4242:0006 DMX512 interface bootloader
4242:0007 Test gadget
4242:0008 Test gadget bootloader
-4242:0009 Neopixel indicators
-4242:000a Neopixel indicators bootloader
+4242:0009 Neopixel rainbow
+4242:000a Neopixel rainbow bootloader
cafe:cafe KSP Space Alert thermometer
cafe:caff KSP Space Alert accelerometer
+++ /dev/null
-Assignment of peripherals and pins
-==================================
-
-USART1 debugging
-TIM4 Neopixel control
-
-
- Blue Pill pinout
- +--------------------+
- | VBATT 3.3V |
-BluePill LED | PC13 GND | Neopixel ground
- | PC14 5V | Neopixel power
- | PC15 PB9 |
- | PA0 PB8 | TIM4_CH3 - Neopixel data (needs pull-up)
- | PA1 PB7 |
- | PA2 PB6 |
- | PA3 PB5 |
- | PA4 PB4 |
- | PA5 PB3 |
- | PA6 PA15 |
- | PA7 PA12 |
- | PB0 PA11 |
- | PB1 PA10 | RXD1 - debugging console
- | PB10 PA9 | TXD1 - debugging console
- | PB11 PA8 |
- | RESET PB15 |
- | 3.3 V PB14 |
- | GND PB13 |
- | GND PB12 |
- +--------------------+
+++ /dev/null
-ROOT=../..
-BINARY=bootloader
-OBJS=
-LIB_OBJS=util-debug.o dfu-bootloader.o
-MAX_SIZE=8192
-
-include $(ROOT)/mk/bluepill.mk
+++ /dev/null
-/*
- * Neopixel Indicators Bootloader -- Configuration
- *
- * (c) 2022 Martin Mareš <mj@ucw.cz>
- */
-
-// Processor clock
-
-#define CPU_CLOCK_MHZ 48
-
-// Debugging port
-
-#define DEBUG_USART USART1
-#define DEBUG_LED_BLUEPILL
-
-// Bootloader settings
-
-#undef BOOTLOADER_DEBUG
-#define BOOTLOADER_APP_START 0x08002000
-#define BOOTLOADER_MFG_ID 0x4242
-#define BOOTLOADER_PROD_ID 0x000a
-#define BOOTLOADER_PROD_VERSION 0x0100
-#define BOOTLOADER_MFG_NAME "United Computer Wizards"
-#define BOOTLOADER_PROD_NAME "Neopixel Indicators (boot-loader)"
+++ /dev/null
-PC=pkg-config
-UCW_CFLAGS := $(shell $(PC) --cflags libucw)
-UCW_LIBS := $(shell $(PC) --libs libucw)
-USB_CFLAGS := $(shell $(PC) --cflags libusb-1.0)
-USB_LIBS := $(shell $(PC) --libs libusb-1.0)
-MOSQUITTO_CFLAGS := $(shell $(PC) --cflags libmosquitto)
-MOSQUITTO_LIBS := $(shell $(PC) --libs libmosquitto)
-
-CFLAGS=-O2 -Wall -Wextra -Wno-sign-compare -Wno-parentheses -Wstrict-prototypes -Wmissing-prototypes $(UCW_CFLAGS) $(USB_CFLAGS) $(MOSQUITTO_CFLAGS)
-LDLIBS=$(UCW_LIBS) $(USB_LIBS) $(MOSQUITTO_LIBS) -lpthread -lm
-
-all: burrow-rainbowd
-
-burrow-rainbowd: burrow-rainbowd.o
-
-burrow-rainbowd.o: burrow-rainbowd.c ../firmware/interface.h
-
-install: burrow-rainbowd
- install burrow-rainbowd /usr/local/sbin/
-
-clean:
- rm -f *.o burrow-rainbowd
-
-.PHONY: all install clean
+++ /dev/null
-/*
- * Daemon for Neopixel Indicators over USB
- *
- * (c) 2022 Martin Mares <mj@ucw.cz>
- */
-
-#include <ucw/lib.h>
-#include <ucw/log.h>
-#include <ucw/opt.h>
-#include <ucw/string.h>
-#include <ucw/strtonum.h>
-#include <ucw/unaligned.h>
-
-#include <math.h>
-#include <stdarg.h>
-#include <stdio.h>
-#include <stdint.h>
-#include <stdlib.h>
-#include <string.h>
-#include <syslog.h>
-#include <threads.h>
-#include <time.h>
-#include <unistd.h>
-
-#include <libusb.h>
-#include <mosquitto.h>
-
-typedef unsigned char byte;
-typedef uint32_t u32;
-typedef unsigned int uint;
-
-#include "../firmware/interface.h"
-
-static mtx_t led_mutex;
-static cnd_t led_cond;
-static bool led_refresh;
-
-struct led {
- byte r, g, b;
-};
-
-static struct led leds[NPIX_NUM_LEDS];
-
-/*** MQTT ***/
-
-static struct mosquitto *mosq;
-static bool mqtt_connected;
-
-static void mqtt_publish(const char *topic, const char *fmt, ...)
-{
- va_list args;
- va_start(args, fmt);
-
- if (mqtt_connected) {
- char m[256];
- int l = vsnprintf(m, sizeof(m), fmt, args);
- int err = mosquitto_publish(mosq, NULL, topic, l, m, 0, true);
- if (err != MOSQ_ERR_SUCCESS)
- msg(L_ERROR, "Mosquitto: Publish failed, error=%d", err);
- }
-
- va_end(args);
-}
-
-static void mqtt_conn_callback(struct mosquitto *mosq UNUSED, void *obj UNUSED, int status)
-{
- if (!status) {
- msg(L_DEBUG, "MQTT: Connection established");
- mqtt_connected = true;
- mqtt_publish("status/rainbow", "ok");
- if (mosquitto_subscribe(mosq, NULL, "burrow/lights/rainbow/#", 1) != MOSQ_ERR_SUCCESS)
- die("Mosquitto: subscribe failed");
- } else if (mqtt_connected) {
- msg(L_DEBUG, "MQTT: Connection lost");
- mqtt_connected = false;
- }
-}
-
-static void mqtt_log_callback(struct mosquitto *mosq UNUSED, void *obj UNUSED, int level, const char *message)
-{
- msg(L_DEBUG, "MQTT(%d): %s", level, message);
-}
-
-static void mqtt_msg_callback(struct mosquitto *mosq UNUSED, void *obj UNUSED, const struct mosquitto_message *m)
-{
- char val[256];
- if (m->payloadlen >= sizeof(val) - 1) {
- msg(L_ERROR, "Invalid value for topic %s", m->topic);
- return;
- }
- memcpy(val, m->payload, m->payloadlen);
- val[m->payloadlen] = 0;
- msg(L_DEBUG, "MQTT < %s %s", m->topic, val);
-
- static const char px[] = "burrow/lights/rainbow/";
- if (!str_has_prefix(m->topic, px))
- return;
-
- uint index;
- if (str_to_uint(&index, m->topic + strlen(px), NULL, STN_DEC | STN_WHOLE) || index >= NPIX_NUM_LEDS) {
- msg(L_ERROR, "Unsupported topic: %s", m->topic);
- return;
- }
-
- uint r, g, b;
- if (sscanf(val, "%u%u%u", &r, &g, &b) != 3 || r >= 256 || g >= 256 || b >= 256) {
- msg(L_ERROR, "Invalid value of %s: %s", m->topic, val);
- return;
- }
-
- mtx_lock(&led_mutex);
- leds[index].r = r;
- leds[index].g = g;
- leds[index].b = b;
- led_refresh = 1;
- cnd_broadcast(&led_cond);
- mtx_unlock(&led_mutex);
-}
-
-static void mqtt_init(void)
-{
- mosquitto_lib_init();
-
- mosq = mosquitto_new("rainbowd", 1, NULL);
- if (!mosq)
- die("Mosquitto: Initialization failed");
-
- mosquitto_connect_callback_set(mosq, mqtt_conn_callback);
- mosquitto_log_callback_set(mosq, mqtt_log_callback);
- mosquitto_message_callback_set(mosq, mqtt_msg_callback);
-
- if (mosquitto_will_set(mosq, "status/rainbow", 4, "dead", 0, true) != MOSQ_ERR_SUCCESS)
- die("Mosquitto: Unable to set will");
-
- if (mosquitto_tls_set(mosq, "/etc/burrow-mqtt/ca.crt", NULL, "/etc/burrow-mqtt/client.crt", "/etc/burrow-mqtt/client.key", NULL) != MOSQ_ERR_SUCCESS)
- die("Mosquitto: Unable to set TLS parameters");
-
- if (mosquitto_connect_async(mosq, "burrow-mqtt", 8883, 60) != MOSQ_ERR_SUCCESS)
- die("Mosquitto: Unable to connect");
-
- if (mosquitto_loop_start(mosq))
- die("Mosquitto: Cannot start service thread");
-}
-
-/*** USB ***/
-
-static struct libusb_context *usb_ctxt;
-static struct libusb_device_handle *devh;
-
-static void usb_error(const char *msg, ...)
