adam_prochazka/ProfilometerProbe
1
0
Fork 0
mirror of https://github.com/aprochazka/ProfilometerProbe.git synced 2025-06-30 17:47:20 +02:00
Code Issues Packages Projects Releases Wiki Activity

More optimalizations and multithreading - 1FPS

Browse Source
This commit is contained in:
Adam Prochazka
2023-04-09 23:48:05 +02:00
parent ae0f8749b5
commit 374a63bc0c
12 changed files with 436 additions and 270 deletions
Download Patch File Download Diff File Expand all files Collapse all files

145
Firmware/Core/Src/main.c
View File

@ -18,7 +18,7 @@
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "images.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "tusb.h"
@ -47,8 +47,6 @@ DMA_HandleTypeDef hdma_spi1_tx;
UART_HandleTypeDef huart2;
PCD_HandleTypeDef hpcd_USB_FS;
/* USER CODE BEGIN PV */
@ -62,7 +60,6 @@ int SPI_Rx_Done_Flag = 0;
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_DMA_Init(void);
static void MX_USART2_UART_Init(void);
static void MX_SPI1_Init(void);
@ -221,13 +218,25 @@ int send_CDC_Bulk(){
return 1;
}
*/
void SysTick_Init(void)
{
SysTick_Config(SystemCoreClock / 10000); // Set SysTick interrupt to occur every 100us
}
void delay_us(uint32_t us)
{
uint32_t start = SysTick->VAL;
uint32_t ticks = us * 10;
while ((start - SysTick->VAL) < ticks);
}
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
* @brief The application entry point.
* @retval int
*/
int main(void)
{
/* USER CODE BEGIN 1 */
@ -271,13 +280,15 @@ int main(void)
// Wait for power stabilization
//HAL_Delay(1000);
#define CDC_BUFF_SIZE 10000
tud_task();
int last_sent_idx = 0;
int buff_stop_idx = 0;
uint16_t image_size = 0;
uint8_t cdc_buff[CDC_BUFF_SIZE];
Cam_Init(&hi2c1, &hspi1);
/* USER CODE END 2 */
/* Infinite loop */
@ -288,6 +299,8 @@ int main(void)
if(buff_stop_idx >= (int)image_size){
LED_Off();
buff_stop_idx = 0;
last_sent_idx = 0;
@ -298,7 +311,7 @@ int main(void)
tud_task();
Cam_Init(&hi2c1, &hspi1);
Cam_Refresh(&hi2c1, &hspi1);
tud_task();
@ -309,6 +322,8 @@ int main(void)
image_size = Cam_FIFO_length(&hspi1);
Cam_Start_Burst_Read(&hspi1);
LED_On();
continue;
//HAL_SPI_Receive(&hspi1, cdc_buff, CDC_BUFF_SIZE, HAL_MAX_DELAY);
@ -331,16 +346,17 @@ int main(void)
int current_sending_idx = 0;
do{
tud_task();
tud_cdc_write(&cdc_buff[current_sending_idx], 50);
tud_cdc_write(&cdc_buff[current_sending_idx], CDC_FRAME_SIZE);
current_sending_idx = current_sending_idx + CDC_FRAME_SIZE;
last_sent_idx = last_sent_idx + CDC_FRAME_SIZE;
tud_cdc_write_flush();
current_sending_idx = current_sending_idx + 50;
last_sent_idx = last_sent_idx + 50;
HAL_Delay(3);
//Delay between sends
int i = 0;
for(;i<4000;i++);
}
while(last_sent_idx < buff_stop_idx);
LED_On();
/* USER CODE END WHILE */
@ -350,25 +366,25 @@ int main(void)
}
/**
* @brief System Clock Configuration
* @retval None
*/
* @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;
* 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;
@ -385,8 +401,9 @@ void SystemClock_Config(void)
}
/** 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.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;
@ -399,10 +416,10 @@ void SystemClock_Config(void)
}
/**
