Bootloader, speed calculation, better position detection
This commit is contained in:
parent
e2ce72200e
commit
bb32eb6614
19
Makefile
19
Makefile
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@ -3,14 +3,19 @@ OOCD_INTERFACE ?= stlink-v2
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OOCD_TARGET ?= stm32f4x
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BMP_PORT ?= /dev/ttyBmpGdb
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COMFLAGS=-g -Os -pedantic -Wall
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COMFLAGS=-g -Og -pedantic -Wall
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#LIBNAME = opencm3_stm32f4
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#FP_FLAGS ?= -mfloat-abi=hard -mfpu=fpv4-sp-d16
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#ARCH_FLAGS = -mthumb -mcpu=cortex-m4 $(FP_FLAGS)
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#DEVDEFS = -DSTM32F4 -DSTM32F4CCM -DSTM32F405RG -D_ROM=1008K -D_RAM=128K -D_CCM=64K -D_CCM_OFF=0x10000000 -D_ROM_OFF=0x08004000 -D_RAM_OFF=0x20000000 -DBOOTLOADER
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#LDSCRIPT = linker.ld
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DEVICE = STM32F405RG
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BOOTLOADER ?= no
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ifeq ($(BOOTLOADER),yes)
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LIBNAME = opencm3_stm32f4
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FP_FLAGS ?= -mfloat-abi=hard -mfpu=fpv4-sp-d16
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ARCH_FLAGS = -mthumb -mcpu=cortex-m4 $(FP_FLAGS)
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DEVDEFS = -DSTM32F4 -DSTM32F4CCM -DSTM32F405RG -D_ROM=1008K -D_RAM=128K -D_CCM=64K -D_CCM_OFF=0x10000000 -D_ROM_OFF=0x08004000 -D_RAM_OFF=0x20000000 -DBOOTLOADER
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LDSCRIPT = linker.ld
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else
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DEVICE = STM32F405RG
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endif
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CFLAGS=$(COMFLAGS) $(DEVDEFS) -std=c99 -D_POSIX_C_SOURCE=200809L
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CXXFLAGS=$(COMFLAGS) -std=c++17
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172
encoder.c
172
encoder.c
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@ -2,14 +2,42 @@
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#include <libopencm3/stm32/exti.h>
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#include <libopencm3/stm32/gpio.h>
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#include <libopencm3/stm32/rcc.h>
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#include <stdint.h>
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#include <stddef.h>
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#include <stdint.h>
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#include <stdio.h>
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#include "encoder.h"
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#include "systick.h"
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static volatile int pos;
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#define USE_CORRECTION
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#define FIXED_OFFSET 20
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// #define DEBUG_ENCODER_TICKS
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#define SPEED_AVG_NUM 4
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#ifdef DEBUG_ENCODER_TICKS
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#define LOG_ENCODER_DEBUG_TICKS(...) printf(__VA_ARGS__)
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#else
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#define LOG_ENCODER_DEBUG_TICKS(...)