-{
- va_list args;
- va_start(args, msg);
- ucw_vmsg(L_ERROR, msg, args);
- va_end(args);
-
- if (devh) {
- libusb_close(devh);
- devh = NULL;
- }
-}
-
-static void open_device(void)
-{
- int err;
- libusb_device **devlist;
- ssize_t devn = libusb_get_device_list(usb_ctxt, &devlist);
- if (devn < 0)
- die("Cannot enumerate USB devices: error %d", (int) devn);
-
- for (ssize_t i=0; i<devn; i++) {
- struct libusb_device_descriptor desc;
- libusb_device *dev = devlist[i];
- if (!libusb_get_device_descriptor(dev, &desc)) {
- if (desc.idVendor == NPIX_USB_VENDOR && desc.idProduct == NPIX_USB_PRODUCT) {
- msg(L_INFO, "Found NPIX device at usb%d.%d", libusb_get_bus_number(dev), libusb_get_device_address(dev));
-
- if (err = libusb_open(dev, &devh)) {
- usb_error("Cannot open device: error %d", err);
- goto out;
- }
- libusb_reset_device(devh);
- if (err = libusb_claim_interface(devh, 0)) {
- usb_error("Cannot claim interface: error %d", err);
- goto out;
- }
-
- goto out;
- }
- }
- }
-
-out:
- libusb_free_device_list(devlist, 1);
-}
-
-static void init_usb(void)
-{
- int err;
- if (err = libusb_init(&usb_ctxt))
- die("Cannot initialize libusb: error %d", err);
- // libusb_set_debug(usb_ctxt, 3);
- open_device();
-}
-
-/*** NPIX ***/
-
-static byte npix_packet[3*NPIX_NUM_LEDS];
-
-static int npix_build_packet(void)
-{
- byte *pkt = npix_packet;
-
- for (int i=0; i < NPIX_NUM_LEDS; i++) {
- *pkt++ = leds[i].r;
- *pkt++ = leds[i].g;
- *pkt++ = leds[i].b;
- }
-
- return sizeof(npix_packet);
-}
-
-/*** Main ***/
-
-static int use_daemon;
-static int use_debug;
-
-static struct opt_section options = {
- OPT_ITEMS {
- OPT_HELP("A daemon for controlling lights via NPIX512"),
- OPT_HELP(""),
- OPT_HELP("Options:"),
- OPT_BOOL('d', "debug", use_debug, 0, "\tLog debugging messages"),
- OPT_BOOL(0, "daemon", use_daemon, 0, "\tDaemonize"),
- OPT_HELP_OPTION,
- OPT_CONF_OPTIONS,
- OPT_END
- }
-};
-
-int main(int argc UNUSED, char **argv)
-{
- log_init(argv[0]);
- opt_parse(&options, argv+1);
-
- if (use_daemon) {
- struct log_stream *ls = log_new_syslog("daemon", LOG_PID);
- log_set_default_stream(ls);
- }
- if (!use_debug)
- log_default_stream()->levels &= ~(1U << L_DEBUG);
-
- mtx_init(&led_mutex, mtx_plain);
- cnd_init(&led_cond);
-
- mqtt_init();
- init_usb();
-
- bool need_resend = true;
- for (;;) {
- if (!devh) {
- msg(L_INFO, "Waiting for device to appear...");
- while (!devh) {
- sleep(5);
- open_device();
- }
- need_resend = true;
- }
-
- mtx_lock(&led_mutex);
- while (!need_resend && !led_refresh)
- cnd_wait(&led_cond, &led_mutex);
-
- int len = npix_build_packet();
- led_refresh = 0;
- need_resend = 0;
- mtx_unlock(&led_mutex);
-
- msg(L_DEBUG, "Sending NPIX packet");
-
- int err, transferred;
- if (err = libusb_bulk_transfer(devh, 0x01, npix_packet, len, &transferred, 1000))
- usb_error("USB transfer failed: error %d", err);
- else if (transferred != len)
- usb_error("USB short transfer: %d out of %d bytes", transferred, len);
- }
-}
+++ /dev/null
-ROOT=../..
-BINARY=firmware
-OBJS=main.o
-LIB_OBJS=util-debug.o
-
-WITH_BOOT_LOADER=1
-WITH_DFU_FLASH=1
-DFU_ARGS=-d 4242:0009
-
-include $(ROOT)/mk/bluepill.mk
+++ /dev/null
-/*
- * Test Gadget -- Configuration
- *
- * (c) 2020 Martin Mareš <mj@ucw.cz>
- */
-
-// Processor clock
-
-#define CPU_CLOCK_MHZ 72
-
-// Debugging port
-
-#define DEBUG_USART USART1
-#define DEBUG_LED_BLUEPILL
+++ /dev/null
-/*
- * Neopixel Indicators -- Interface Definitions
- *
- * (c) 2022 Martin Mareš <mj@ucw.cz>
- */
-
-#define NPIX_USB_VENDOR 0x4242
-#define NPIX_USB_PRODUCT 0x0009
-#define NPIX_USB_VERSION 0x0100
-
-#define NPIX_NUM_LEDS 12
-
-/*
- * Endpoints:
- *
- * 0x01 = bulk endpoint
- * Accepts up to 12 3-byte records (R, G, B), each describing one LED.
- * If less than 12 records are sent, the remaining LEDs are left unmodified.
- */
+++ /dev/null
-/*
- * Neopixel (WS2812B) Test
- *
- * (c) 2022 Martin Mareš <mj@ucw.cz>
- */
-
-#include "util.h"
-
-#include <libopencm3/cm3/cortex.h>
-#include <libopencm3/cm3/nvic.h>
-#include <libopencm3/cm3/systick.h>
-#include <libopencm3/cm3/scb.h>
-#include <libopencm3/stm32/dma.h>
-#include <libopencm3/stm32/gpio.h>
-#include <libopencm3/stm32/rcc.h>
-#include <libopencm3/stm32/timer.h>
-#include <libopencm3/stm32/usart.h>
-#include <libopencm3/usb/dfu.h>
-#include <libopencm3/usb/usbd.h>
-
-#include <string.h>
-
-#include "interface.h"
-
-/*** Hardware init ***/
-
-static void clock_init(void)
-{
- rcc_clock_setup_pll(&rcc_hse_configs[RCC_CLOCK_HSE8_72MHZ]);
-
- rcc_periph_clock_enable(RCC_GPIOA);
- rcc_periph_clock_enable(RCC_GPIOB);
- rcc_periph_clock_enable(RCC_GPIOC);
- rcc_periph_clock_enable(RCC_USART1);
- rcc_periph_clock_enable(RCC_TIM4);
- rcc_periph_clock_enable(RCC_DMA1);
-
- rcc_periph_reset_pulse(RST_GPIOA);
- rcc_periph_reset_pulse(RST_GPIOB);
- rcc_periph_reset_pulse(RST_GPIOC);
- rcc_periph_reset_pulse(RST_USART1);
- rcc_periph_reset_pulse(RST_TIM4);
-}
-
-static void gpio_init(void)
-{
- // PA9 = TXD1 for debugging console
- // PA10 = RXD1 for debugging console
- gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ, GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO9);
- gpio_set_mode(GPIOA, GPIO_MODE_INPUT, GPIO_CNF_INPUT_FLOAT, GPIO10);
-
- // PC13 = BluePill LED
- gpio_set_mode(GPIOC, GPIO_MODE_OUTPUT_50_MHZ, GPIO_CNF_OUTPUT_PUSHPULL, GPIO13);
- gpio_clear(GPIOC, GPIO13);
-
- // PB8 = data for Neopixel
- gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ, GPIO_CNF_OUTPUT_ALTFN_OPENDRAIN, GPIO8);
-}
-
-static void usart_init(void)
-{
- usart_set_baudrate(USART1, 115200);
- usart_set_databits(USART1, 8);
- usart_set_stopbits(USART1, USART_STOPBITS_1);
- usart_set_mode(USART1, USART_MODE_TX);
- usart_set_parity(USART1, USART_PARITY_NONE);
- usart_set_flow_control(USART1, USART_FLOWCONTROL_NONE);
-
- usart_enable(USART1);
-}
-
-/*** System ticks ***/
-
-static volatile u32 ms_ticks;
-
-void sys_tick_handler(void)
-{
- ms_ticks++;
-}
-
-static void tick_init(void)
-{
- systick_set_frequency(1000, CPU_CLOCK_MHZ * 1000000);
- systick_counter_enable();
- systick_interrupt_enable();
-}
-
-static void delay_ms(uint ms)
-{
- u32 start_ticks = ms_ticks;
- while (ms_ticks - start_ticks < ms)
- ;
-}
-
-/*** Neopixels ***/
-
-#define NPIX_PERIOD 90 // timer runs on 72 MHz, so 90 periods = 1250 ns
-#define NPIX_RESET 64 // the chip needs longer reset pulse than documented
-#define NPIX_B0 30
-#define NPIX_B1 60
-
-static byte led_rgb[NPIX_NUM_LEDS][3];
-
-static byte neopixel_buf[NPIX_RESET + NPIX_NUM_LEDS*24 + 1];
-static bool neopixel_dma_running;
-static bool neopixel_want_send;
-
-static void neopixel_run_dma(void)
-{
- // When STM32 is programmed using ST-Link, the DMA sometimes keeps running.
