bexus-26-imu-fusion-flight-software/Src/main.c

/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * This notice applies to any and all portions of this file
  * that are not between comment pairs USER CODE BEGIN and
  * USER CODE END. Other portions of this file, whether 
  * inserted by the user or by software development tools
  * are owned by their respective copyright owners.
  *
  * Copyright (c) 2018 STMicroelectronics International N.V. 
  * All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without 
  * modification, are permitted, provided that the following conditions are met:
  *
  * 1. Redistribution of source code must retain the above copyright notice, 
  *    this list of conditions and the following disclaimer.
  * 2. Redistributions in binary form must reproduce the above copyright notice,
  *    this list of conditions and the following disclaimer in the documentation
  *    and/or other materials provided with the distribution.
  * 3. Neither the name of STMicroelectronics nor the names of other 
  *    contributors to this software may be used to endorse or promote products 
  *    derived from this software without specific written permission.
  * 4. This software, including modifications and/or derivative works of this 
  *    software, must execute solely and exclusively on microcontroller or
  *    microprocessor devices manufactured by or for STMicroelectronics.
  * 5. Redistribution and use of this software other than as permitted under 
  *    this license is void and will automatically terminate your rights under 
  *    this license. 
  *
  * THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS" 
  * AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT 
  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A 
  * PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
  * RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT 
  * SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
  * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, 
  * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF 
  * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING 
  * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
  * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  *
  ******************************************************************************
  */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "stm32f4xx_hal.h"
#include "adc.h"
#include "dma.h"
#include "fatfs.h"
#include "i2c.h"
#include "lwip.h"
#include "sdio.h"
#include "spi.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* USER CODE BEGIN Includes */
#include "bexus_sensors.h"
#include "bexus_sysclock.h"
#include "bexus_ms_exchange.h"
#include "bexus_udp_client.h"
/* USER CODE END Includes */

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

/* USER CODE BEGIN PV */
/* Private variables ---------------------------------------------------------*/


uint32_t start_main, end_main;

struct Dataset *dataset_rx, *dataset_rx_old;
struct Dataset rx_buf;
uint32_t rx_success, crc_error;
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);

/* USER CODE BEGIN PFP */
/* Private function prototypes -----------------------------------------------*/

/* USER CODE END PFP */

/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  *
  * @retval None
  */
int main(void)
{
  /* USER CODE BEGIN 1 */

  /* 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_LWIP_Init();
  MX_I2C1_Init();
  MX_I2C2_Init();
  MX_USART6_UART_Init();
  MX_USART3_UART_Init();
  MX_ADC3_Init();
  MX_SDIO_SD_Init();
  MX_FATFS_Init();
  MX_ADC1_Init();
  MX_SPI4_Init();
  MX_TIM6_Init();
  MX_USART2_UART_Init();
  /* USER CODE BEGIN 2 */
	
	Udp_Init();
	HAL_GPIO_WritePin(GPIOG,GPIO_PIN_12,GPIO_PIN_RESET);
	HAL_GPIO_WritePin(GPIOG,GPIO_PIN_14,GPIO_PIN_SET);	
	HAL_Delay(12);
	SD_Init();
	Sensors_Init();
	Data_Exchange_Init();
	HAL_TIM_Base_Start_IT(&htim6);
	
	
	HAL_UART_Receive_DMA(&huart3, (uint8_t*)&rx_buf, sizeof(struct Dataset));
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {

  /* USER CODE END WHILE */

  /* USER CODE BEGIN 3 */
		start_main = millis();
		Sensors();
		Data_Exchange();
		Mode_Select();
		
#ifdef BOARD_HAS_ETHERNET
		MX_LWIP_Process();
		if(millis()>60000 && !isNetworkUp()){
							NVIC_SystemReset();
}
#endif


		end_main = millis() - start_main;
		//UU_PutString("ABC");
		//UU_PutString("\r\n");
  }
  /* USER CODE END 3 */

}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{

  RCC_OscInitTypeDef RCC_OscInitStruct;
  RCC_ClkInitTypeDef RCC_ClkInitStruct;

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

  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

    /**Initializes the CPU, AHB and APB busses clocks 
    */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = 16;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
  RCC_OscInitStruct.PLL.PLLM = 8;
  RCC_OscInitStruct.PLL.PLLN = 168;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 7;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }

    /**Initializes the CPU, AHB and APB busses 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_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }

    /**Configure the Systick interrupt time 
    */
  HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);

    /**Configure the Systick 
    */
  HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);

  /* SysTick_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
}

/* USER CODE BEGIN 4 */
UART_HandleTypeDef *uart_dma;

void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
  uart_dma = huart;
	if(huart->Instance==USART2)
	{
		if (encode(aRxBuffer[0])) // Did a new valid sentence come in?
				newData = true;
	}
	else if(huart->Instance==USART3)
	{
		
		dataset_rx = &Dataset_Slave[buff_sensor_data_index];
//		uint32_t crc = 0;
//		
//		for(int i=0; i<sizeof(struct Dataset) - 4; i++){
//				uint8_t *b = (uint8_t*)&rx_buf + i;
//				crc += *b;
//			}
//		
//		if(rx_buf.crc == crc) {
			memcpy(dataset_rx, &rx_buf, sizeof(struct Dataset));
			
			if(memcmp(dataset_rx, dataset_rx_old, sizeof(struct Dataset)) == 0){ //if old data is same -> no heartbeat
				heartbeat=0;
			}
			else{
				heartbeat=1;
				rx_success ++;			
			}
			
			dataset_rx_old = dataset_rx;
//		} else {
//			crc_error++;
//		}
	} else {
	 rx_success--;
	}
}
/* USER CODE END 4 */

/**
  * @brief  Period elapsed callback in non blocking mode
  * @note   This function is called  when TIM1 interrupt took place, inside
  * HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
  * a global variable "uwTick" used as application time base.
  * @param  htim : TIM handle
  * @retval None
  */
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
  /* USER CODE BEGIN Callback 0 */

  /* USER CODE END Callback 0 */
  if (htim->Instance == TIM1) {
    HAL_IncTick();
  }
  /* USER CODE BEGIN Callback 1 */

  /* USER CODE END Callback 1 */
}

/**
  * @brief  This function is executed in case of error occurrence.
  * @param  file: The file name as string.
  * @param  line: The line in file as a number.
  * @retval None
  */
void _Error_Handler(char *file, int line)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  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,
     tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

/**
  * @}
  */

/**
  * @}
  */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/