* @brief I2C1 Initialization Function
* @param None
* @retval None
*/
* @brief I2C1 Initialization Function
* @param None
* @retval None
*/
static void MX_I2C1_Init(void)
{
@ -428,14 +445,14 @@ static void MX_I2C1_Init(void)
}
/** 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();
@ -443,13 +460,14 @@ static void MX_I2C1_Init(void)
/* USER CODE BEGIN I2C1_Init 2 */
/* USER CODE END I2C1_Init 2 */
}
/**
* @brief SPI1 Initialization Function
* @param None
* @retval None
*/
* @brief SPI1 Initialization Function
* @param None
* @retval None
*/
static void MX_SPI1_Init(void)
{
@ -468,7 +486,7 @@ static void MX_SPI1_Init(void)
hspi1.Init.CLKPolarity = SPI_POLARITY_LOW;
hspi1.Init.CLKPhase = SPI_PHASE_1EDGE;
hspi1.Init.NSS = SPI_NSS_SOFT;
hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_128;
hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32;
hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
@ -482,13 +500,14 @@ static void MX_SPI1_Init(void)
/* USER CODE BEGIN SPI1_Init 2 */
/* USER CODE END SPI1_Init 2 */
}
/**
* @brief USART2 Initialization Function
* @param None
* @retval None
*/
* @brief USART2 Initialization Function
* @param None
* @retval None
*/
static void MX_USART2_UART_Init(void)
{
@ -516,13 +535,14 @@ static void MX_USART2_UART_Init(void)
/* USER CODE BEGIN USART2_Init 2 */
/* USER CODE END USART2_Init 2 */
}
/**
* @brief USB Initialization Function
* @param None
* @retval None
*/
* @brief USB Initialization Function
* @param None
* @retval None
*/
static void MX_USB_PCD_Init(void)
{
@ -548,11 +568,12 @@ static void MX_USB_PCD_Init(void)
/* USER CODE BEGIN USB_Init 2 */
/* USER CODE END USB_Init 2 */
}
/**
* Enable DMA controller clock
*/
* Enable DMA controller clock
*/
static void MX_DMA_Init(void)
{
@ -566,13 +587,14 @@ static void MX_DMA_Init(void)
/* 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
*/
* @brief GPIO Initialization Function
* @param None
* @retval None
*/
static void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
@ -586,7 +608,7 @@ static void MX_GPIO_Init(void)
HAL_GPIO_WritePin(DEBUG_LED_GPIO_Port, DEBUG_LED_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOB, CHIP_SELECT_Pin | LD3_Pin, GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOB, CHIP_SELECT_Pin|LD3_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin : DEBUG_LED_Pin */
GPIO_InitStruct.Pin = DEBUG_LED_Pin;
@ -596,11 +618,12 @@ static void MX_GPIO_Init(void)
HAL_GPIO_Init(DEBUG_LED_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : CHIP_SELECT_Pin LD3_Pin */
GPIO_InitStruct.Pin = 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 */
@ -617,9 +640,9 @@ void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart)
/* USER CODE END 4 */
/**
* @brief This function is executed in case of error occurrence.
* @retval None
*/
* @brief This function is executed in case of error occurrence.
* @retval None
*/
void Error_Handler(void)
{
/* USER CODE BEGIN Error_Handler_Debug */
@ -631,14 +654,14 @@ void Error_Handler(void)
/* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
#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
*/
* @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 */