- dma_channel_reset(DMA1, 7);
-
- // This order of register writes is recommended in the manual.
- dma_set_peripheral_address(DMA1, 7, (u32) &TIM_CCR3(TIM4));
- dma_set_memory_address(DMA1, 7, (u32) neopixel_buf);
- dma_set_number_of_data(DMA1, 7, ARRAY_SIZE(neopixel_buf));
- dma_set_priority(DMA1, 7, DMA_CCR_PL_VERY_HIGH);
-
- dma_set_read_from_memory(DMA1, 7);
-
- dma_set_memory_size(DMA1, 7, DMA_CCR_MSIZE_8BIT);
- dma_enable_memory_increment_mode(DMA1, 7);
-
- dma_set_peripheral_size(DMA1, 7, DMA_CCR_PSIZE_16BIT);
- dma_disable_peripheral_increment_mode(DMA1, 7);
-
- dma_clear_interrupt_flags(DMA1, 7, DMA_TCIF);
- dma_enable_channel(DMA1, 7);
- neopixel_dma_running = 1;
-}
-
-static void neopixel_recalc(void)
-{
- byte *buf = neopixel_buf;
- for (uint i = 0; i < NPIX_RESET; i++)
- *buf++ = 0;
- for (uint i = 0; i < NPIX_NUM_LEDS; i++) {
- // The order is GRB, MSB first
- for (uint m = 0x80; m; m >>= 1)
- *buf++ = ((led_rgb[i][1] & m) ? NPIX_B1 : NPIX_B0);
- for (uint m = 0x80; m; m >>= 1)
- *buf++ = ((led_rgb[i][0] & m) ? NPIX_B1 : NPIX_B0);
- for (uint m = 0x80; m; m >>= 1)
- *buf++ = ((led_rgb[i][2] & m) ? NPIX_B1 : NPIX_B0);
- }
- *buf++ = NPIX_PERIOD;
-
- neopixel_run_dma();
- neopixel_want_send = 0;
-}
-
-static void neopixel_init(void)
-{
- // TIM4 is always running and producing DMA requests on each update
- // (connected to DMA1 channel 7). When we have something to send,
- // the DMA is enabled.
-
- timer_set_prescaler(TIM4, 0);
- timer_set_mode(TIM4, TIM_CR1_CKD_CK_INT, TIM_CR1_CMS_EDGE, TIM_CR1_DIR_UP);
- timer_disable_preload(TIM4);
- timer_set_period(TIM4, NPIX_PERIOD - 1);
-
- timer_set_oc_mode(TIM4, TIM_OC3, TIM_OCM_PWM1);
- timer_set_oc_value(TIM4, TIM_OC3, 0);
- timer_set_oc_polarity_high(TIM4, TIM_OC3);
- timer_enable_oc_output(TIM4, TIM_OC3);
-
- timer_set_dma_on_update_event(TIM4);
- TIM_DIER(TIM4) |= TIM_DIER_UDE;
-
- led_rgb[0][1] = 0xaa;
-
- timer_enable_counter(TIM4);
- neopixel_recalc();
-}
-
-static bool neopixel_ready(void)
-{
- if (!neopixel_dma_running)
- return 1;
-
- if (!dma_get_interrupt_flag(DMA1, 7, DMA_TCIF))
- return 0;
-
- dma_disable_channel(DMA1, 7);
- neopixel_dma_running = 0;
- return 1;
-}
-
-/*** USB ***/
-
-static usbd_device *usbd_dev;
-
-enum usb_string {
- STR_MANUFACTURER = 1,
- STR_PRODUCT,
- STR_SERIAL,
-};
-
-static char usb_serial_number[13];
-
-static const char *usb_strings[] = {
- "United Computer Wizards",
- "Neopixel Indicators",
- usb_serial_number,
-};
-
-static const struct usb_device_descriptor device = {
- .bLength = USB_DT_DEVICE_SIZE,
- .bDescriptorType = USB_DT_DEVICE,
- .bcdUSB = 0x0200,
- .bDeviceClass = 0xFF,
- .bDeviceSubClass = 0,
- .bDeviceProtocol = 0,
- .bMaxPacketSize0 = 64,
- .idVendor = NPIX_USB_VENDOR,
- .idProduct = NPIX_USB_PRODUCT,
- .bcdDevice = NPIX_USB_VERSION,
- .iManufacturer = STR_MANUFACTURER,
- .iProduct = STR_PRODUCT,
- .iSerialNumber = STR_SERIAL,
- .bNumConfigurations = 1,
-};
-
-static const struct usb_endpoint_descriptor endpoints[] = {{
- // Bulk end-point for sending LED values
- .bLength = USB_DT_ENDPOINT_SIZE,
- .bDescriptorType = USB_DT_ENDPOINT,
- .bEndpointAddress = 0x01,
- .bmAttributes = USB_ENDPOINT_ATTR_BULK,
- .wMaxPacketSize = sizeof(led_rgb),
- .bInterval = 1,
-}};
-
-static const struct usb_interface_descriptor iface = {
- .bLength = USB_DT_INTERFACE_SIZE,
- .bDescriptorType = USB_DT_INTERFACE,
- .bInterfaceNumber = 0,
- .bAlternateSetting = 0,
- .bNumEndpoints = 1,
- .bInterfaceClass = 0xFF,
- .bInterfaceSubClass = 0,
- .bInterfaceProtocol = 0,
- .iInterface = 0,
- .endpoint = endpoints,
-};
-
-static const struct usb_dfu_descriptor dfu_function = {
- .bLength = sizeof(struct usb_dfu_descriptor),
- .bDescriptorType = DFU_FUNCTIONAL,
- .bmAttributes = USB_DFU_CAN_DOWNLOAD | USB_DFU_WILL_DETACH,
- .wDetachTimeout = 255,
- .wTransferSize = 1024,
- .bcdDFUVersion = 0x0100,
-};
-
-static const struct usb_interface_descriptor dfu_iface = {
- .bLength = USB_DT_INTERFACE_SIZE,
- .bDescriptorType = USB_DT_INTERFACE,
- .bInterfaceNumber = 1,
- .bAlternateSetting = 0,
- .bNumEndpoints = 0,
- .bInterfaceClass = 0xFE,
- .bInterfaceSubClass = 1,
- .bInterfaceProtocol = 1,
- .iInterface = 0,
-
- .extra = &dfu_function,
- .extralen = sizeof(dfu_function),
-};
-
-static const struct usb_interface ifaces[] = {{
- .num_altsetting = 1,
- .altsetting = &iface,
-}, {
- .num_altsetting = 1,
- .altsetting = &dfu_iface,
-}};
-
-static const struct usb_config_descriptor config = {
- .bLength = USB_DT_CONFIGURATION_SIZE,
- .bDescriptorType = USB_DT_CONFIGURATION,
- .wTotalLength = 0,
- .bNumInterfaces = 2,
- .bConfigurationValue = 1,
- .iConfiguration = 0,
- .bmAttributes = 0x80,
- .bMaxPower = 100, // multiplied by 2 mA
- .interface = ifaces,
-};
-
-static byte usb_configured;
-static uint8_t usbd_control_buffer[64];
-
-static void dfu_detach_complete(usbd_device *dev UNUSED, struct usb_setup_data *req UNUSED)
-{
- // Reset to bootloader, which implements the rest of DFU
- debug_printf("Switching to DFU\n");
- debug_flush();
- scb_reset_core();
-}
-
-static enum usbd_request_return_codes dfu_control_cb(usbd_device *dev UNUSED,
- struct usb_setup_data *req,
- uint8_t **buf UNUSED,
- uint16_t *len UNUSED,
- void (**complete)(usbd_device *dev, struct usb_setup_data *req))
-{
- if (req->bmRequestType != 0x21 || req->bRequest != DFU_DETACH)
- return USBD_REQ_NOTSUPP;
