ProfilometerProbe/Firmware/Core/Src/main.c

/* USER CODE BEGIN Header */
/**
 ******************************************************************************
 * @file           : main.c
 * @brief          : Main program body
 * @author         : Adam Prochazka <xproch0f>
 ******************************************************************************
 * @attention
 *
 * Code outside of "USER CODE" blocks was generated by STM32CubeMX by STMicroelectronics and was not written by the author.
 *
 ******************************************************************************
 */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "tusb.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
I2C_HandleTypeDef hi2c1;

SPI_HandleTypeDef hspi1;
DMA_HandleTypeDef hdma_spi1_rx;
DMA_HandleTypeDef hdma_spi1_tx;

TIM_HandleTypeDef htim15;

PCD_HandleTypeDef hpcd_USB_FS;

/* USER CODE BEGIN PV */

uint16_t DistSensorAddr=0x52;
int status=0;
volatile int IntCount;

#define isInterrupt 0 /* If isInterrupt = 1 then device working in interrupt mode, else device working in polling mode */

int SPI_Rx_Done_Flag = 0;
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_DMA_Init(void);
static void MX_SPI1_Init(void);
static void MX_I2C1_Init(void);
static void MX_USB_PCD_Init(void);
static void MX_TIM15_Init(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */

  uint16_t Distance = 0;
  uint16_t SignalRate;
  uint16_t AmbientRate;
  uint16_t SpadNum; 
  uint8_t RangeStatus;

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */


  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_DMA_Init();
  MX_SPI1_Init();
  MX_I2C1_Init();
  MX_USB_PCD_Init();
  MX_TIM15_Init();
  /* USER CODE BEGIN 2 */

  // Signalize user that device has started
  LED_On();

  // Enable power to USB, without TinyUSB will not initialize
  HAL_PWREx_EnableVddUSB();
  // Wait for power to stabilize
  HAL_Delay(100);

  // Initialize distance sensor
  status = VL53L1X_SensorInit(DistSensorAddr);
  
  // Set distance mode of distance sensor for long distance (2)
  status = VL53L1X_SetDistanceMode(DistSensorAddr, 2);

  // Set timing budget for each measurement
  status = VL53L1X_SetTimingBudgetInMs(DistSensorAddr, 100);
  status = VL53L1X_SetInterMeasurementInMs(DistSensorAddr, 100);

  // Start first measurement to wake sensor up 
  status = VL53L1X_StartRanging(DistSensorAddr);

  
  HAL_Delay(1000);
	
  // Initialize TinyUSB
  tud_init(BOARD_DEVICE_RHPORT_NUM);

  SPI_Init(&hspi1);

  // USB utility function
  tud_task();

  // Define variables for correct frame sending and capturing
  int last_sent_idx = 0;
  int buff_stop_idx = 0;
  uint16_t image_size = 0;
  uint8_t cdc_buff[CDC_BUFF_SIZE+CDC_FRAME_SIZE];
  for(int i = 0; i < (CDC_BUFF_SIZE+CDC_FRAME_SIZE); i++) cdc_buff[i] = 0x00; // Clear frame buffer

  int Laser_LED_Switch = 0; // Variable for switching between LASER and LED

  // Initial states of LED and LASER (LED off, LASER on)
  HAL_GPIO_WritePin(VSET_LED_GPIO_Port, VSET_LED_Pin, GPIO_PIN_RESET);
  HAL_TIM_PWM_Start(&htim15, TIM_CHANNEL_1);
  
  // Initialize camera module
  Cam_Init(&hi2c1, &hspi1);

  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {  
    // USB utility function
    tud_task();

    // If there wasn't any image captured yet or the last one was sent out completely
    if(buff_stop_idx >= (int)image_size){

      // Reset variables responsible for sending correct amount of received image 
      buff_stop_idx = 0;
      last_sent_idx = 0;

      // Get current distance of probe inside the barrel 
      VL53L1X_GetDistance(DistSensorAddr, &Distance);