6
Firmware/Core/Src/stm32l4xx_hal_msp.c
View File

@ -221,6 +221,9 @@ void HAL_SPI_MspInit(SPI_HandleTypeDef* hspi)
__HAL_LINKDMA(hspi,hdmatx,hdma_spi1_tx);
/* SPI1 interrupt Init */
HAL_NVIC_SetPriority(SPI1_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(SPI1_IRQn);
/* USER CODE BEGIN SPI1_MspInit 1 */
/* USER CODE END SPI1_MspInit 1 */
@ -254,6 +257,9 @@ void HAL_SPI_MspDeInit(SPI_HandleTypeDef* hspi)
/* SPI1 DMA DeInit */
HAL_DMA_DeInit(hspi->hdmarx);
HAL_DMA_DeInit(hspi->hdmatx);
/* SPI1 interrupt DeInit */
HAL_NVIC_DisableIRQ(SPI1_IRQn);
/* USER CODE BEGIN SPI1_MspDeInit 1 */
/* USER CODE END SPI1_MspDeInit 1 */

67
Firmware/Core/Src/stm32l4xx_it.c
View File

@ -57,6 +57,7 @@
/* External variables --------------------------------------------------------*/
extern DMA_HandleTypeDef hdma_spi1_rx;
extern DMA_HandleTypeDef hdma_spi1_tx;
extern SPI_HandleTypeDef hspi1;
extern UART_HandleTypeDef huart2;
extern PCD_HandleTypeDef hpcd_USB_FS;
/* USER CODE BEGIN EV */
@ -67,8 +68,8 @@ extern PCD_HandleTypeDef hpcd_USB_FS;
/* Cortex-M4 Processor Interruption and Exception Handlers */
/******************************************************************************/
/**
* @brief This function handles Non maskable interrupt.
*/
* @brief This function handles Non maskable interrupt.
*/
void NMI_Handler(void)
{
/* USER CODE BEGIN NonMaskableInt_IRQn 0 */
@ -82,8 +83,8 @@ void NMI_Handler(void)
}
/**
* @brief This function handles Hard fault interrupt.
*/
* @brief This function handles Hard fault interrupt.
*/
void HardFault_Handler(void)
{
/* USER CODE BEGIN HardFault_IRQn 0 */
@ -97,8 +98,8 @@ void HardFault_Handler(void)
}
/**
* @brief This function handles Memory management fault.
*/
* @brief This function handles Memory management fault.
*/
void MemManage_Handler(void)
{
/* USER CODE BEGIN MemoryManagement_IRQn 0 */
@ -112,8 +113,8 @@ void MemManage_Handler(void)
}
/**
* @brief This function handles Prefetch fault, memory access fault.
*/
* @brief This function handles Prefetch fault, memory access fault.
*/
void BusFault_Handler(void)
{
/* USER CODE BEGIN BusFault_IRQn 0 */
@ -127,8 +128,8 @@ void BusFault_Handler(void)
}
/**
* @brief This function handles Undefined instruction or illegal state.
*/
* @brief This function handles Undefined instruction or illegal state.
*/
void UsageFault_Handler(void)
{
/* USER CODE BEGIN UsageFault_IRQn 0 */
@ -142,8 +143,8 @@ void UsageFault_Handler(void)
}
/**
* @brief This function handles System service call via SWI instruction.
*/
* @brief This function handles System service call via SWI instruction.
*/
void SVC_Handler(void)
{
/* USER CODE BEGIN SVCall_IRQn 0 */
@ -155,8 +156,8 @@ void SVC_Handler(void)
}
/**
* @brief This function handles Debug monitor.
*/
* @brief This function handles Debug monitor.
*/
void DebugMon_Handler(void)
{
/* USER CODE BEGIN DebugMonitor_IRQn 0 */
@ -168,8 +169,8 @@ void DebugMon_Handler(void)
}
/**
* @brief This function handles Pendable request for system service.
*/
* @brief This function handles Pendable request for system service.
*/
void PendSV_Handler(void)
{
/* USER CODE BEGIN PendSV_IRQn 0 */
@ -181,8 +182,8 @@ void PendSV_Handler(void)
}
/**
* @brief This function handles System tick timer.
*/
* @brief This function handles System tick timer.
*/
void SysTick_Handler(void)
{
/* USER CODE BEGIN SysTick_IRQn 0 */
@ -202,8 +203,8 @@ void SysTick_Handler(void)
/******************************************************************************/
/**
* @brief This function handles DMA1 channel2 global interrupt.
*/
* @brief This function handles DMA1 channel2 global interrupt.
*/
void DMA1_Channel2_IRQHandler(void)
{
/* USER CODE BEGIN DMA1_Channel2_IRQn 0 */
@ -216,8 +217,8 @@ void DMA1_Channel2_IRQHandler(void)
}
/**
* @brief This function handles DMA1 channel3 global interrupt.
*/
* @brief This function handles DMA1 channel3 global interrupt.
*/
void DMA1_Channel3_IRQHandler(void)
{
/* USER CODE BEGIN DMA1_Channel3_IRQn 0 */
@ -230,8 +231,22 @@ void DMA1_Channel3_IRQHandler(void)
}
/**
* @brief This function handles USART2 global interrupt.
*/
* @brief This function handles SPI1 global interrupt.
*/
void SPI1_IRQHandler(void)
{
/* USER CODE BEGIN SPI1_IRQn 0 */
/* USER CODE END SPI1_IRQn 0 */
HAL_SPI_IRQHandler(&hspi1);
/* USER CODE BEGIN SPI1_IRQn 1 */
/* USER CODE END SPI1_IRQn 1 */
}
/**
* @brief This function handles USART2 global interrupt.
*/
void USART2_IRQHandler(void)
{
/* USER CODE BEGIN USART2_IRQn 0 */
@ -244,8 +259,8 @@ void USART2_IRQHandler(void)
}
/**
* @brief This function handles USB event interrupt through EXTI line 17.
*/
* @brief This function handles USB event interrupt through EXTI line 17.
*/
void USB_IRQHandler(void)
{
/* USER CODE BEGIN USB_IRQn 0 */