-
- *complete = dfu_detach_complete;
- return USBD_REQ_HANDLED;
-}
-
-static void ep01_cb(usbd_device *dev, uint8_t ep UNUSED)
-{
- // We received a frame from the USB host
- uint len = usbd_ep_read_packet(dev, 0x01, led_rgb, sizeof(led_rgb));
- debug_printf("USB: Host sent %u bytes\n", len);
- neopixel_want_send = 1;
-}
-
-static void set_config_cb(usbd_device *dev, uint16_t wValue UNUSED)
-{
- usbd_register_control_callback(
- dev,
- USB_REQ_TYPE_CLASS | USB_REQ_TYPE_INTERFACE,
- USB_REQ_TYPE_TYPE | USB_REQ_TYPE_RECIPIENT,
- dfu_control_cb);
- usbd_ep_setup(dev, 0x01, USB_ENDPOINT_ATTR_BULK, 64, ep01_cb);
- usb_configured = 1;
-}
-
-static void reset_cb(void)
-{
- debug_printf("USB: Reset\n");
- usb_configured = 0;
-}
-
-static volatile bool usb_event_pending;
-
-void usb_lp_can_rx0_isr(void)
-{
- /*
- * We handle USB in the main loop to avoid race conditions between
- * USB interrupts and other code. However, we need an interrupt to
- * up the main loop from sleep.
- *
- * We set up only the low-priority ISR, because high-priority ISR handles
- * only double-buffered bulk transfers and isochronous transfers.
- */
- nvic_disable_irq(NVIC_USB_LP_CAN_RX0_IRQ);
- usb_event_pending = 1;
-}
-
-static void usb_init(void)
-{
- // Simulate USB disconnect
- gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ, GPIO_CNF_OUTPUT_OPENDRAIN, GPIO11 | GPIO12);
- gpio_clear(GPIOA, GPIO11 | GPIO12);
- delay_ms(100);
-
- usbd_dev = usbd_init(
- &st_usbfs_v1_usb_driver,
- &device,
- &config,
- usb_strings,
- ARRAY_SIZE(usb_strings),
- usbd_control_buffer,
- sizeof(usbd_control_buffer)
- );
- usbd_register_reset_callback(usbd_dev, reset_cb);
- usbd_register_set_config_callback(usbd_dev, set_config_cb);
- usb_event_pending = 1;
-}
-
-/*** Main ***/
-
-int main(void)
-{
- clock_init();
- gpio_init();
- usart_init();
- tick_init();
- neopixel_init();
- usb_init();
-
- debug_printf("Hello, world!\n");
-
- u32 last_blink = 0;
- u32 last_send = 0;
-
- for (;;) {
- if (ms_ticks - last_blink >= 100) {
- debug_led_toggle();
- last_blink = ms_ticks;
- led_rgb[NPIX_NUM_LEDS - 1][1] ^= 0x33;
- neopixel_want_send = 1;
- }
-
- if (usb_event_pending) {
- usbd_poll(usbd_dev);
- usb_event_pending = 0;
- nvic_clear_pending_irq(NVIC_USB_LP_CAN_RX0_IRQ);
- nvic_enable_irq(NVIC_USB_LP_CAN_RX0_IRQ);
- }
-
- if (neopixel_ready()) {
- if (neopixel_want_send || ms_ticks - last_send >= 100) {
- // Re-send every 100 ms
- neopixel_recalc();
- last_send = ms_ticks;
- }
- }
-
- wait_for_interrupt();
- }
-
- return 0;
-}
+++ /dev/null
-UCWCF:=$(shell PKG_CONFIG_PATH=$(LIBUCW)/lib/pkgconfig pkg-config --cflags libucw)
-UCWLF:=$(shell PKG_CONFIG_PATH=$(LIBUCW)/lib/pkgconfig pkg-config --libs libucw)
-
-CFLAGS=-std=gnu99 -O2 -Wall -Wextra -Wno-parentheses $(UCWCF)
-LDLIBS=-lusb-1.0 $(UCWLF)
-
-all: test
-
-test: test.c
+++ /dev/null
-#include <ucw/lib.h>
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <stdint.h>
-#include <unistd.h>
-#include <time.h>
-#include <libusb-1.0/libusb.h>
-
-#include "../firmware/interface.h"
-
-struct libusb_context *usb_ctxt;
-struct libusb_device_handle *devh;
-
-static libusb_device *find_device(void)
-{
- libusb_device **devlist;
- ssize_t devn = libusb_get_device_list(usb_ctxt, &devlist);
- if (devn < 0)
- {
- fprintf(stderr, "Cannot enumerate USB devices: error %d\n", (int) devn);
- exit(1);
- }
-
- for (ssize_t i=0; i<devn; i++)
- {
- struct libusb_device_descriptor desc;
- libusb_device *dev = devlist[i];
- if (!libusb_get_device_descriptor(dev, &desc))
- {
- if (desc.idVendor == NPIX_USB_VENDOR && desc.idProduct == NPIX_USB_PRODUCT)
- {
- printf("Found device at usb%d.%d\n", libusb_get_bus_number(dev), libusb_get_device_address(dev));
- // FIXME: Free device list
- return dev;
- }
- }
- }
-
- libusb_free_device_list(devlist, 1);
- fprintf(stderr, "Device not found\n");
- exit(1);
-}
-
-int main(int argc, char **argv)
-{
- byte packet[NPIX_NUM_LEDS*3] = { };
- int len = 0;
-
- if (argc > NPIX_NUM_LEDS*3 + 1)
- die("Too many arguments!");
-
- for (int i=1; i < argc; i++)
- packet[len++] = atoi(argv[i]);
-
- int err;
- if (err = libusb_init(&usb_ctxt))
- die("Cannot initialize libusb: error %d", err);
-
- libusb_device *dev = find_device();
-
- if (err = libusb_open(dev, &devh))
- die("Cannot open device: error %d", err);
- // libusb_reset_device(devh);
- if (err = libusb_claim_interface(devh, 0))
- die("Cannot claim interface: error %d", err);
-
- int transferred;
- if (err = libusb_bulk_transfer(devh, 0x01, packet, len, &transferred, 1000))
- die("Transfer failed: error %d\n", err);
- if (transferred != len)
- die("Short transfer: %d out of %d bytes", transferred, len);
-
- return 0;
-}
--- /dev/null
+Assignment of peripherals and pins
+==================================
+
+USART1 debugging
+TIM4 Neopixel control
+
+
+ Blue Pill pinout
+ +--------------------+
+ | VBATT 3.3V |
+BluePill LED | PC13 GND | Neopixel ground
+ | PC14 5V | Neopixel power
+ | PC15 PB9 |
+ | PA0 PB8 | TIM4_CH3 - Neopixel data (needs pull-up)
+ | PA1 PB7 |
+ | PA2 PB6 |
+ | PA3 PB5 |
+ | PA4 PB4 |
+ | PA5 PB3 |
+ | PA6 PA15 |
+ | PA7 PA12 |
+ | PB0 PA11 |
+ | PB1 PA10 | RXD1 - debugging console
+ | PB10 PA9 | TXD1 - debugging console
+ | PB11 PA8 |
+ | RESET PB15 |
+ | 3.3 V PB14 |
+ | GND PB13 |
+ | GND PB12 |
+ +--------------------+
--- /dev/null
+ROOT=../..
