419 lines
12 KiB
C
419 lines
12 KiB
C
/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* @file : main.c
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* @brief : Main program body
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2024 STMicroelectronics.
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* All rights reserved.
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*
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* This software is licensed under terms that can be found in the LICENSE file
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* in the root directory of this software component.
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* If no LICENSE file comes with this software, it is provided AS-IS.
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*
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******************************************************************************
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*/
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/* USER CODE END Header */
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/* Includes ------------------------------------------------------------------*/
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#include "main.h"
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#include "adc.h"
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#include "dma.h"
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#include "i2c.h"
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#include "tim.h"
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#include "usart.h"
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#include "usb_device.h"
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#include "gpio.h"
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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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#include <stdbool.h>
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#include "usbd_cdc_if.h"
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#include "version.h"
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/* USER CODE END Includes */
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/* Private typedef -----------------------------------------------------------*/
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/* USER CODE BEGIN PTD */
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typedef struct EMA_Filter
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{
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float filtered_sample;
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uint32_t last_sample;
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float coeff;
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} EMA_Filter_t;
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/* USER CODE END PTD */
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/* Private define ------------------------------------------------------------*/
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/* USER CODE BEGIN PD */
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#define NUM_SLIDERS (6u)
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#define SLIDER_COEFF 0.30f
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#define MAX_PWM_VALUE (10000u)
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#define PWM_LIMIT (30.0f)
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#define BTN_POLL_TIME (100u)
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#define UART_LOOP_TIME (1000u)
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/* USER CODE END PD */
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/* Private macro -------------------------------------------------------------*/
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/* USER CODE BEGIN PM */
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/* USER CODE END PM */
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/* Private variables ---------------------------------------------------------*/
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/* USER CODE BEGIN PV */
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uint16_t m_adc1[4];
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uint16_t m_adc2[2];
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bool m_adc1_filtered_ready = false;
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bool m_adc2_filtered_ready = false;
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EMA_Filter_t m_slider_filters[NUM_SLIDERS];
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float m_sliders[NUM_SLIDERS];
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uint8_t m_buttons = 0;
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char buf[512] = {0};
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/* USER CODE END PV */
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/* Private function prototypes -----------------------------------------------*/
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void SystemClock_Config(void);
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/* USER CODE BEGIN PFP */
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void filter_adc1(void);
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void filter_adc2(void);
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void set_pwm_outputs(void);
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float map(float x, float in_min, float in_max, float out_min, float out_max);
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float map_clamp(float x, float in_min, float in_max, float out_min, float out_max);
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#ifdef __GNUC__
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/* With GCC/RAISONANCE, small printf (option LD Linker->Libraries->Small printf
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set to 'Yes') calls __io_putchar() */
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#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
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#else
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#define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
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#endif /* __GNUC__ */
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/* USER CODE END PFP */
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/* Private user code ---------------------------------------------------------*/
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/* USER CODE BEGIN 0 */
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/* USER CODE END 0 */
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/**
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* @brief The application entry point.
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* @retval int
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*/
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int main(void)
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{
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/* USER CODE BEGIN 1 */
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uint32_t prev_uart_tick = UART_LOOP_TIME;
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uint32_t prev_btn_time = BTN_POLL_TIME;
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/* USER CODE END 1 */
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/* MCU Configuration--------------------------------------------------------*/
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/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
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HAL_Init();
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/* USER CODE BEGIN Init */
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/* USER CODE END Init */
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/* Configure the system clock */
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SystemClock_Config();
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/* USER CODE BEGIN SysInit */
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/* USER CODE END SysInit */
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/* Initialize all configured peripherals */
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MX_GPIO_Init();
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MX_DMA_Init();
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MX_I2C1_Init();
