.gitignore

@@ -1,3 +1,4 @@
+*.ld
 *.o
 *.d
 *.elf

Makefile

@@ -3,34 +3,15 @@ OOCD_INTERFACE  ?= stlink-v2
 OOCD_TARGET     ?= stm32f4x
 BMP_PORT        ?= /dev/ttyBmpGdb
 
-COMFLAGS=-g -Og -pedantic -Wall
+COMFLAGS=-g -Os -pedantic -Wall
 
-BOOTLOADER ?= no
-
-ifeq ($(BOOTLOADER),yes)
-  LIBNAME     = opencm3_stm32f4
-  FP_FLAGS   ?= -mfloat-abi=hard -mfpu=fpv4-sp-d16
-  ARCH_FLAGS  = -mthumb -mcpu=cortex-m4 $(FP_FLAGS)
-  DEVDEFS     = -DSTM32F4 -DSTM32F4CCM -DSTM32F405RG -D_ROM=1008K -D_RAM=128K -D_CCM=64K -D_CCM_OFF=0x10000000 -D_ROM_OFF=0x08004000 -D_RAM_OFF=0x20000000 -DBOOTLOADER
-  LDSCRIPT = linker.ld
-else
-  DEVICE = STM32F405RG
-endif
-CFLAGS=$(COMFLAGS) $(DEVDEFS) -std=c99 -D_POSIX_C_SOURCE=200809L
+CFLAGS=$(COMFLAGS) -std=c99 -D_POSIX_C_SOURCE=200809L
 CXXFLAGS=$(COMFLAGS) -std=c++17
 
-
 OBJS = usb.o adc.o ringbuffer.o uart.o buttons.o printf.o encoder.o
 BINARY ?= main
+DEVICE=STM32F405RG
 
 printf.o: CFLAGS:=$(CFLAGS) -Wno-parentheses -Wno-char-subscripts -Wno-sign-compare -Wno-implicit-fallthrough
 
 include ../rules.mk
-
-uf2: main.uf2
-
-main.uf2: main.bin
-	uf2conv.py -c -b 0x4000 -o $@ $<
-
-
-.PHONY: uf2

adc.c

@@ -20,7 +20,7 @@ void adc_setup(void) {
 
 uint32_t adc_bat_voltage(void) {
   if (adc_get_flag(ADC1, ADC_SR_EOC)) {
-    bat_voltage_mv = adc_read_regular(ADC1) * 3300 / 2048;
+    bat_voltage_mv = adc_read_regular(ADC1);
   }
   return bat_voltage_mv;
 }

buttons.c

@@ -4,35 +4,28 @@
 #include <stdio.h>
 #include "buttons.h"
 
-#define OPEN_RCC RCC_GPIOB
-#define OPEN_PORT GPIOB
-#define OPEN_BUTTON GPIO9
-#define CLOSE_RCC RCC_GPIOC
-#define CLOSE_PORT GPIOC
-#define CLOSE_BUTTON GPIO3
+#define BUTTON_RCC RCC_GPIOA
+#define BUTTON_PORT GPIOA
+#define OPEN_BUTTON GPIO6
+#define CLOSE_BUTTON GPIO7
 
 void buttons_setup() {
-  #define SETUP(BTN) \
-    rcc_periph_clock_enable(BTN ## _RCC); \
-    gpio_mode_setup(BTN ## _PORT, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, BTN ## _BUTTON); \
-    gpio_set_output_options(BTN ## _PORT, GPIO_OTYPE_OD, GPIO_OSPEED_2MHZ, BTN ## _BUTTON);
-  SETUP(OPEN);
-  SETUP(CLOSE);
-#undef SETUP
-  buttons_release();
+  rcc_periph_clock_enable(BUTTON_RCC);
+  gpio_mode_setup(BUTTON_PORT, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, OPEN_BUTTON | CLOSE_BUTTON);
+  gpio_set_output_options(BUTTON_PORT, GPIO_OTYPE_OD, GPIO_OSPEED_2MHZ, OPEN_BUTTON | CLOSE_BUTTON);
 }
 
 static uint32_t open_ticks = 0;
 static uint32_t close_ticks = 0;
 