+BINARY=bootloader
+OBJS=
+LIB_OBJS=util-debug.o dfu-bootloader.o
+MAX_SIZE=8192
+
+include $(ROOT)/mk/bluepill.mk
--- /dev/null
+/*
+ * Neopixel Indicators Bootloader -- Configuration
+ *
+ * (c) 2022 Martin Mareš <mj@ucw.cz>
+ */
+
+// Processor clock
+
+#define CPU_CLOCK_MHZ 48
+
+// Debugging port
+
+#define DEBUG_USART USART1
+#define DEBUG_LED_BLUEPILL
+
+// Bootloader settings
+
+#undef BOOTLOADER_DEBUG
+#define BOOTLOADER_APP_START 0x08002000
+#define BOOTLOADER_MFG_ID 0x4242
+#define BOOTLOADER_PROD_ID 0x000a
+#define BOOTLOADER_PROD_VERSION 0x0100
+#define BOOTLOADER_MFG_NAME "United Computer Wizards"
+#define BOOTLOADER_PROD_NAME "Neopixel Indicators (boot-loader)"
--- /dev/null
+PC=pkg-config
+UCW_CFLAGS := $(shell $(PC) --cflags libucw)
+UCW_LIBS := $(shell $(PC) --libs libucw)
+USB_CFLAGS := $(shell $(PC) --cflags libusb-1.0)
+USB_LIBS := $(shell $(PC) --libs libusb-1.0)
+MOSQUITTO_CFLAGS := $(shell $(PC) --cflags libmosquitto)
+MOSQUITTO_LIBS := $(shell $(PC) --libs libmosquitto)
+
+CFLAGS=-O2 -Wall -Wextra -Wno-sign-compare -Wno-parentheses -Wstrict-prototypes -Wmissing-prototypes $(UCW_CFLAGS) $(USB_CFLAGS) $(MOSQUITTO_CFLAGS)
+LDLIBS=$(UCW_LIBS) $(USB_LIBS) $(MOSQUITTO_LIBS) -lpthread -lm
+
+all: burrow-rainbowd
+
+burrow-rainbowd: burrow-rainbowd.o
+
+burrow-rainbowd.o: burrow-rainbowd.c ../firmware/interface.h
+
+install: burrow-rainbowd
+ install burrow-rainbowd /usr/local/sbin/
+
+clean:
+ rm -f *.o burrow-rainbowd
+
+.PHONY: all install clean
--- /dev/null
+/*
+ * Daemon for Neopixel Rainbow Indicators over USB
+ *
+ * (c) 2022 Martin Mares <mj@ucw.cz>
+ */
+
+#include <ucw/lib.h>
+#include <ucw/log.h>
+#include <ucw/opt.h>
+#include <ucw/string.h>
+#include <ucw/strtonum.h>
+#include <ucw/unaligned.h>
+
+#include <math.h>
+#include <stdarg.h>
+#include <stdio.h>
+#include <stdint.h>
+#include <stdlib.h>
+#include <string.h>
+#include <syslog.h>
+#include <threads.h>
+#include <time.h>
+#include <unistd.h>
+
+#include <libusb.h>
+#include <mosquitto.h>
+
+typedef unsigned char byte;
+typedef uint32_t u32;
+typedef unsigned int uint;
+
+#include "../firmware/interface.h"
+
+static mtx_t led_mutex;
+static cnd_t led_cond;
+static bool led_refresh;
+
+struct led {
+ byte r, g, b;
+};
+
+static struct led leds[NPIX_NUM_LEDS];
+
+/*** MQTT ***/
+
+static struct mosquitto *mosq;
+static bool mqtt_connected;
+
+static void mqtt_publish(const char *topic, const char *fmt, ...)
+{
+ va_list args;
+ va_start(args, fmt);
+
+ if (mqtt_connected) {
+ char m[256];
+ int l = vsnprintf(m, sizeof(m), fmt, args);
+ int err = mosquitto_publish(mosq, NULL, topic, l, m, 0, true);
+ if (err != MOSQ_ERR_SUCCESS)
+ msg(L_ERROR, "Mosquitto: Publish failed, error=%d", err);
+ }
+
+ va_end(args);
+}
+
+static void mqtt_conn_callback(struct mosquitto *mosq UNUSED, void *obj UNUSED, int status)
+{
+ if (!status) {
+ msg(L_DEBUG, "MQTT: Connection established");
+ mqtt_connected = true;
+ mqtt_publish("status/rainbow", "ok");
+ if (mosquitto_subscribe(mosq, NULL, "burrow/lights/rainbow/#", 1) != MOSQ_ERR_SUCCESS)
+ die("Mosquitto: subscribe failed");
+ } else if (mqtt_connected) {
+ msg(L_DEBUG, "MQTT: Connection lost");
+ mqtt_connected = false;
+ }
+}
+
+static void mqtt_log_callback(struct mosquitto *mosq UNUSED, void *obj UNUSED, int level, const char *message)
+{
+ msg(L_DEBUG, "MQTT(%d): %s", level, message);
+}
+
+static void mqtt_msg_callback(struct mosquitto *mosq UNUSED, void *obj UNUSED, const struct mosquitto_message *m)
+{
+ char val[256];
+ if (m->payloadlen >= sizeof(val) - 1) {
+ msg(L_ERROR, "Invalid value for topic %s", m->topic);
+ return;
+ }
+ memcpy(val, m->payload, m->payloadlen);
+ val[m->payloadlen] = 0;
+ msg(L_DEBUG, "MQTT < %s %s", m->topic, val);
+
+ static const char px[] = "burrow/lights/rainbow/";
+ if (!str_has_prefix(m->topic, px))
+ return;
+
+ uint index;
+ if (str_to_uint(&index, m->topic + strlen(px), NULL, STN_DEC | STN_WHOLE) || index >= NPIX_NUM_LEDS) {
+ msg(L_ERROR, "Unsupported topic: %s", m->topic);
+ return;
+ }
+
+ uint r, g, b;
+ if (sscanf(val, "%u%u%u", &r, &g, &b) != 3 || r >= 256 || g >= 256 || b >= 256) {
+ msg(L_ERROR, "Invalid value of %s: %s", m->topic, val);
+ return;
+ }
+
+ mtx_lock(&led_mutex);
+ leds[index].r = r;
+ leds[index].g = g;
+ leds[index].b = b;
+ led_refresh = 1;
+ cnd_broadcast(&led_cond);
+ mtx_unlock(&led_mutex);
+}
+
+static void mqtt_init(void)
+{
+ mosquitto_lib_init();
+
+ mosq = mosquitto_new("rainbowd", 1, NULL);
+ if (!mosq)
+ die("Mosquitto: Initialization failed");
+
+ mosquitto_connect_callback_set(mosq, mqtt_conn_callback);
+ mosquitto_log_callback_set(mosq, mqtt_log_callback);
+ mosquitto_message_callback_set(mosq, mqtt_msg_callback);
+
+ if (mosquitto_will_set(mosq, "status/rainbow", 4, "dead", 0, true) != MOSQ_ERR_SUCCESS)
+ die("Mosquitto: Unable to set will");
+
+ if (mosquitto_tls_set(mosq, "/etc/burrow-mqtt/ca.crt", NULL, "/etc/burrow-mqtt/client.crt", "/etc/burrow-mqtt/client.key", NULL) != MOSQ_ERR_SUCCESS)
+ die("Mosquitto: Unable to set TLS parameters");
+
+ if (mosquitto_connect_async(mosq, "burrow-mqtt", 8883, 60) != MOSQ_ERR_SUCCESS)
+ die("Mosquitto: Unable to connect");
+
+ if (mosquitto_loop_start(mosq))
+ die("Mosquitto: Cannot start service thread");
+}
+
+/*** USB ***/
+
+static struct libusb_context *usb_ctxt;
+static struct libusb_device_handle *devh;
+
+static void usb_error(const char *msg, ...)
