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ProfilometerProbe
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ProfilometerProbe/Firmware/Core/Src/main.c

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/* 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 */
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