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MX_TIM1_Init();
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MX_TIM2_Init();
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MX_TIM3_Init();
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MX_ADC1_Init();
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MX_ADC2_Init();
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MX_USART1_UART_Init();
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MX_USB_Device_Init();
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/* USER CODE BEGIN 2 */
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// int len = snprintf(buf, 128, "Version: %s\r\n", VERSION_STR);
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// CDC_Transmit_FS((uint8_t *)buf, len);
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// Initialize EMA filters
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for (uint32_t i = 0; i < NUM_SLIDERS; i++)
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{
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m_slider_filters[i].last_sample = 0;
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m_slider_filters[i].coeff = SLIDER_COEFF;
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}
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// ADC setup
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// Calibrate
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HAL_ADCEx_Calibration_Start(&hadc1, ADC_SINGLE_ENDED);
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HAL_ADCEx_Calibration_Start(&hadc2, ADC_SINGLE_ENDED);
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HAL_ADC_Start_DMA(&hadc1, (uint32_t *)m_adc1, 4);
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HAL_ADC_Start_DMA(&hadc2, (uint32_t *)m_adc2, 2);
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// PWM Setup
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htim1.Instance->CCR1 = 0;
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htim1.Instance->CCR2 = 0;
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htim1.Instance->CCR3 = 0;
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htim2.Instance->CCR1 = 0;
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htim2.Instance->CCR2 = 0;
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htim2.Instance->CCR3 = 0;
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HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
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HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2);
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HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3);
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HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1);
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HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_2);
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HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
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HAL_TIM_Base_Start(&htim3);
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/* USER CODE END 2 */
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/* Infinite loop */
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/* USER CODE BEGIN WHILE */
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while (1)
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{
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if ((m_adc1_filtered_ready) == true && (m_adc2_filtered_ready == true))
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{
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// Map ADC value to PWM value
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for (uint32_t i = 0; i < NUM_SLIDERS; i++)
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{
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m_sliders[i] = map_clamp(m_slider_filters[i].filtered_sample, 100.0f, 3900.0f, 0.0f, 100.0f);
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}
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// Channel 1 is master, Channels 2-6 are slaves
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for (uint32_t j = 1; j < NUM_SLIDERS; j++)
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{
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m_sliders[j] = map_clamp(m_sliders[j], 0.0f, 100.0f, 0.0f, m_sliders[0]);
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}
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set_pwm_outputs();
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m_adc1_filtered_ready = false;
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m_adc2_filtered_ready = false;
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}
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// if ((HAL_GetTick() - prev_uart_tick) >= UART_LOOP_TIME)
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// {
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// prev_uart_tick = HAL_GetTick();
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// int len = snprintf(buf, 512, "Master\tCh1\tCh2\tCh3\tCh4\t\r\n");
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// len += snprintf((buf + len), (512 - len), "%03.1f\t%03.1f\t%03.1f\t%03.1f\t%03.1f\t\r\n",
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// m_sliders[0], m_sliders[1], m_sliders[2], m_sliders[3], m_sliders[4]);
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// len += snprintf((buf + len), (512 - len), "Version: %s\r\n", VERSION_STR);
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// CDC_Transmit_FS((uint8_t *)buf, len);
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// }
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if ((HAL_GetTick() - prev_btn_time) >= BTN_POLL_TIME)
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{
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prev_btn_time = HAL_GetTick();
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m_buttons |= (m_buttons & ~0x01) | HAL_GPIO_ReadPin(Btn_0_GPIO_Port, Btn_0_Pin);
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m_buttons |= (m_buttons & ~0x02) | HAL_GPIO_ReadPin(Btn_1_GPIO_Port, Btn_1_Pin) << 1;
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m_buttons |= (m_buttons & ~0x04) | HAL_GPIO_ReadPin(Btn_2_GPIO_Port, Btn_2_Pin) << 2;
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m_buttons |= (m_buttons & ~0x08) | HAL_GPIO_ReadPin(Btn_3_GPIO_Port, Btn_3_Pin) << 3;
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m_buttons |= (m_buttons & ~0x10) | HAL_GPIO_ReadPin(Btn_4_GPIO_Port, Btn_4_Pin) << 4;
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m_buttons |= (m_buttons & ~0x20) | HAL_GPIO_ReadPin(Btn_5_GPIO_Port, Btn_5_Pin) << 5;
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m_buttons |= (m_buttons & ~0x40) | HAL_GPIO_ReadPin(Btn_6_GPIO_Port, Btn_6_Pin) << 6;
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m_buttons |= (m_buttons & ~0x80) | HAL_GPIO_ReadPin(Btn_7_GPIO_Port, Btn_7_Pin) << 7;
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}
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/* USER CODE END WHILE */
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/* USER CODE BEGIN 3 */
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}
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/* USER CODE END 3 */
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}
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/**
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* @brief System Clock Configuration
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* @retval None
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*/
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void SystemClock_Config(void)
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{
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RCC_OscInitTypeDef RCC_OscInitStruct = {0};
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RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
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/** Configure the main internal regulator output voltage
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*/
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HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1_BOOST);
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/** Initializes the RCC Oscillators according to the specified parameters
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* in the RCC_OscInitTypeDef structure.