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#endif
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static volatile int pos = 0;
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static int offset =
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#ifdef FIXED_OFFSET
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FIXED_OFFSET
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#else
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-1
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#endif
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;
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static volatile int speed = 0;
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static void check(void);
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static uint32_t last_tick = 0;
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static struct tick_pos {
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uint32_t tick;
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int pos;
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} speed_ticks[SPEED_AVG_NUM + 1] = {0};
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static uint32_t ticks[3] = {0};
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#define MARKS 96
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#define PIN_OPEN GPIO1
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#define PIN_OPEN_IRQ NVIC_EXTI1_IRQ
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#define PIN_CLOSE GPIO2
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@ -24,9 +52,12 @@ void encoder_setup(void) {
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gpio_mode_setup(PIN_PORT, GPIO_MODE_INPUT, GPIO_PUPD_NONE, PIN_OPEN | PIN_CLOSE);
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exti_select_source(PIN_OPEN | PIN_CLOSE, PIN_PORT);
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exti_set_trigger(PIN_OPEN | PIN_CLOSE, EXTI_TRIGGER_BOTH);
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exti_enable_request(PIN_OPEN | PIN_CLOSE);
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exti_select_source(PIN_OPEN, PIN_PORT);
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exti_select_source(PIN_CLOSE, PIN_PORT);
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exti_set_trigger(PIN_OPEN, EXTI_TRIGGER_BOTH);
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exti_set_trigger(PIN_CLOSE, EXTI_TRIGGER_BOTH);
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exti_enable_request(PIN_OPEN);
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exti_enable_request(PIN_CLOSE);
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nvic_enable_irq(PIN_OPEN_IRQ);
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nvic_enable_irq(PIN_CLOSE_IRQ);
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@ -39,11 +70,26 @@ int encoder_get() {
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return pos;
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}
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static int prev = 0;
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int encoder_speed() {
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return speed;
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}
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int encoder_current_speed() {
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int dt = ticks_ms(tick - speed_ticks[SPEED_AVG_NUM - 1].tick);
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if (dt > 200) {
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printf("dt: %d", dt);
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return 0;
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}
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return 1000
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* (speed_ticks[SPEED_AVG_NUM-1].pos - speed_ticks[0].pos)
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/ (int)ticks_ms(tick - speed_ticks[0].tick);
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}
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void check(void) {
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int pp = pos;
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int now = GPIO_IDR(PIN_PORT);
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now = (!!(now & PIN_OPEN))<<0 | (!!(now & PIN_CLOSE)) << 1;
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static int prev = 0;
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int now = GPIO_IDR(PIN_PORT);
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int diff = 0;
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now = (!!(now & PIN_OPEN))<<0 | (!!(now & PIN_CLOSE)) << 1;
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#define NEITHER 0
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#define JUST_OPEN 1
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@ -52,34 +98,96 @@ void check(void) {
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#define WAS(x) ((x)<<2)
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#define IS(x) (x)
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switch (WAS(prev) + IS(now)) {
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case WAS(NEITHER) + IS(JUST_CLOSE):
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case WAS(JUST_OPEN) + IS(NEITHER):
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case WAS(JUST_CLOSE) + IS(BOTH):
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case WAS(BOTH) + IS(JUST_OPEN):
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pos--;
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break;
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case WAS(NEITHER) + IS(JUST_OPEN):
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case WAS(JUST_OPEN) + IS(BOTH):
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case WAS(BOTH) + IS(JUST_CLOSE):
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case WAS(JUST_CLOSE) + IS(NEITHER):
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pos++;
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break;
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default:
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prev = now;
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return;
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switch (WAS(prev) + IS(now)) {
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case WAS(NEITHER) + IS(JUST_CLOSE):
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case WAS(JUST_OPEN) + IS(NEITHER):
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case WAS(JUST_CLOSE) + IS(BOTH):
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case WAS(BOTH) + IS(JUST_OPEN):
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diff = -1;
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break;
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case WAS(NEITHER) + IS(JUST_OPEN):
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case WAS(JUST_OPEN) + IS(BOTH):
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case WAS(BOTH) + IS(JUST_CLOSE):
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case WAS(JUST_CLOSE) + IS(NEITHER):
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diff = +1;
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break;
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default:
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prev = now;
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return;
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}
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speed_ticks[SPEED_AVG_NUM].pos += diff;
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pos += diff;
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const int tick_diff = tick - last_tick;
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if (now == BOTH) {
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ticks[0] = tick_diff;
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} else if (prev == BOTH) {
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ticks[1] = tick_diff;
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} else if (now == NEITHER) {
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for (int i = 0; i < SPEED_AVG_NUM; i++) {
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speed_ticks[i] = speed_ticks[i+1];
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}
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speed_ticks[SPEED_AVG_NUM - 1].tick = tick;
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speed = 1000
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* (speed_ticks[SPEED_AVG_NUM-1].pos - speed_ticks[0].pos)
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/ (int)ticks_ms(speed_ticks[SPEED_AVG_NUM-1].tick - speed_ticks[0].tick);
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#ifdef USE_CORRECTION
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ticks[2] = tick_diff;