 void buttons_open(uint32_t ticks) {
-  gpio_clear(OPEN_PORT, OPEN_BUTTON);
+  gpio_clear(BUTTON_PORT, OPEN_BUTTON);
   printf("Open %lu", ticks);
   open_ticks = ticks;
 }
 
 void buttons_close(uint32_t ticks) {
-  gpio_clear(CLOSE_PORT, CLOSE_BUTTON);
+  gpio_clear(BUTTON_PORT, CLOSE_BUTTON);
   printf("Close %lu", ticks);
   close_ticks = ticks;
 }
@@ -40,15 +33,14 @@ void buttons_close(uint32_t ticks) {
 void buttons_release(void) {
   open_ticks = close_ticks = 0;
   printf("Release");
-  gpio_set(OPEN_PORT, OPEN_BUTTON);
-  gpio_set(CLOSE_PORT, CLOSE_BUTTON);
+  gpio_set(BUTTON_PORT, OPEN_BUTTON | CLOSE_BUTTON);
 }
 
 void buttons_tick(void) {
   if (open_ticks) {
     open_ticks--;
     if (!open_ticks) {
-      gpio_set(OPEN_PORT, OPEN_BUTTON);
+      gpio_set(BUTTON_PORT, OPEN_BUTTON);
       printf("Release open");
     }
   }
@@ -56,7 +48,7 @@ void buttons_tick(void) {
     close_ticks--;
     if (!close_ticks) {
       printf("Release close");
-      gpio_set(CLOSE_PORT, CLOSE_BUTTON);
+      gpio_set(BUTTON_PORT, CLOSE_BUTTON);
     }
   }
 }

encoder.c

@@ -2,203 +2,73 @@
 #include <libopencm3/stm32/exti.h>
 #include <libopencm3/stm32/gpio.h>
 #include <libopencm3/stm32/rcc.h>
-#include <stddef.h>
 #include <stdint.h>
-#include <stdio.h>
+#include <stddef.h>
 #include "encoder.h"
-#include "systick.h"
 
-#define USE_CORRECTION
-#define FIXED_OFFSET 20
-// #define DEBUG_ENCODER_TICKS
-#define SPEED_AVG_NUM 4
+static volatile int pos;
 
-#ifdef DEBUG_ENCODER_TICKS
-#define LOG_ENCODER_DEBUG_TICKS(...) printf(__VA_ARGS__)
-#else
-#define LOG_ENCODER_DEBUG_TICKS(...)
-#endif
-
-static volatile int pos = 0;
-static int offset =
-  #ifdef FIXED_OFFSET
-    FIXED_OFFSET
-  #else
-    -1
-  #endif
-  ;
-static volatile int speed = 0;
 static void check(void);
 
-static uint32_t last_tick = 0;
-static struct tick_pos {
-  uint32_t tick;
-  int pos;
-} speed_ticks[SPEED_AVG_NUM + 1] = {0};
-static uint32_t ticks[3] = {0};
-
-#define MARKS 96
-#define PIN_OPEN GPIO1
-#define PIN_OPEN_IRQ NVIC_EXTI1_IRQ
-#define PIN_CLOSE GPIO2
-#define PIN_CLOSE_IRQ NVIC_EXTI2_IRQ
-
-#define PIN_PORT GPIOC
-#define PIN_RCC RCC_GPIOC
+#define PIN1 GPIO4
+#define PIN1_IRQ NVIC_EXTI4_IRQ
+#define PIN2 GPIO5
+#define PIN2_IRQ NVIC_EXTI9_5_IRQ
 
 void encoder_setup(void) {
-        rcc_periph_clock_enable(PIN_RCC);
-        rcc_periph_clock_enable(RCC_SYSCFG);
+        rcc_periph_clock_enable(RCC_GPIOA);
 
-        gpio_mode_setup(PIN_PORT, GPIO_MODE_INPUT, GPIO_PUPD_NONE, PIN_OPEN | PIN_CLOSE);
+        gpio_mode_setup(GPIOA, GPIO_MODE_INPUT, GPIO_PUPD_NONE, PIN1 | PIN2);
 