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*/
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RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI48 | RCC_OSCILLATORTYPE_HSE;
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RCC_OscInitStruct.HSEState = RCC_HSE_ON;
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RCC_OscInitStruct.HSI48State = RCC_HSI48_ON;
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RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
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RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
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RCC_OscInitStruct.PLL.PLLM = RCC_PLLM_DIV4;
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RCC_OscInitStruct.PLL.PLLN = 85;
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RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
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RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV4;
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RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2;
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if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
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{
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Error_Handler();
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}
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/** Initializes the CPU, AHB and APB buses clocks
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*/
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RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
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RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
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RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
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RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
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RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
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if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_4) != HAL_OK)
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{
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Error_Handler();
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}
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}
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/* USER CODE BEGIN 4 */
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void HAL_ADC_ConvCpltCallback(ADC_HandleTypeDef *hadc)
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{
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if (hadc->Instance == ADC1)
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{
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filter_adc1();
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}
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else if (hadc->Instance == ADC2)
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{
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filter_adc2();
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}
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}
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/*
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*
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*/
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void filter_adc1(void)
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{
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for (uint32_t i = 0; i < 4; i++)
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{
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// EMA
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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);
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// Store current sample for next time
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m_slider_filters[i].last_sample = m_adc1[i];
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m_adc1_filtered_ready = true;
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}
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}
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/*
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*
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*/
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void filter_adc2(void)
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{
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for (uint32_t i = 4; i < NUM_SLIDERS; i++)
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{
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// EMA
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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);
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// Store current sample for next time
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m_slider_filters[i].last_sample = m_adc2[i - 4];
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m_adc2_filtered_ready = true;
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}
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}
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/*
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*
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*/
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void set_pwm_outputs(void)
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{
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float ch1 = map_clamp(m_sliders[1], 0.0f, 100.0f, 0, (MAX_PWM_VALUE * PWM_LIMIT));
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float ch2 = map_clamp(m_sliders[2], 0.0f, 100.0f, 0, (MAX_PWM_VALUE * PWM_LIMIT));
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float ch3 = map_clamp(m_sliders[3], 0.0f, 100.0f, 0, (MAX_PWM_VALUE * PWM_LIMIT));
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float ch4 = map_clamp(m_sliders[4], 0.0f, 100.0f, 0, (MAX_PWM_VALUE * PWM_LIMIT));
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htim1.Instance->CCR1 = (uint32_t)(ch1);
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htim1.Instance->CCR2 = (uint32_t)(ch2);
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htim1.Instance->CCR3 = (uint32_t)(ch3);
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htim2.Instance->CCR1 = (uint32_t)(ch4);
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// htim2.Instance->CCR2 = (uint32_t)(MAX_PWM_VALUE * m_sliders[5]);
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// htim2.Instance->CCR3 = (uint32_t)(MAX_PWM_VALUE * m_sliders[5]);
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}
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/*
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*
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*/
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float map(float x, float in_min, float in_max, float out_min, float out_max)
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{
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return ((x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min);
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}
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/*
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*
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*/
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float map_clamp(float x, float in_min, float in_max, float out_min, float out_max)
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{
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float y = (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
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if (out_min > y)
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y = out_min;
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else if (out_max < y)
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y = out_max;
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return (y);
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}
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/**
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* @brief Retargets the C library printf function to the USART.
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* @param None
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* @retval None
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*/
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PUTCHAR_PROTOTYPE
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{
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/* Place your implementation of fputc here */
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/* e.g. write a character to the USART1 and Loop until the end of transmission */
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HAL_UART_Transmit(&huart1, (uint8_t *)&ch, 1, 0xFFFF);
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return ch;
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}
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/* USER CODE END 4 */
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/**
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* @brief This function is executed in case of error occurrence.
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* @retval None
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*/
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void Error_Handler(void)
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{
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/* USER CODE BEGIN Error_Handler_Debug */
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/* User can add his own implementation to report the HAL error return state */
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__disable_irq();
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while (1)
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{
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}
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/* USER CODE END Error_Handler_Debug */
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}
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#ifdef USE_FULL_ASSERT
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/**
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* @brief Reports the name of the source file and the source line number
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* where the assert_param error has occurred.
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* @param file: pointer to the source file name
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* @param line: assert_param error line source number
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* @retval None
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*/
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void assert_failed(uint8_t *file, uint32_t line)
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{
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/* USER CODE BEGIN 6 */
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/* User can add his own implementation to report the file name and line number,
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ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
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/* USER CODE END 6 */
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}
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#endif /* USE_FULL_ASSERT */
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