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LOG_ENCODER_DEBUG_TICKS("%3d %4lu %4lu %4lu (%lu)", pos, ticks[0], ticks[1], ticks[2], offset);
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const uint32_t mn = us_ticks(4500),
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mx = us_ticks(7000);
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if (ticks[0] >= mn &&
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ticks[0] <= mx &&
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ticks[2] >= mn &&
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ticks[2] <= mx &&
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ticks[1] >= (ticks[0] + ticks[2]) &&
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ticks[1] <= (ticks[0] + ticks[2]) * 3 / 2) {
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if (offset == -1) {
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#ifndef FIXED_OFFSET
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pos = 2*diff;
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offset = 0;
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#else
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pos = FIXED_OFFSET;
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#endif
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} else {
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int pp = pos;
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pos -= 2*diff + offset;
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pos = (pos + (diff > 0 ? MARKS - 1 : 0)) / MARKS * MARKS;
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pos += 2*diff + offset;
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if (pp != pos) {
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LOG_ENCODER_DEBUG_TICKS("changed pos: %d -> %d", pp, pos);
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} else {
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LOG_ENCODER_DEBUG_TICKS("match");
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}
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}
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}
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#endif
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}
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if (pos < -1) {
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#ifndef FIXED_OFFSET
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offset = (offset - pos + 1) % MARKS;
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pos = -1;
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#else
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pos = FIXED_OFFSET;
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#endif
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}
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last_tick = tick;
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#undef NEITHER
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#undef JUST_OPEN
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#undef JUST_CLOSE
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#undef BOTH
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#undef WAS
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#undef IS
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prev = now;
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if (pos < MIN_POS)
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pos = MIN_POS;
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if (pos > MAX_POS)
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pos = MAX_POS;
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prev = now;
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}
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void exti1_isr(void) {
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@ -90,3 +198,7 @@ void exti2_isr(void) {
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exti_reset_request(EXTI2);
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check();
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}
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void exti4_isr(void) {
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exti_reset_request(EXTI4);
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check();
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}
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@ -8,4 +8,6 @@
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void encoder_setup(void);
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int encoder_get(void);
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int encoder_current_speed(void);
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int encoder_speed(void);
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#endif
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57
main.c
57
main.c
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@ -11,6 +11,7 @@
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#include "ringbuffer.h"
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#include "uart.h"
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#include "encoder.h"
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#include "systick.h"
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static const uint32_t button_time = 100;
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@ -20,15 +21,19 @@ RINGBUFFER_STORAGE(uart_to_usb_buf, 64)
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RINGBUFFER_STORAGE(comm_in_buf, 64)
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RINGBUFFER_STORAGE(comm_out_buf, 64)
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static void sys_tick_setup(void);
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#if defined(BOOTLOADER)
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extern uint32_t *_board_dfu_dbl_tap;
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static void sys_tick_setup(void);
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static void fast_reset(void);
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static void start_bootloader(void);
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static void erase_app(void);
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#endif
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static void fast_reset(void);
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static void sys_tick_setup() {
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systick_set_reload(168000/2-1);
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systick_set_reload(rcc_ahb_frequency / SYSTICK_FREQUENCY - 1);
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systick_set_clocksource(STK_CSR_CLKSOURCE_AHB);
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systick_counter_enable();
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systick_interrupt_enable();
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@ -39,9 +44,13 @@ void sys_tick_handler() {
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}
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void fast_reset() {
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#if defined(BOOTLOADER)
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*_board_dfu_dbl_tap = 0xf02669ef;
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#endif
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scb_reset_system();
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}
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#if defined(BOOTLOADER)
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void start_bootloader() {
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*_board_dfu_dbl_tap = 0xf01669ef;
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scb_reset_system();
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@ -50,6 +59,7 @@ void erase_app() {
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*_board_dfu_dbl_tap = 0xf5e80ab4;
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scb_reset_system();
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}
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#endif
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int main(void) {
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#if 0
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@ -63,12 +73,8 @@ int main(void) {
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RINGBUFFER_INIT(comm_in_buf, 64);
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RINGBUFFER_INIT(comm_out_buf, 64);
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sys_tick_setup();
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while(tick < 100)
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;
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adc_setup();
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uart_setup();
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usb_setup();