      CS_Off();
      CS_On();

      // Start capturing frame and wait until it is done capturing
      Cam_Capture(&hspi1);

      // Switch between LASER and LED, so the optical output power of diodes has time to stabilize until next capture
      if(Laser_LED_Switch == 1){
        Laser_LED_Switch = 0;
        __HAL_TIM_SET_COMPARE(&htim15, TIM_CHANNEL_1, 40);
        HAL_GPIO_WritePin(VSET_LED_GPIO_Port, VSET_LED_Pin, GPIO_PIN_RESET);
      }
      else{
        Laser_LED_Switch = 1;
        __HAL_TIM_SET_COMPARE(&htim15, TIM_CHANNEL_1, 0);
        HAL_GPIO_WritePin(VSET_LED_GPIO_Port, VSET_LED_Pin, GPIO_PIN_SET);
      }

      // Get size of captured image, so that correct number of bytec can be read from camera and sent out 
      image_size = Cam_FIFO_length(&hspi1);

      // Activate burst read out mode of camera module (no need for requesting each byte individually) 
      Cam_Start_Burst_Read(&hspi1);

      continue;
    }

    // Image has not been completely sent out
    else {

      // Variable to save number of bytes that should be read from camera module
      int number_to_read = 0;

      // Determine how many bytes should be read from camera module - Is remaining image data to be read larger or smaller than framebuffer? 
      if((buff_stop_idx + CDC_BUFF_SIZE) > (int) image_size){
        number_to_read = (int) image_size - buff_stop_idx;
      }
      else{
        number_to_read = CDC_BUFF_SIZE;
      }

      // Read determined amount of bytes from camera in blocking mode 
      HAL_SPI_Receive(&hspi1, cdc_buff, number_to_read, HAL_MAX_DELAY);

      // Increment index of already read buffer data
      buff_stop_idx = buff_stop_idx + number_to_read;
    }

    // Variable to store how many bytes were sent during this iteration 
    int current_sending_idx = 0;

    // Inform user that image data transfer started
    LED_On();

    // Loop to send all image data inside cdc_buff in small CDC chunks
    do{

      // USB utility function - has to be called between each cdc_write_flush()
      tud_task();

      // How many bytes should be send in current CDC block
      int sendLen = CDC_FRAME_SIZE;
      if(last_sent_idx + CDC_FRAME_SIZE > buff_stop_idx){
        sendLen = buff_stop_idx - last_sent_idx;
      }

      // Select bytes, that will be send during next CDC transfer
      tud_cdc_write(&cdc_buff[current_sending_idx], sendLen);

      // Increment index of data to be sent for next loop iteration 
      current_sending_idx = current_sending_idx + sendLen;
      last_sent_idx = last_sent_idx + sendLen;
      
      // Transfer selected data through CDC  
      tud_cdc_write_flush();

      //Delay between sends - necessary for USB synchronization
      int i = 0;
      for(;i<4000;i++);
    }
    // Repeat until all data from buffer has been sent
    while(last_sent_idx < buff_stop_idx);
    
    //  If whole image has been sent, send distance data of where image was captured
    if(buff_stop_idx >= (int)image_size){
      
      // Delay for synchronization
      HAL_Delay(20);
      
      // USB utility function - has to be called, because it wasnt called after last tud_cdc_write_flush()
      tud_task();

      // Format distance data between predefined header and footer, for clear decoding by receiver
      uint8_t distance_buff[12];
      distance_buff[0] = 0xff;
      distance_buff[1] = 0xff;
      distance_buff[2] = 0xff;
      distance_buff[3] = 0x69;
      distance_buff[4] = (uint8_t)(Distance >> 8);
      distance_buff[5] = (Distance & 0xff);
      distance_buff[6] = 0xff;
      distance_buff[7] = 0x69;
      distance_buff[8] = 0xff;
      distance_buff[9] = 0xff;
      distance_buff[10] = '\n';
      distance_buff[11] = '\r';