+{
+ va_list args;
+ va_start(args, msg);
+ ucw_vmsg(L_ERROR, msg, args);
+ va_end(args);
+
+ if (devh) {
+ libusb_close(devh);
+ devh = NULL;
+ }
+}
+
+static void open_device(void)
+{
+ int err;
+ libusb_device **devlist;
+ ssize_t devn = libusb_get_device_list(usb_ctxt, &devlist);
+ if (devn < 0)
+ die("Cannot enumerate USB devices: error %d", (int) devn);
+
+ for (ssize_t i=0; i<devn; i++) {
+ struct libusb_device_descriptor desc;
+ libusb_device *dev = devlist[i];
+ if (!libusb_get_device_descriptor(dev, &desc)) {
+ if (desc.idVendor == NPIX_USB_VENDOR && desc.idProduct == NPIX_USB_PRODUCT) {
+ msg(L_INFO, "Found NPIX device at usb%d.%d", libusb_get_bus_number(dev), libusb_get_device_address(dev));
+
+ if (err = libusb_open(dev, &devh)) {
+ usb_error("Cannot open device: error %d", err);
+ goto out;
+ }
+ libusb_reset_device(devh);
+ if (err = libusb_claim_interface(devh, 0)) {
+ usb_error("Cannot claim interface: error %d", err);
+ goto out;
+ }
+
+ goto out;
+ }
+ }
+ }
+
+out:
+ libusb_free_device_list(devlist, 1);
+}
+
+static void init_usb(void)
+{
+ int err;
+ if (err = libusb_init(&usb_ctxt))
+ die("Cannot initialize libusb: error %d", err);
+ // libusb_set_debug(usb_ctxt, 3);
+ open_device();
+}
+
+/*** NPIX ***/
+
+static byte npix_packet[3*NPIX_NUM_LEDS];
+
+static int npix_build_packet(void)
+{
+ byte *pkt = npix_packet;
+
+ for (int i=0; i < NPIX_NUM_LEDS; i++) {
+ *pkt++ = leds[i].r;
+ *pkt++ = leds[i].g;
+ *pkt++ = leds[i].b;
+ }
+
+ return sizeof(npix_packet);
+}
+
+/*** Main ***/
+
+static int use_daemon;
+static int use_debug;
+
+static struct opt_section options = {
+ OPT_ITEMS {
+ OPT_HELP("A daemon for controlling lights via NPIX512"),
+ OPT_HELP(""),
+ OPT_HELP("Options:"),
+ OPT_BOOL('d', "debug", use_debug, 0, "\tLog debugging messages"),
+ OPT_BOOL(0, "daemon", use_daemon, 0, "\tDaemonize"),
+ OPT_HELP_OPTION,
+ OPT_CONF_OPTIONS,
+ OPT_END
+ }
+};
+
+int main(int argc UNUSED, char **argv)
+{
+ log_init(argv[0]);
+ opt_parse(&options, argv+1);
+
+ if (use_daemon) {
+ struct log_stream *ls = log_new_syslog("daemon", LOG_PID);
+ log_set_default_stream(ls);
+ }
+ if (!use_debug)
+ log_default_stream()->levels &= ~(1U << L_DEBUG);
+
+ mtx_init(&led_mutex, mtx_plain);
+ cnd_init(&led_cond);
+
+ mqtt_init();
+ init_usb();
+
+ bool need_resend = true;
+ for (;;) {
+ if (!devh) {
+ msg(L_INFO, "Waiting for device to appear...");
+ while (!devh) {
+ sleep(5);
+ open_device();
+ }
+ need_resend = true;
+ }
+
+ mtx_lock(&led_mutex);
+ while (!need_resend && !led_refresh)
+ cnd_wait(&led_cond, &led_mutex);
+
+ int len = npix_build_packet();
+ led_refresh = 0;
+ need_resend = 0;
+ mtx_unlock(&led_mutex);
+
+ msg(L_DEBUG, "Sending NPIX packet");
+
+ int err, transferred;
+ if (err = libusb_bulk_transfer(devh, 0x01, npix_packet, len, &transferred, 1000))
+ usb_error("USB transfer failed: error %d", err);
+ else if (transferred != len)
+ usb_error("USB short transfer: %d out of %d bytes", transferred, len);
+ }
+}
--- /dev/null
+ROOT=../..
+BINARY=firmware
+OBJS=main.o
+LIB_OBJS=util-debug.o
+
+WITH_BOOT_LOADER=1
+WITH_DFU_FLASH=1
+DFU_ARGS=-d 4242:0009
+
+include $(ROOT)/mk/bluepill.mk
--- /dev/null
+/*
+ * Neopixel Rainbow -- Configuration
+ *
+ * (c) 2022 Martin Mareš <mj@ucw.cz>
+ */
+
+// Processor clock
+
+#define CPU_CLOCK_MHZ 72
+
+// Debugging port
+
+#define DEBUG_USART USART1
+#define DEBUG_LED_BLUEPILL
--- /dev/null
+/*
+ * Neopixel Rainbow -- Interface Definitions
+ *
+ * (c) 2022 Martin Mareš <mj@ucw.cz>
+ */
+
+#define NPIX_USB_VENDOR 0x4242
+#define NPIX_USB_PRODUCT 0x0009
+#define NPIX_USB_VERSION 0x0100
+
+#define NPIX_NUM_LEDS 12
+
+/*
+ * Endpoints:
+ *
+ * 0x01 = bulk endpoint
+ * Accepts up to 12 3-byte records (R, G, B), each describing one LED.
+ * If less than 12 records are sent, the remaining LEDs are left unmodified.
+ */
--- /dev/null
+/*
+ * Neopixel (WS2812B) Rainbow
+ *
+ * (c) 2022 Martin Mareš <mj@ucw.cz>
+ */
+
+#include "util.h"
+
+#include <libopencm3/cm3/cortex.h>
+#include <libopencm3/cm3/nvic.h>
+#include <libopencm3/cm3/systick.h>
+#include <libopencm3/cm3/scb.h>
+#include <libopencm3/stm32/dma.h>
+#include <libopencm3/stm32/gpio.h>
+#include <libopencm3/stm32/rcc.h>
+#include <libopencm3/stm32/timer.h>
+#include <libopencm3/stm32/usart.h>
+#include <libopencm3/usb/dfu.h>
+#include <libopencm3/usb/usbd.h>
+
+#include <string.h>
+
+#include "interface.h"
+
+/*** Hardware init ***/
+
+static void clock_init(void)
+{
+ rcc_clock_setup_pll(&rcc_hse_configs[RCC_CLOCK_HSE8_72MHZ]);
+
+ rcc_periph_clock_enable(RCC_GPIOA);
+ rcc_periph_clock_enable(RCC_GPIOB);
+ rcc_periph_clock_enable(RCC_GPIOC);
+ rcc_periph_clock_enable(RCC_USART1);
+ rcc_periph_clock_enable(RCC_TIM4);
+ rcc_periph_clock_enable(RCC_DMA1);
+
+ rcc_periph_reset_pulse(RST_GPIOA);
+ rcc_periph_reset_pulse(RST_GPIOB);
+ rcc_periph_reset_pulse(RST_GPIOC);
+ rcc_periph_reset_pulse(RST_USART1);
+ rcc_periph_reset_pulse(RST_TIM4);
+}
+
+static void gpio_init(void)
+{
+ // PA9 = TXD1 for debugging console
+ // PA10 = RXD1 for debugging console
+ gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ, GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO9);
+ gpio_set_mode(GPIOA, GPIO_MODE_INPUT, GPIO_CNF_INPUT_FLOAT, GPIO10);
+
+ // PC13 = BluePill LED
+ gpio_set_mode(GPIOC, GPIO_MODE_OUTPUT_50_MHZ, GPIO_CNF_OUTPUT_PUSHPULL, GPIO13);
+ gpio_clear(GPIOC, GPIO13);
+
+ // PB8 = data for Neopixel
+ gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ, GPIO_CNF_OUTPUT_ALTFN_OPENDRAIN, GPIO8);
+}
+
+static void usart_init(void)
+{
+ usart_set_baudrate(USART1, 115200);
+ usart_set_databits(USART1, 8);
+ usart_set_stopbits(USART1, USART_STOPBITS_1);
+ usart_set_mode(USART1, USART_MODE_TX);
+ usart_set_parity(USART1, USART_PARITY_NONE);
+ usart_set_flow_control(USART1, USART_FLOWCONTROL_NONE);
+
+ usart_enable(USART1);
+}
+
+/*** System ticks ***/
+
+static volatile u32 ms_ticks;
+
+void sys_tick_handler(void)
+{
+ ms_ticks++;
+}
+
+static void tick_init(void)
+{
+ systick_set_frequency(1000, CPU_CLOCK_MHZ * 1000000);
+ systick_counter_enable();
+ systick_interrupt_enable();
+}
+
+static void delay_ms(uint ms)
+{
+ u32 start_ticks = ms_ticks;
+ while (ms_ticks - start_ticks < ms)
+ ;
+}
+
+/*** Neopixels ***/
+
+#define NPIX_PERIOD 90 // timer runs on 72 MHz, so 90 periods = 1250 ns
+#define NPIX_RESET 64 // the chip needs longer reset pulse than documented
+#define NPIX_B0 30
+#define NPIX_B1 60
+
+static byte led_rgb[NPIX_NUM_LEDS][3];
+
+static byte neopixel_buf[NPIX_RESET + NPIX_NUM_LEDS*24 + 1];
+static bool neopixel_dma_running;
+static bool neopixel_want_send;
+
+static void neopixel_run_dma(void)
+{
+ // When STM32 is programmed using ST-Link, the DMA sometimes keeps running.
