC_OSCILLATORTYPE_HSE;
    RCC_OscInitStruct.HSEState = RCC_HSE_ON;
    RCC_OscInitStruct.HSI48State = RCC_HSI48_ON;
    RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
    RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
    RCC_OscInitStruct.PLL.PLLM = RCC_PLLM_DIV4;
    RCC_OscInitStruct.PLL.PLLN = 85;
    RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
    RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV4;
    RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2;
    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_4) != HAL_OK)
    {
        Error_Handler();
    }
}

/* USER CODE BEGIN 4 */
void HAL_ADC_ConvCpltCallback(ADC_HandleTypeDef *hadc)
{
    if (hadc->Instance == ADC1)
    {
        filter_adc1();
    }
    else if (hadc->Instance == ADC2)
    {
        filter_adc2();
    }
}

/*
 *
 */
void filter_adc1(void)
{
    for (uint32_t i = 0; i < 4; i++)
    {
        // EMA
        m_slider_filters[i].filtered_sample = (m_adc1[i] * m_slider_filters[i].coeff) + ((1 - m_slider_filters[i].coeff) * m_slider_filters[i].last_sample);
        // Store current sample for next time
        m_slider_filters[i].last_sample = m_adc1[i];

        m_adc1_filtered_ready = true;
    }
}

/*
 *
 */
void filter_adc2(void)
{
    for (uint32_t i = 4; i < NUM_SLIDERS; i++)
    {
        // EMA
        m_slider_filters[i].filtered_sample = (m_adc2[i - 4] * m_slider_filters[i].coeff) + ((1 - m_slider_filters[i].coeff) * m_slider_filters[i].last_sample);
        // Store current sample for next time
        m_slider_filters[i].last_sample = m_adc2[i - 4];

        m_adc2_filtered_ready = true;
    }
}

/*
 *
 */
void set_pwm_outputs(void)
{
    float ch1 = map_clamp(m_sliders[1], 0.0f, 100.0f, 0, (MAX_PWM_VALUE * PWM_LIMIT));
    float ch2 = map_clamp(m_sliders[2], 0.0f, 100.0f, 0, (MAX_PWM_VALUE * PWM_LIMIT));
    float ch3 = map_clamp(m_sliders[3], 0.0f, 100.0f, 0, (MAX_PWM_VALUE * PWM_LIMIT));
    float ch4 = map_clamp(m_sliders[4], 0.0f, 100.0f, 0, (MAX_PWM_VALUE * PWM_LIMIT));

    htim1.Instance->CCR1 = (uint32_t)(ch1);
    htim1.Instance->CCR2 = (uint32_t)(ch2);
    htim1.Instance->CCR3 = (uint32_t)(ch3);

    htim2.Instance->CCR1 = (uint32_t)(ch4);
    // htim2.Instance->CCR2 = (uint32_t)(MAX_PWM_VALUE * m_sliders[5]);
    // htim2.Instance->CCR3 = (uint32_t)(MAX_PWM_VALUE * m_sliders[5]);
}

/*
 *
 */
float map(float x, float in_min, float in_max, float out_min, float out_max)
{
    return ((x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min);
}

/*
 *
 */
float map_clamp(float x, float in_min, float in_max, float out_min, float out_max)
{
    float y = (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;

    if (out_min > y)
        y = out_min;
    else if (out_max < y)
        y = out_max;

    return (y);
}

/**
 * @brief  Retargets the C library printf function to the USART.
 * @param  None
 * @retval None
 */
PUTCHAR_PROTOTYPE
{
    /* Place your implementation of fputc here */
    /* e.g. write a character to the USART1 and Loop until the end of transmission */
    HAL_UART_Transmit(&huart1, (uint8_t *)&ch, 1, 0xFFFF);

    return ch;
}

/* 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 */