      // Prepare to send formatted distance data of image through CDC 
      tud_cdc_write(&distance_buff[0], 12);

      // Necessary delay for synchronization
      HAL_Delay(1);

      // Transfer prepared Distance data through CDC 
      tud_cdc_write_flush();

      // Necessary delay for synchronization
      HAL_Delay(1);

      // USB utility function - after write_flush()
      tud_task();
    }

    // Inform user that transfer has been completed
    LED_Off();

    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage
  */
  if (HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI48|RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSI48State = RCC_HSI48_ON;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
  RCC_OscInitStruct.PLL.PLLM = 1;
  RCC_OscInitStruct.PLL.PLLN = 10;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV7;
  RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV2;
  RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_4) != HAL_OK)
  {
    Error_Handler();
  }
}

/**
  * @brief I2C1 Initialization Function
  * @param None
  * @retval None
  */
static void MX_I2C1_Init(void)
{

  /* USER CODE BEGIN I2C1_Init 0 */

  /* USER CODE END I2C1_Init 0 */

  /* USER CODE BEGIN I2C1_Init 1 */

  /* USER CODE END I2C1_Init 1 */
  hi2c1.Instance = I2C1;
  hi2c1.Init.Timing = 0x10909CEC;
  hi2c1.Init.OwnAddress1 = 0;
  hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
  hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
  hi2c1.Init.OwnAddress2 = 0;
  hi2c1.Init.OwnAddress2Masks = I2C_OA2_NOMASK;
  hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
  hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
  if (HAL_I2C_Init(&hi2c1) != HAL_OK)
  {
    Error_Handler();
  }

  /** Configure Analogue filter
  */
  if (HAL_I2CEx_ConfigAnalogFilter(&hi2c1, I2C_ANALOGFILTER_ENABLE) != HAL_OK)
  {
    Error_Handler();
  }

  /** Configure Digital filter
  */
  if (HAL_I2CEx_ConfigDigitalFilter(&hi2c1, 0) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN I2C1_Init 2 */

  /* USER CODE END I2C1_Init 2 */

}

/**
  * @brief SPI1 Initialization Function
  * @param None
  * @retval None
  */
static void MX_SPI1_Init(void)
{

  /* USER CODE BEGIN SPI1_Init 0 */

  /* USER CODE END SPI1_Init 0 */

  /* USER CODE BEGIN SPI1_Init 1 */

  /* USER CODE END SPI1_Init 1 */
  /* SPI1 parameter configuration*/
  hspi1.Instance = SPI1;
  hspi1.Init.Mode = SPI_MODE_MASTER;
  hspi1.Init.Direction = SPI_DIRECTION_2LINES;
  hspi1.Init.DataSize = SPI_DATASIZE_8BIT;
  hspi1.Init.CLKPolarity = SPI_POLARITY_LOW;
  hspi1.Init.CLKPhase = SPI_PHASE_1EDGE;
  hspi1.Init.NSS = SPI_NSS_SOFT;
  hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32;
  hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
  hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
  hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
  hspi1.Init.CRCPolynomial = 7;
  hspi1.Init.CRCLength = SPI_CRC_LENGTH_DATASIZE;
  hspi1.Init.NSSPMode = SPI_NSS_PULSE_DISABLE;
  if (HAL_SPI_Init(&hspi1) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN SPI1_Init 2 */

  /* USER CODE END SPI1_Init 2 */

}

/**
  * @brief TIM15 Initialization Function
  * @param None
  * @retval None
  */
static void MX_TIM15_Init(void)
{

  /* USER CODE BEGIN TIM15_Init 0 */

  /* USER CODE END TIM15_Init 0 */

  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
  TIM_MasterConfigTypeDef sMasterConfig = {0};
  TIM_OC_InitTypeDef sConfigOC = {0};
  TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};