+ dma_channel_reset(DMA1, 7);
+
+ // This order of register writes is recommended in the manual.
+ dma_set_peripheral_address(DMA1, 7, (u32) &TIM_CCR3(TIM4));
+ dma_set_memory_address(DMA1, 7, (u32) neopixel_buf);
+ dma_set_number_of_data(DMA1, 7, ARRAY_SIZE(neopixel_buf));
+ dma_set_priority(DMA1, 7, DMA_CCR_PL_VERY_HIGH);
+
+ dma_set_read_from_memory(DMA1, 7);
+
+ dma_set_memory_size(DMA1, 7, DMA_CCR_MSIZE_8BIT);
+ dma_enable_memory_increment_mode(DMA1, 7);
+
+ dma_set_peripheral_size(DMA1, 7, DMA_CCR_PSIZE_16BIT);
+ dma_disable_peripheral_increment_mode(DMA1, 7);
+
+ dma_clear_interrupt_flags(DMA1, 7, DMA_TCIF);
+ dma_enable_channel(DMA1, 7);
+ neopixel_dma_running = 1;
+}
+
+static void neopixel_recalc(void)
+{
+ byte *buf = neopixel_buf;
+ for (uint i = 0; i < NPIX_RESET; i++)
+ *buf++ = 0;
+ for (uint i = 0; i < NPIX_NUM_LEDS; i++) {
+ // The order is GRB, MSB first
+ for (uint m = 0x80; m; m >>= 1)
+ *buf++ = ((led_rgb[i][1] & m) ? NPIX_B1 : NPIX_B0);
+ for (uint m = 0x80; m; m >>= 1)
+ *buf++ = ((led_rgb[i][0] & m) ? NPIX_B1 : NPIX_B0);
+ for (uint m = 0x80; m; m >>= 1)
+ *buf++ = ((led_rgb[i][2] & m) ? NPIX_B1 : NPIX_B0);
+ }
+ *buf++ = NPIX_PERIOD;
+
+ neopixel_run_dma();
+ neopixel_want_send = 0;
+}
+
+static void neopixel_init(void)
+{
+ // TIM4 is always running and producing DMA requests on each update
+ // (connected to DMA1 channel 7). When we have something to send,
+ // the DMA is enabled.
+
+ timer_set_prescaler(TIM4, 0);
+ timer_set_mode(TIM4, TIM_CR1_CKD_CK_INT, TIM_CR1_CMS_EDGE, TIM_CR1_DIR_UP);
+ timer_disable_preload(TIM4);
+ timer_set_period(TIM4, NPIX_PERIOD - 1);
+
+ timer_set_oc_mode(TIM4, TIM_OC3, TIM_OCM_PWM1);
+ timer_set_oc_value(TIM4, TIM_OC3, 0);
+ timer_set_oc_polarity_high(TIM4, TIM_OC3);
+ timer_enable_oc_output(TIM4, TIM_OC3);
+
+ timer_set_dma_on_update_event(TIM4);
+ TIM_DIER(TIM4) |= TIM_DIER_UDE;
+
+ led_rgb[0][1] = 0xaa;
+
+ timer_enable_counter(TIM4);
+ neopixel_recalc();
+}
+
+static bool neopixel_ready(void)
+{
+ if (!neopixel_dma_running)
+ return 1;
+
+ if (!dma_get_interrupt_flag(DMA1, 7, DMA_TCIF))
+ return 0;
+
+ dma_disable_channel(DMA1, 7);
+ neopixel_dma_running = 0;
+ return 1;
+}
+
+/*** USB ***/
+
+static usbd_device *usbd_dev;
+
+enum usb_string {
+ STR_MANUFACTURER = 1,
+ STR_PRODUCT,
+ STR_SERIAL,
+};
+
+static char usb_serial_number[13];
+
+static const char *usb_strings[] = {
+ "United Computer Wizards",
+ "Neopixel Indicators",
+ usb_serial_number,
+};
+
+static const struct usb_device_descriptor device = {
+ .bLength = USB_DT_DEVICE_SIZE,
+ .bDescriptorType = USB_DT_DEVICE,
+ .bcdUSB = 0x0200,
+ .bDeviceClass = 0xFF,
+ .bDeviceSubClass = 0,
+ .bDeviceProtocol = 0,
+ .bMaxPacketSize0 = 64,
+ .idVendor = NPIX_USB_VENDOR,
+ .idProduct = NPIX_USB_PRODUCT,
+ .bcdDevice = NPIX_USB_VERSION,
+ .iManufacturer = STR_MANUFACTURER,
+ .iProduct = STR_PRODUCT,
+ .iSerialNumber = STR_SERIAL,
+ .bNumConfigurations = 1,
+};
+
+static const struct usb_endpoint_descriptor endpoints[] = {{
+ // Bulk end-point for sending LED values
+ .bLength = USB_DT_ENDPOINT_SIZE,
+ .bDescriptorType = USB_DT_ENDPOINT,
+ .bEndpointAddress = 0x01,
+ .bmAttributes = USB_ENDPOINT_ATTR_BULK,
+ .wMaxPacketSize = sizeof(led_rgb),
+ .bInterval = 1,
+}};
+
+static const struct usb_interface_descriptor iface = {
+ .bLength = USB_DT_INTERFACE_SIZE,
+ .bDescriptorType = USB_DT_INTERFACE,
+ .bInterfaceNumber = 0,
+ .bAlternateSetting = 0,
+ .bNumEndpoints = 1,
+ .bInterfaceClass = 0xFF,
+ .bInterfaceSubClass = 0,
+ .bInterfaceProtocol = 0,
+ .iInterface = 0,
+ .endpoint = endpoints,
+};
+
+static const struct usb_dfu_descriptor dfu_function = {
+ .bLength = sizeof(struct usb_dfu_descriptor),
+ .bDescriptorType = DFU_FUNCTIONAL,
+ .bmAttributes = USB_DFU_CAN_DOWNLOAD | USB_DFU_WILL_DETACH,
+ .wDetachTimeout = 255,
+ .wTransferSize = 1024,
+ .bcdDFUVersion = 0x0100,
+};
+
+static const struct usb_interface_descriptor dfu_iface = {
+ .bLength = USB_DT_INTERFACE_SIZE,
+ .bDescriptorType = USB_DT_INTERFACE,
+ .bInterfaceNumber = 1,
+ .bAlternateSetting = 0,
+ .bNumEndpoints = 0,
+ .bInterfaceClass = 0xFE,
+ .bInterfaceSubClass = 1,
+ .bInterfaceProtocol = 1,
+ .iInterface = 0,
+
+ .extra = &dfu_function,
+ .extralen = sizeof(dfu_function),
+};
+
+static const struct usb_interface ifaces[] = {{
+ .num_altsetting = 1,
+ .altsetting = &iface,
+}, {
+ .num_altsetting = 1,
+ .altsetting = &dfu_iface,
+}};
+
+static const struct usb_config_descriptor config = {
+ .bLength = USB_DT_CONFIGURATION_SIZE,
+ .bDescriptorType = USB_DT_CONFIGURATION,
+ .wTotalLength = 0,
+ .bNumInterfaces = 2,
+ .bConfigurationValue = 1,
+ .iConfiguration = 0,
+ .bmAttributes = 0x80,
+ .bMaxPower = 100, // multiplied by 2 mA
+ .interface = ifaces,
+};
+
+static byte usb_configured;
+static uint8_t usbd_control_buffer[64];
+
+static void dfu_detach_complete(usbd_device *dev UNUSED, struct usb_setup_data *req UNUSED)
+{
+ // Reset to bootloader, which implements the rest of DFU
+ debug_printf("Switching to DFU\n");
+ debug_flush();
+ scb_reset_core();
+}
+
