test-shutters/main.c

   1 /*
   2  *      Testing Shutter Controller
   3  *
   4  *      (c) 2023 Martin Mareš <mj@ucw.cz>
   5  */
   6
   7 #include "util.h"
   8
   9 #include <libopencm3/cm3/cortex.h>
  10 #include <libopencm3/cm3/nvic.h>
  11 #include <libopencm3/cm3/systick.h>
  12 #include <libopencm3/cm3/scb.h>
  13 #include <libopencm3/stm32/rcc.h>
  14 #include <libopencm3/stm32/desig.h>
  15 #include <libopencm3/stm32/gpio.h>
  16 #include <libopencm3/stm32/usart.h>
  17 #include <libopencm3/stm32/spi.h>
  18 #include <libopencm3/stm32/timer.h>
  19 #include <libopencm3/usb/dfu.h>
  20 #include <libopencm3/usb/usbd.h>
  21
  22 #include <string.h>
  23
  24 /*** Hardware init ***/
  25
  26 static void clock_init(void)
  27 {
  28         rcc_clock_setup_pll(&rcc_hse_configs[RCC_CLOCK_HSE8_72MHZ]);
  29
  30         rcc_periph_clock_enable(RCC_GPIOA);
  31         rcc_periph_clock_enable(RCC_GPIOB);
  32         rcc_periph_clock_enable(RCC_GPIOC);
  33         rcc_periph_clock_enable(RCC_SPI2);
  34         rcc_periph_clock_enable(RCC_USART1);
  35         rcc_periph_clock_enable(RCC_USB);
  36
  37         rcc_periph_reset_pulse(RST_GPIOA);
  38         rcc_periph_reset_pulse(RST_GPIOB);
  39         rcc_periph_reset_pulse(RST_GPIOC);
  40         rcc_periph_reset_pulse(RST_USART1);
  41         rcc_periph_reset_pulse(RST_USB);
  42 }
  43
  44 static void gpio_init(void)
  45 {
  46         // PA9 = TXD1 for debugging console
  47         // PA10 = RXD1 for debugging console
  48         gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ, GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO9);
  49         gpio_set_mode(GPIOA, GPIO_MODE_INPUT, GPIO_CNF_INPUT_FLOAT, GPIO10);
  50
  51         // PC13 = BluePill LED
  52         gpio_set_mode(GPIOC, GPIO_MODE_OUTPUT_50_MHZ, GPIO_CNF_OUTPUT_PUSHPULL, GPIO13);
  53         gpio_clear(GPIOC, GPIO13);
  54
  55         // PB6 = SSR (active low)
  56         gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ, GPIO_CNF_OUTPUT_PUSHPULL, GPIO6);
  57         gpio_set(GPIOB, GPIO6);
  58
  59         // PA0 = current sense
  60         gpio_set_mode(GPIOA, GPIO_MODE_INPUT, GPIO_CNF_INPUT_PULL_UPDOWN, GPIO0);
  61         gpio_set(GPIOA, GPIO0);
  62 }
  63
  64 static void usart_init(void)
  65 {
  66         usart_set_baudrate(USART1, 115200);
  67         usart_set_databits(USART1, 8);
  68         usart_set_stopbits(USART1, USART_STOPBITS_1);
  69         usart_set_mode(USART1, USART_MODE_TX_RX);
  70         usart_set_parity(USART1, USART_PARITY_NONE);
  71         usart_set_flow_control(USART1, USART_FLOWCONTROL_NONE);
  72
  73         usart_enable(USART1);
  74 }
  75
  76 /*** System ticks ***/
  77
  78 static volatile u32 ms_ticks;
  79
  80 void sys_tick_handler(void)
  81 {
  82         ms_ticks++;
  83 }
  84
  85 static void tick_init(void)
  86 {
  87         systick_set_frequency(1000, CPU_CLOCK_MHZ * 1000000);
  88         systick_counter_enable();
  89         systick_interrupt_enable();
  90 }
  91
  92 static void delay_ms(uint ms)
  93 {
  94         u32 start_ticks = ms_ticks;
  95         while (ms_ticks - start_ticks < ms)
  96                 ;
  97 }
  98
  99 /*** USB ***/
 100
 101 static usbd_device *usbd_dev;
 102
 103 enum usb_string {
 104         STR_MANUFACTURER = 1,
 105         STR_PRODUCT,
 106         STR_SERIAL,
 107 };
 108
 109 static char usb_serial_number[13];
 110
 111 static const char *usb_strings[] = {
 112         "United Computer Wizards",
 113         "Shutter Control Test",
 114         usb_serial_number,
 115 };
 116
 117 static const struct usb_device_descriptor device = {
 118         .bLength = USB_DT_DEVICE_SIZE,
 119         .bDescriptorType = USB_DT_DEVICE,
 120         .bcdUSB = 0x0200,
 121         .bDeviceClass = 0xFF,
 122         .bDeviceSubClass = 0,
 123         .bDeviceProtocol = 0,
 124         .bMaxPacketSize0 = 64,
 125         .idVendor = 0x4242,
 126         .idProduct = 0x0007,
 127         .bcdDevice = 0x0000,
 128         .iManufacturer = STR_MANUFACTURER,
 129         .iProduct = STR_PRODUCT,
 130         .iSerialNumber = STR_SERIAL,
 131         .bNumConfigurations = 1,
 132 };
 133
 134 static const struct usb_interface_descriptor iface = {
 135         .bLength = USB_DT_INTERFACE_SIZE,
 136         .bDescriptorType = USB_DT_INTERFACE,