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@ -81,8 +87,17 @@ int main(void) {
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uint32_t last_tick = tick;
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int last_pos = 0;
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int watchdog = 1;
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int watchdog_counter = 0;
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uint32_t watchdog_counter = 0;
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int print_changes = 0;
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while (tick < 5000) {
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usbd_poll(g_usbd_dev);
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}
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if (!usb_got_reset()) {
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fast_reset();
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}
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while (1) {
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/* Handle control messages through the comms CDC */
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char buf[64];
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@ -97,7 +112,7 @@ int main(void) {
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last_tick++;
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watchdog_counter += no_comms;
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}
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if (watchdog_counter >= 35000) {
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if (watchdog_counter >= s_ticks(35)) {
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fast_reset();
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}
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@ -113,8 +128,7 @@ int main(void) {
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buttons_close(button_time);
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break;
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case 'R': // Report
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printf("pos: %d", encoder_get());
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printf("tick: %lu", tick);
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printf("pos: %d %d", encoder_get(), encoder_current_speed());
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break;
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case 'r': // toggle reporting
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print_changes = !print_changes;
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@ -124,27 +138,30 @@ int main(void) {
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watchdog = !watchdog;
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printf("watchdog: %d", watchdog);
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break;
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case 'S': // reStart
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fast_reset();
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break;
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#if defined(BOOTLOADER)
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case 'F': // Flash
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start_bootloader();
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break;
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case 'E': // Erase
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erase_app();
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break;
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case 'S': // reStart
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fast_reset();
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break;
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#endif
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}
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}
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int pos = encoder_get();
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if (pos != last_pos && ringbuffer_empty(comm_out_buf)) {
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if (print_changes) {
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printf("pos: %d", pos);
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if (pos != last_pos) {
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if (ringbuffer_empty(comm_out_buf)) {
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if (print_changes) {
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printf("pos: %d %d", pos, encoder_speed());
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}
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last_pos = pos;
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}
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last_pos = pos;
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}
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/* Send replies */
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if ((buf_len = ringbuffer_peek(comm_out_buf, &buf[0], sizeof buf))) {
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if (usb_write_cdcacm(ACM_COMM, (void *)buf, buf_len, 1)) {
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@ -164,7 +181,7 @@ int main(void) {
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}
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usbd_poll(g_usbd_dev);
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__asm__("wfi");
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// __asm__("wfi");
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}
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}
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13
systick.h
Normal file
13
systick.h
Normal file
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@ -0,0 +1,13 @@
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#ifndef SYSTICK_H
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#define SYSTICK_H
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#include <stdint.h>
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#define SYSTICK_FREQUENCY 10000
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static inline uint32_t us_ticks(uint32_t us) { return us * SYSTICK_FREQUENCY / 1000000; }
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static inline uint32_t ms_ticks(uint32_t ms) { return ms * SYSTICK_FREQUENCY / 1000; }
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static inline uint32_t s_ticks(uint32_t s) { return s * SYSTICK_FREQUENCY; }
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static inline uint32_t ticks_ms(uint32_t ticks) { return ticks * 1000 / SYSTICK_FREQUENCY; }
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extern volatile uint32_t tick;
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#endif
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11
usb.c
11
usb.c
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@ -40,6 +40,8 @@ static char const *usb_strings[] = {
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[3 + ACM_NFC] = "RFID",
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};
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static int got_reset = 0;
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usbd_device *g_usbd_dev;
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/* The descriptor for our device. We need only one of these. */
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@ -173,6 +175,14 @@ static void cdcacm_set_config(usbd_device *usbd_dev, uint16_t wValue) {
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cdcacm_control_request);
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}
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void usb_reset_callback(void) {
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got_reset = 1;
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}
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bool usb_got_reset(void) {
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return got_reset;
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}
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void usb_setup() {
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rcc_periph_clock_enable(RCC_GPIOA);
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rcc_periph_clock_enable(RCC_OTGFS);
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@ -326,6 +336,7 @@ void usb_reinit() {
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(sizeof usb_strings) / sizeof(usb_strings[0]),
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usbd_control_buffer, sizeof(usbd_control_buffer));
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usbd_register_reset_callback(g_usbd_dev, &usb_reset_callback);
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usbd_register_set_config_callback(g_usbd_dev, cdcacm_set_config);
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}
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