+static enum usbd_request_return_codes dfu_control_cb(usbd_device *dev UNUSED,
+ struct usb_setup_data *req,
+ uint8_t **buf UNUSED,
+ uint16_t *len UNUSED,
+ void (**complete)(usbd_device *dev, struct usb_setup_data *req))
+{
+ if (req->bmRequestType != 0x21 || req->bRequest != DFU_DETACH)
+ return USBD_REQ_NOTSUPP;
+
+ *complete = dfu_detach_complete;
+ return USBD_REQ_HANDLED;
+}
+
+static void ep01_cb(usbd_device *dev, uint8_t ep UNUSED)
+{
+ // We received a frame from the USB host
+ uint len = usbd_ep_read_packet(dev, 0x01, led_rgb, sizeof(led_rgb));
+ debug_printf("USB: Host sent %u bytes\n", len);
+ neopixel_want_send = 1;
+}
+
+static void set_config_cb(usbd_device *dev, uint16_t wValue UNUSED)
+{
+ usbd_register_control_callback(
+ dev,
+ USB_REQ_TYPE_CLASS | USB_REQ_TYPE_INTERFACE,
+ USB_REQ_TYPE_TYPE | USB_REQ_TYPE_RECIPIENT,
+ dfu_control_cb);
+ usbd_ep_setup(dev, 0x01, USB_ENDPOINT_ATTR_BULK, 64, ep01_cb);
+ usb_configured = 1;
+}
+
+static void reset_cb(void)
+{
+ debug_printf("USB: Reset\n");
+ usb_configured = 0;
+}
+
+static volatile bool usb_event_pending;
+
+void usb_lp_can_rx0_isr(void)
+{
+ /*
+ * We handle USB in the main loop to avoid race conditions between
+ * USB interrupts and other code. However, we need an interrupt to
+ * up the main loop from sleep.
+ *
+ * We set up only the low-priority ISR, because high-priority ISR handles
+ * only double-buffered bulk transfers and isochronous transfers.
+ */
+ nvic_disable_irq(NVIC_USB_LP_CAN_RX0_IRQ);
+ usb_event_pending = 1;
+}
+
+static void usb_init(void)
+{
+ // Simulate USB disconnect
+ gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ, GPIO_CNF_OUTPUT_OPENDRAIN, GPIO11 | GPIO12);
+ gpio_clear(GPIOA, GPIO11 | GPIO12);
+ delay_ms(100);
+
+ usbd_dev = usbd_init(
+ &st_usbfs_v1_usb_driver,
+ &device,
+ &config,
+ usb_strings,
+ ARRAY_SIZE(usb_strings),
+ usbd_control_buffer,
+ sizeof(usbd_control_buffer)
+ );
+ usbd_register_reset_callback(usbd_dev, reset_cb);
+ usbd_register_set_config_callback(usbd_dev, set_config_cb);
+ usb_event_pending = 1;
+}
+
+/*** Main ***/
+
+int main(void)
+{
+ clock_init();
+ gpio_init();
+ usart_init();
+ tick_init();
+ neopixel_init();
+ usb_init();
+
+ debug_printf("The Bifrőst bridge spans its colors between Midgard and Asgard...\n");
+
+ u32 last_blink = 0;
+ u32 last_send = 0;
+
+ for (;;) {
+ if (ms_ticks - last_blink >= 100) {
+ debug_led_toggle();
+ last_blink = ms_ticks;
+ led_rgb[NPIX_NUM_LEDS - 1][1] ^= 0x33;
+ neopixel_want_send = 1;
+ }
+
+ if (usb_event_pending) {
+ usbd_poll(usbd_dev);
+ usb_event_pending = 0;
+ nvic_clear_pending_irq(NVIC_USB_LP_CAN_RX0_IRQ);
+ nvic_enable_irq(NVIC_USB_LP_CAN_RX0_IRQ);
+ }
+
+ if (neopixel_ready()) {
+ if (neopixel_want_send || ms_ticks - last_send >= 100) {
+ // Re-send every 100 ms
+ neopixel_recalc();
+ last_send = ms_ticks;
+ }
+ }
+
+ wait_for_interrupt();
+ }
+
+ return 0;
+}
--- /dev/null
+UCWCF:=$(shell PKG_CONFIG_PATH=$(LIBUCW)/lib/pkgconfig pkg-config --cflags libucw)
+UCWLF:=$(shell PKG_CONFIG_PATH=$(LIBUCW)/lib/pkgconfig pkg-config --libs libucw)
+
+CFLAGS=-std=gnu99 -O2 -Wall -Wextra -Wno-parentheses $(UCWCF)
+LDLIBS=-lusb-1.0 $(UCWLF)
+
+all: test
+
+test: test.c
--- /dev/null
+/* Testing Neopixel Rainbow */
+
+#include <ucw/lib.h>
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdint.h>
+#include <unistd.h>
+#include <time.h>
+#include <libusb-1.0/libusb.h>
+
+#include "../firmware/interface.h"
+
+struct libusb_context *usb_ctxt;
+struct libusb_device_handle *devh;
+
+static libusb_device *find_device(void)
+{
+ libusb_device **devlist;
+ ssize_t devn = libusb_get_device_list(usb_ctxt, &devlist);
+ if (devn < 0)
+ {
+ fprintf(stderr, "Cannot enumerate USB devices: error %d\n", (int) devn);
+ exit(1);
+ }
+
+ for (ssize_t i=0; i<devn; i++)
+ {
+ struct libusb_device_descriptor desc;
+ libusb_device *dev = devlist[i];
+ if (!libusb_get_device_descriptor(dev, &desc))
+ {
+ if (desc.idVendor == NPIX_USB_VENDOR && desc.idProduct == NPIX_USB_PRODUCT)
+ {
+ printf("Found device at usb%d.%d\n", libusb_get_bus_number(dev), libusb_get_device_address(dev));
+ // FIXME: Free device list
+ return dev;
+ }
+ }
+ }
+
+ libusb_free_device_list(devlist, 1);
+ fprintf(stderr, "Device not found\n");
+ exit(1);
+}
+
+int main(int argc, char **argv)
+{
+ byte packet[NPIX_NUM_LEDS*3] = { };
+ int len = 0;
+
+ if (argc > NPIX_NUM_LEDS*3 + 1)
+ die("Too many arguments!");
+
+ for (int i=1; i < argc; i++)
+ packet[len++] = atoi(argv[i]);
+
+ int err;
+ if (err = libusb_init(&usb_ctxt))
+ die("Cannot initialize libusb: error %d", err);
+
+ libusb_device *dev = find_device();
+
+ if (err = libusb_open(dev, &devh))
+ die("Cannot open device: error %d", err);
+ // libusb_reset_device(devh);
+ if (err = libusb_claim_interface(devh, 0))
+ die("Cannot claim interface: error %d", err);
+
+ int transferred;
+ if (err = libusb_bulk_transfer(devh, 0x01, packet, len, &transferred, 1000))
+ die("Transfer failed: error %d\n", err);
+ if (transferred != len)
+ die("Short transfer: %d out of %d bytes", transferred, len);
+
+ return 0;
+}
projects / home-hw.git / commitdiff