 137         .bInterfaceNumber = 0,
 138         .bAlternateSetting = 0,
 139         .bNumEndpoints = 0,
 140         .bInterfaceClass = 0xFF,
 141         .bInterfaceSubClass = 0,
 142         .bInterfaceProtocol = 0,
 143         .iInterface = 0,
 144         .endpoint = NULL,
 145 };
 146
 147 static const struct usb_dfu_descriptor dfu_function = {
 148         .bLength = sizeof(struct usb_dfu_descriptor),
 149         .bDescriptorType = DFU_FUNCTIONAL,
 150         .bmAttributes = USB_DFU_CAN_DOWNLOAD | USB_DFU_WILL_DETACH,
 151         .wDetachTimeout = 255,
 152         .wTransferSize = 1024,
 153         .bcdDFUVersion = 0x0100,
 154 };
 155
 156 static const struct usb_interface_descriptor dfu_iface = {
 157         .bLength = USB_DT_INTERFACE_SIZE,
 158         .bDescriptorType = USB_DT_INTERFACE,
 159         .bInterfaceNumber = 1,
 160         .bAlternateSetting = 0,
 161         .bNumEndpoints = 0,
 162         .bInterfaceClass = 0xFE,
 163         .bInterfaceSubClass = 1,
 164         .bInterfaceProtocol = 1,
 165         .iInterface = 0,
 166
 167         .extra = &dfu_function,
 168         .extralen = sizeof(dfu_function),
 169 };
 170
 171 static const struct usb_interface ifaces[] = {{
 172         .num_altsetting = 1,
 173         .altsetting = &iface,
 174 }, {
 175         .num_altsetting = 1,
 176         .altsetting = &dfu_iface,
 177 }};
 178
 179 static const struct usb_config_descriptor config = {
 180         .bLength = USB_DT_CONFIGURATION_SIZE,
 181         .bDescriptorType = USB_DT_CONFIGURATION,
 182         .wTotalLength = 0,
 183         .bNumInterfaces = 2,
 184         .bConfigurationValue = 1,
 185         .iConfiguration = 0,
 186         .bmAttributes = 0x80,
 187         .bMaxPower = 50,        // multiplied by 2 mA
 188         .interface = ifaces,
 189 };
 190
 191 static byte usb_configured;
 192 static uint8_t usbd_control_buffer[64];
 193
 194 uint csense_counters[2] = { 0, 0 };
 195
 196 static void dfu_detach_complete(usbd_device *dev UNUSED, struct usb_setup_data *req UNUSED)
 197 {
 198         // Reset to bootloader, which implements the rest of DFU
 199         debug_printf("Switching to DFU\n");
 200         debug_flush();
 201         scb_reset_core();
 202 }
 203
 204 static enum usbd_request_return_codes dfu_control_cb(usbd_device *dev UNUSED,
 205         struct usb_setup_data *req,
 206         uint8_t **buf UNUSED,
 207         uint16_t *len UNUSED,
 208         void (**complete)(usbd_device *dev, struct usb_setup_data *req))
 209 {
 210         if (req->bmRequestType != 0x21 || req->bRequest != DFU_DETACH)
 211                 return USBD_REQ_NOTSUPP;
 212
 213         *complete = dfu_detach_complete;
 214         return USBD_REQ_HANDLED;
 215 }
 216
 217 static enum usbd_request_return_codes control_cb(
 218         usbd_device *dev UNUSED,
 219         struct usb_setup_data *req,
 220         uint8_t **buf,
 221         uint16_t *len,
 222         void (**complete)(usbd_device *dev, struct usb_setup_data *req) UNUSED)
 223 {
 224         uint index = req->wIndex;
 225         uint value = req->wValue;
 226
 227         if (req->bmRequestType == (USB_REQ_TYPE_IN | USB_REQ_TYPE_VENDOR | USB_REQ_TYPE_DEVICE)) {
 228                 debug_printf("Control request IN %02x (index=%d, len=%d)\n", req->bRequest, index, *len);
 229
 230                 const byte *reply = NULL;
 231                 uint reply_len = 0;
 232
 233                 switch (req->bRequest) {
 234                         case 0:
 235                                 reply = (const byte *) &csense_counters;
 236                                 reply_len = sizeof(csense_counters);
 237                                 break;
 238                         default:
 239                                 return USBD_REQ_NOTSUPP;
 240                 }
 241
 242                 uint n = MIN(*len, reply_len);
 243                 memcpy(*buf, reply, n);
 244                 *len = n;
 245                 return USBD_REQ_HANDLED;
 246         } else if (req->bmRequestType == (USB_REQ_TYPE_OUT | USB_REQ_TYPE_VENDOR | USB_REQ_TYPE_DEVICE)) {
 247                 debug_printf("Control request OUT %02x (index=%d, val=%d, len=%d)\n", req->bRequest, index, value, *len);
 248
 249                 switch (req->bRequest) {
 250                         case 1:
 251                                 if (*len != 0)
 252                                         return USBD_REQ_NOTSUPP;
 253                                 if (value & 1)
 254                                         gpio_clear(GPIOB, GPIO6);
 255                                 else
 256                                         gpio_set(GPIOB, GPIO6);
 257                                 break;
 258                         default:
 259                                 return USBD_REQ_NOTSUPP;
 260                 }
 261
 262                 return USBD_REQ_HANDLED;
 263         } else {
 264                 return USBD_REQ_NOTSUPP;
 265         }
 266 }
 267
 268 static void set_config_cb(usbd_device *dev, uint16_t wValue UNUSED)
 269 {
 270         usbd_register_control_callback(
 271                 dev,
 272                 USB_REQ_TYPE_VENDOR,
 273                 USB_REQ_TYPE_TYPE,
 274                 control_cb);
 275         usbd_register_control_callback(
 276                 dev,
 277                 USB_REQ_TYPE_CLASS | USB_REQ_TYPE_INTERFACE,
 278                 USB_REQ_TYPE_TYPE | USB_REQ_TYPE_RECIPIENT,
 279                 dfu_control_cb);
 280         usb_configured = 1;
 281 }
 282
 283 static void reset_cb(void)
 284 {
 285         debug_printf("USB: Reset\n");
 286         usb_configured = 0;
 287 }
 288
 289 static volatile bool usb_event_pending;
 290
 291 void usb_lp_can_rx0_isr(void)
 292 {
 293         /*
 294          *  We handle USB in the main loop to avoid race conditions between
 295          *  USB interrupts and other code. However, we need an interrupt to
 296          *  up the main loop from sleep.
 297          *
 298          *  We set up only the low-priority ISR, because high-priority ISR handles
 299          *  only double-buffered bulk transfers and isochronous transfers.
 300          */
 301         nvic_disable_irq(NVIC_USB_LP_CAN_RX0_IRQ);
 302         usb_event_pending = 1;
 303 }
 304
 305 static void usb_init(void)
 306 {
 307         // Simulate USB disconnect
 308         gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ, GPIO_CNF_OUTPUT_OPENDRAIN, GPIO11 | GPIO12);
 309         gpio_clear(GPIOA, GPIO11 | GPIO12);
 310         delay_ms(100);
 311
 312         usbd_dev = usbd_init(
 313                 &st_usbfs_v1_usb_driver,
 314                 &device,
 315                 &config,
 316                 usb_strings,
 317                 ARRAY_SIZE(usb_strings),
 318                 usbd_control_buffer,
 319                 sizeof(usbd_control_buffer)
 320         );
 321         usbd_register_reset_callback(usbd_dev, reset_cb);
 322         usbd_register_set_config_callback(usbd_dev, set_config_cb);
 323         usb_event_pending = 1;
 324 }
 325
 326 /*** Main ***/
 327
 328 int main(void)
 329 {
 330         clock_init();
 331         gpio_init();
 332         usart_init();
 333
 334         tick_init();
 335         desig_get_unique_id_as_dfu(usb_serial_number);
 336
 337         debug_printf("Hello, world!\n");
 338
 339         usb_init();
 340
 341         u32 last_blink = 0;
 342
 343         for (;;) {
 344                 if (ms_ticks - last_blink >= 1000) {
 345                         debug_led_toggle();
 346                         last_blink = ms_ticks;
 347                         debug_printf("C: %u %u\n", csense_counters[0], csense_counters[1]);
 348                 }
 349
 350                 csense_counters[gpio_get(GPIOA, GPIO0)]++;
 351
 352                 if (usart_get_flag(USART1, USART_SR_RXNE)) {
 353                         uint ch = usart_recv(USART1);
 354                         if (ch == '1') {
 355                                 gpio_clear(GPIOB, GPIO6);
 356                         } else if (ch == '0') {
 357                                 gpio_set(GPIOB, GPIO6);
 358                         } else {
 359                                 debug_putc(ch);
 360                         }
 361                 }
 362
 363                 if (usb_event_pending) {
 364                         usbd_poll(usbd_dev);
 365                         usb_event_pending = 0;
 366                         nvic_clear_pending_irq(NVIC_USB_LP_CAN_RX0_IRQ);
 367                         nvic_enable_irq(NVIC_USB_LP_CAN_RX0_IRQ);
 368                 }
 369
 370                 wait_for_interrupt();
 371         }
 372
 373         return 0;
 374 }