-        exti_select_source(PIN_OPEN, PIN_PORT);
-        exti_select_source(PIN_CLOSE, PIN_PORT);
-        exti_set_trigger(PIN_OPEN, EXTI_TRIGGER_BOTH);
-        exti_set_trigger(PIN_CLOSE, EXTI_TRIGGER_BOTH);
-        exti_enable_request(PIN_OPEN);
-        exti_enable_request(PIN_CLOSE);
+        /* Set up exti on A0 & A1 */
+        exti_select_source(PIN1 | PIN2, GPIOA);
+        exti_set_trigger(PIN1 | PIN2, EXTI_TRIGGER_BOTH);
+        exti_enable_request(PIN1 | PIN2);
 
-        nvic_enable_irq(PIN_OPEN_IRQ);
-        nvic_enable_irq(PIN_CLOSE_IRQ);
-
-        // We've configured it, now we can turn it off again
-        rcc_periph_clock_disable(RCC_SYSCFG);
+        nvic_enable_irq(PIN1_IRQ);
+        nvic_enable_irq(PIN2_IRQ);
 }
 
 int encoder_get() {
         return pos;
 }
 
-int encoder_speed() {
-  return speed;
-}
-
-int encoder_current_speed() {
-  int dt = ticks_ms(tick - speed_ticks[SPEED_AVG_NUM - 1].tick);
-  if (dt > 200) {
-    printf("dt: %d", dt);
-    return 0;
-  }
-  return 1000
-    * (speed_ticks[SPEED_AVG_NUM-1].pos - speed_ticks[0].pos)
-    / (int)ticks_ms(tick - speed_ticks[0].tick);
-}
-
+static int prev = 0;
 void check(void) {
-  static int prev = 0;
-  int now = GPIO_IDR(PIN_PORT);
-  int diff = 0;
-  now = (!!(now & PIN_OPEN))<<0 | (!!(now & PIN_CLOSE)) << 1;
+        int pp = pos;
+        int now = GPIO_IDR(GPIOA);
+        now = (!!(now & PIN1))<<0 | (!!(now & PIN2)) << 1;
 
-#define NEITHER 0
-#define JUST_OPEN 1
-#define JUST_CLOSE 2
-#define BOTH 3
-#define WAS(x) ((x)<<2)
-#define IS(x) (x)
-
-  switch (WAS(prev) + IS(now)) {
-  case WAS(NEITHER)    + IS(JUST_CLOSE):
-  case WAS(JUST_OPEN)  + IS(NEITHER):
-  case WAS(JUST_CLOSE) + IS(BOTH):
-  case WAS(BOTH)       + IS(JUST_OPEN):
-    diff = -1;
+        switch (prev << 2 | now) {
+        case 0 * 4 + 2:
+        case 1 * 4 + 0:
+        case 2 * 4 + 3:
+        case 3 * 4 + 1:
+                pos++;
                 break;
-  case WAS(NEITHER)    + IS(JUST_OPEN):
-  case WAS(JUST_OPEN)  + IS(BOTH):
-  case WAS(BOTH)       + IS(JUST_CLOSE):
-  case WAS(JUST_CLOSE) + IS(NEITHER):
-    diff = +1;
+        case 0 * 4 + 1:
+        case 1 * 4 + 3:
+        case 2 * 4 + 0:
+        case 3 * 4 + 2:
+                pos--;
                 break;
         default:
                 prev = now;
                 return;
         }
 
-  speed_ticks[SPEED_AVG_NUM].pos += diff;
-  pos += diff;
-
-  const int tick_diff = tick - last_tick;
-  if (now == BOTH) {
-    ticks[0] = tick_diff;
-  } else if (prev == BOTH) {
-    ticks[1] = tick_diff;
-  } else if (now == NEITHER) {
-    for (int i = 0; i < SPEED_AVG_NUM; i++) {
-      speed_ticks[i] = speed_ticks[i+1];
-    }
-    speed_ticks[SPEED_AVG_NUM - 1].tick = tick;
-    speed = 1000
-      * (speed_ticks[SPEED_AVG_NUM-1].pos - speed_ticks[0].pos)
-      / (int)ticks_ms(speed_ticks[SPEED_AVG_NUM-1].tick - speed_ticks[0].tick);
-
-#ifdef USE_CORRECTION
-    ticks[2] = tick_diff;
-
-    LOG_ENCODER_DEBUG_TICKS("%3d %4lu %4lu %4lu (%lu)", pos, ticks[0], ticks[1], ticks[2], offset);
-
-    const uint32_t mn = us_ticks(4500),
-      mx = us_ticks(7000);
-    if (ticks[0] >= mn &&
-        ticks[0] <= mx &&
-        ticks[2] >= mn &&
-        ticks[2] <= mx &&
-        ticks[1] >= (ticks[0] + ticks[2]) &&
-        ticks[1] <= (ticks[0] + ticks[2]) * 3 / 2) {
-      if (offset == -1) {
-#ifndef FIXED_OFFSET
-        pos = 2*diff;
-        offset = 0;
-#else
-        pos = FIXED_OFFSET;
-#endif
-      } else {
-        int pp = pos;
-        pos -= 2*diff + offset;
-        pos = (pos + (diff > 0 ? MARKS - 1 : 0)) / MARKS * MARKS;
-        pos += 2*diff + offset;
-
-        if (pp != pos) {
-          LOG_ENCODER_DEBUG_TICKS("changed pos: %d -> %d", pp, pos);
-        } else {
-          LOG_ENCODER_DEBUG_TICKS("match");
-        }
-      }
-    }
-#endif
-  }
-
-  if (pos < -1) {
-#ifndef FIXED_OFFSET
-    offset = (offset - pos + 1) % MARKS;
-    pos = -1;
-#else
-    pos = FIXED_OFFSET;
-#endif
-  }
-
-  last_tick = tick;
-
-#undef NEITHER
-#undef JUST_OPEN
-#undef JUST_CLOSE
-#undef BOTH
-#undef WAS
-#undef IS
-
         prev = now;
+        if (pos < MIN_POS)
+                pos = MIN_POS;
+        if (pos > MAX_POS)
+                pos = MAX_POS;
 }
 
-void exti1_isr(void) {
-        exti_reset_request(EXTI1);
-        check();
-}
-void exti2_isr(void) {
-        exti_reset_request(EXTI2);
-        check();
-}
 void exti4_isr(void) {
         exti_reset_request(EXTI4);
         check();
 }
+void exti9_5_isr(void) {
+        exti_reset_request(EXTI5);
+        check();
+}

encoder.h

@@ -8,6 +8,4 @@
 
 void encoder_setup(void);
 int encoder_get(void);
-int encoder_current_speed(void);
-int encoder_speed(void);
 #endif

linker.ld

@@ -1,78 +0,0 @@
-EXTERN(vector_table)
-ENTRY(reset_handler)
-
-_estack = ORIGIN(ram) + LENGTH(ram);
-_board_dfu_dbl_tap = _estack;
-
-MEMORY
-{
- ram (rwx) : ORIGIN = 0x20000000, LENGTH = 128K - 4
- rom (rx) : ORIGIN = 0x08004000, LENGTH = 1024K - 16K
- ccm (rwx) : ORIGIN = 0x10000000, LENGTH = 64K
-}
-SECTIONS
-{
- .text : {
-  *(.vectors)
-  *(.text*)
-  . = ALIGN(4);
-  *(.rodata*)
-  . = ALIGN(4);
- } >rom
- .preinit_array : {
-  . = ALIGN(4);
-  __preinit_array_start = .;
-  KEEP (*(.preinit_array))
-  __preinit_array_end = .;
- } >rom
- .init_array : {
-  . = ALIGN(4);
-  __init_array_start = .;
-  KEEP (*(SORT(.init_array.*)))
-  KEEP (*(.init_array))
-  __init_array_end = .;
- } >rom
- .fini_array : {
-  . = ALIGN(4);
-  __fini_array_start = .;
-  KEEP (*(.fini_array))
-  KEEP (*(SORT(.fini_array.*)))
-  __fini_array_end = .;
- } >rom
- .ARM.extab : {
-  *(.ARM.extab*)
- } >rom
- .ARM.exidx : {
-  __exidx_start = .;
-  *(.ARM.exidx*)
-  __exidx_end = .;
- } >rom
- . = ALIGN(4);
- _etext = .;
- .noinit (NOLOAD) : {
-  *(.noinit*)
- } >ram
- . = ALIGN(4);
- .data : {
-  _data = .;
-  *(.data*)
-  *(.ramtext*)
-  . = ALIGN(4);
-  _edata = .;
- } >ram AT >rom
- _data_loadaddr = LOADADDR(.data);
- .bss : {
-  *(.bss*)
-  *(COMMON)
-  . = ALIGN(4);
-  _ebss = .;
- } >ram
- .ccm : {
-  *(.ccmram*)
-  . = ALIGN(4);
- } >ccm
- /DISCARD/ : { *(.eh_frame) }
- . = ALIGN(4);
- end = .;
-}
-PROVIDE(_stack = ORIGIN(ram) + LENGTH(ram));

main.c

@@ -1,6 +1,5 @@
 #include <libopencm3/cm3/nvic.h>
 #include <libopencm3/cm3/systick.h>
-#include <libopencm3/cm3/scb.h>
 #include <libopencm3/stm32/rcc.h>
 #include <stddef.h>
 #include <stdio.h>
@@ -11,7 +10,6 @@
 #include "ringbuffer.h"
 #include "uart.h"
 #include "encoder.h"
-#include "systick.h"
 
 static const uint32_t button_time = 100;
 
@@ -23,17 +21,8 @@ RINGBUFFER_STORAGE(comm_out_buf, 64)
 
 static void sys_tick_setup(void);
 
-#if defined(BOOTLOADER)
-extern uint32_t *_board_dfu_dbl_tap;
-
-static void start_bootloader(void);
-static void erase_app(void);
-#endif
-
-static void fast_reset(void);
-
 static void sys_tick_setup() {
-  systick_set_reload(rcc_ahb_frequency / SYSTICK_FREQUENCY - 1);
+  systick_set_reload(168000);
   systick_set_clocksource(STK_CSR_CLKSOURCE_AHB);
   systick_counter_enable();
   systick_interrupt_enable();
@@ -43,24 +32,6 @@ void sys_tick_handler() {
   tick++;
 }
 
-void fast_reset() {
-#if defined(BOOTLOADER)
-  *_board_dfu_dbl_tap = 0xf02669ef;
-#endif
-  scb_reset_system();
-}
-
-#if defined(BOOTLOADER)
-void start_bootloader() {
-  *_board_dfu_dbl_tap = 0xf01669ef;
-  scb_reset_system();
-}
-void erase_app() {
-  *_board_dfu_dbl_tap = 0xf5e80ab4;
-  scb_reset_system();
-}
-#endif
-
 int main(void) {
 #if 0
   rcc_clock_setup_pll(&rcc_hse_25mhz_3v3[RCC_CLOCK_3V3_84MHZ]);
@@ -73,12 +44,10 @@ int main(void) {
   RINGBUFFER_INIT(comm_in_buf, 64);
   RINGBUFFER_INIT(comm_out_buf, 64);
 
-  sys_tick_setup();
-
+  usb_setup();
   adc_setup();
   uart_setup();
-  usb_setup();
-
+  sys_tick_setup();
   buttons_setup();
   encoder_setup();
 
@@ -86,81 +55,39 @@ int main(void) {
 
   uint32_t last_tick = tick;
   int last_pos = 0;
-  int watchdog = 1;
-  uint32_t watchdog_counter = 0;
-  int print_changes = 0;
-
-  while (tick < 5000) {
-    usbd_poll(g_usbd_dev);
-  }
-
-  if (!usb_got_reset()) {
-    fast_reset();
-  }
-
   while (1) {
     /* Handle control messages through the comms CDC */
     char buf[64];
     unsigned buf_len = 0;
 
-    const bool no_comms = watchdog && ringbuffer_empty(usb_to_uart_buf) && ringbuffer_empty(comm_in_buf);
-    if (!no_comms) {
-      watchdog_counter = 0;
-    }
     while (tick != last_tick) {
       buttons_tick();
       last_tick++;
-      watchdog_counter += no_comms;
-    }
-    if (watchdog_counter >= s_ticks(35)) {
-      fast_reset();
     }
 
     for (char c; ringbuffer_get(comm_in_buf, (void *)&c, 1);) {
       switch (c) {
-        case 'B': // Battery
+        case 'B':
           printf("%lu", (unsigned long)adc_bat_voltage());
           break;
-        case 'O': // Open
+        case 'O':
           buttons_open(button_time);
           break;
-        case 'C': // Close
+        case 'C':
           buttons_close(button_time);
           break;
-        case 'R': // Report
-          printf("pos: %d %d", encoder_get(), encoder_current_speed());
+        case 'R':
+          printf("pos: %d", encoder_get());
           break;
-        case 'r': // toggle reporting
-          print_changes = !print_changes;
-          printf("pos reporting: %d", print_changes);
-          break;
-        case 'W': // toggle watchdog
-          watchdog = !watchdog;
-          printf("watchdog: %d", watchdog);
-          break;
-        case 'S': // reStart
-          fast_reset();
-          break;
-#if defined(BOOTLOADER)
-        case 'F': // Flash
-          start_bootloader();
-          break;
-        case 'E': // Erase
-          erase_app();
-          break;
-#endif
       }
     }
 
     int pos = encoder_get();
-    if (pos != last_pos) {
-      if (ringbuffer_empty(comm_out_buf)) {
-        if (print_changes) {
-          printf("pos: %d %d", pos, encoder_speed());
-        }
+    if (pos != last_pos && ringbuffer_empty(comm_out_buf)) {
+      printf("pos: %d", pos);
       last_pos = pos;
     }
-    }
+
 
     /* Send replies */
     if ((buf_len = ringbuffer_peek(comm_out_buf, &buf[0], sizeof buf))) {
@@ -181,7 +108,7 @@ int main(void) {
     }
 
     usbd_poll(g_usbd_dev);
-    // __asm__("wfi");
+    __asm__("wfi");
   }
 }
 

systick.h

@@ -1,13 +0,0 @@
-#ifndef SYSTICK_H
-#define SYSTICK_H
-#include <stdint.h>
-#define SYSTICK_FREQUENCY 10000
-
-static inline uint32_t us_ticks(uint32_t us) { return us * SYSTICK_FREQUENCY / 1000000; }
-static inline uint32_t ms_ticks(uint32_t ms) { return ms * SYSTICK_FREQUENCY / 1000; }
-static inline uint32_t s_ticks(uint32_t s) { return s * SYSTICK_FREQUENCY; }
-static inline uint32_t ticks_ms(uint32_t ticks) { return ticks * 1000 / SYSTICK_FREQUENCY; }
-
-extern volatile uint32_t tick;
-
-#endif

usb.c

@@ -40,8 +40,6 @@ static char const *usb_strings[] = {
     [3 + ACM_NFC] = "RFID",
 };
 
-static int got_reset = 0;
-
 usbd_device *g_usbd_dev;
 
 /* The descriptor for our device. We need only one of these. */
@@ -175,14 +173,6 @@ static void cdcacm_set_config(usbd_device *usbd_dev, uint16_t wValue) {
         cdcacm_control_request);
 }
 
-void usb_reset_callback(void) {
-  got_reset = 1;
-}
-
-bool usb_got_reset(void) {
-  return got_reset;
-}
-
 void usb_setup() {
   rcc_periph_clock_enable(RCC_GPIOA);
   rcc_periph_clock_enable(RCC_OTGFS);
@@ -324,20 +314,15 @@ void usb_setup() {
   }
 
   /* Initialize the device... */
-  usb_reinit();
-
-  /* And use interrupts instead of polling. */
-  // nvic_enable_irq(NVIC_OTG_FS_IRQ);
-}
-
-void usb_reinit() {
   g_usbd_dev = usbd_init(&otgfs_usb_driver, &dev, &config,
                          (char const * const *)usb_strings,
                          (sizeof usb_strings) / sizeof(usb_strings[0]),
                          usbd_control_buffer, sizeof(usbd_control_buffer));
 
-  usbd_register_reset_callback(g_usbd_dev, &usb_reset_callback);
   usbd_register_set_config_callback(g_usbd_dev, cdcacm_set_config);
+
+  /* And use interrupts instead of polling. */
+  // nvic_enable_irq(NVIC_OTG_FS_IRQ);
 }
 
 //void __attribute__((weak)) otg_fs_isr() { }

usb.h

@@ -6,9 +6,7 @@
 extern usbd_device *g_usbd_dev;
 
 void usb_setup(void);
-void usb_reinit(void);
 int usb_write_cdcacm(uint8_t acm, void *data, size_t len, int tries);
-bool usb_got_reset(void);
 
 #define ACM_NFC 1
 #define ACM_COMM 0