  /* USER CODE BEGIN TIM15_Init 1 */

  /* USER CODE END TIM15_Init 1 */
  htim15.Instance = TIM15;
  htim15.Init.Prescaler = 40;
  htim15.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim15.Init.Period = 1000;
  htim15.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim15.Init.RepetitionCounter = 0;
  htim15.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  if (HAL_TIM_Base_Init(&htim15) != HAL_OK)
  {
    Error_Handler();
  }
  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
  if (HAL_TIM_ConfigClockSource(&htim15, &sClockSourceConfig) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_TIM_PWM_Init(&htim15) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim15, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sConfigOC.OCMode = TIM_OCMODE_PWM1;
  sConfigOC.Pulse = 500;
  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
  sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
  sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
  sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
  if (HAL_TIM_PWM_ConfigChannel(&htim15, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
  {
    Error_Handler();
  }
  sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
  sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
  sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
  sBreakDeadTimeConfig.DeadTime = 0;
  sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
  sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
  sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
  if (HAL_TIMEx_ConfigBreakDeadTime(&htim15, &sBreakDeadTimeConfig) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN TIM15_Init 2 */

  /* USER CODE END TIM15_Init 2 */
  HAL_TIM_MspPostInit(&htim15);

}

/**
  * @brief USB Initialization Function
  * @param None
  * @retval None
  */
static void MX_USB_PCD_Init(void)
{

  /* USER CODE BEGIN USB_Init 0 */

  /* USER CODE END USB_Init 0 */

  /* USER CODE BEGIN USB_Init 1 */

  /* USER CODE END USB_Init 1 */
  hpcd_USB_FS.Instance = USB;
  hpcd_USB_FS.Init.dev_endpoints = 8;
  hpcd_USB_FS.Init.speed = PCD_SPEED_FULL;
  hpcd_USB_FS.Init.phy_itface = PCD_PHY_EMBEDDED;
  hpcd_USB_FS.Init.Sof_enable = DISABLE;
  hpcd_USB_FS.Init.low_power_enable = DISABLE;
  hpcd_USB_FS.Init.lpm_enable = DISABLE;
  hpcd_USB_FS.Init.battery_charging_enable = DISABLE;
  if (HAL_PCD_Init(&hpcd_USB_FS) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN USB_Init 2 */

  /* USER CODE END USB_Init 2 */

}

/**
  * Enable DMA controller clock
  */
static void MX_DMA_Init(void)
{

  /* DMA controller clock enable */
  __HAL_RCC_DMA1_CLK_ENABLE();

  /* DMA interrupt init */
  /* DMA1_Channel2_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(DMA1_Channel2_IRQn, 0, 0);
  HAL_NVIC_EnableIRQ(DMA1_Channel2_IRQn);
  /* DMA1_Channel3_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(DMA1_Channel3_IRQn, 0, 0);
  HAL_NVIC_EnableIRQ(DMA1_Channel3_IRQn);

}

/**
  * @brief GPIO Initialization Function
  * @param None
  * @retval None
  */
static void MX_GPIO_Init(void)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOC_CLK_ENABLE();
  __HAL_RCC_GPIOA_CLK_ENABLE();
  __HAL_RCC_GPIOB_CLK_ENABLE();

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOA, DEBUG_LED_Pin|VSET_LED_Pin, GPIO_PIN_RESET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOB, CHIP_SELECT_Pin|LD3_Pin, GPIO_PIN_RESET);

  /*Configure GPIO pins : DEBUG_LED_Pin VSET_LED_Pin */
  GPIO_InitStruct.Pin = DEBUG_LED_Pin|VSET_LED_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  /*Configure GPIO pins : CHIP_SELECT_Pin LD3_Pin */
  GPIO_InitStruct.Pin = CHIP_SELECT_Pin|LD3_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

}

/* USER CODE BEGIN 4 */
void HAL_SPI_RxCpltCallback(SPI_HandleTypeDef *hspi)
{
  SPI_Rx_Done_Flag = 1;
}

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */