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-rw-r--r--src/radio-controller.cpp223
1 files changed, 154 insertions, 69 deletions
diff --git a/src/radio-controller.cpp b/src/radio-controller.cpp
index 61cacfd..0f60717 100644
--- a/src/radio-controller.cpp
+++ b/src/radio-controller.cpp
@@ -1,80 +1,63 @@
#include <usbd_cdc_if.h>
#include <cinttypes>
#include "radio-controller.h"
+#include "mcu/arm/mutex.h"
#include "mcu/arm/semihosting.h"
#include "mcu/stm32cube/uart.h"
#include "mcu/stm32cube/debug.h"
-#ifdef HAL_IWDG_MODULE_ENABLED
-extern IWDG_HandleTypeDef hiwdg;
-#endif
+using mcu::arm::mutex;
+extern IWDG_HandleTypeDef hiwdg;
extern TIM_HandleTypeDef htim1;
extern UART_HandleTypeDef huart2;
mcu::stm32cube::uart::uart_port uart2(&huart2);
mcu::stm32cube::debug::dbg<100> dbg(uart2);
-using interval_us = uint16_t;
-
-class mutex {
- volatile uint8_t locked;
-
-public:
- mutex() : locked(0)
- {}
-
- __always_inline
- bool try_lock()
- {
- auto l = __LDREXB(&locked);
-
- if (l == 1) {
- return false;
- }
-
- return __STREXB(1, &locked) == 0;
- }
-
- __always_inline
- bool lock()
- {
- do {
- while(__LDREXB(&locked) == 1);
- } while(__STREXB(1, &locked) != 0);
- }
-
- __always_inline
- bool unlock()
- {
- locked = 0;
- }
+struct sample {
+ uint16_t period_us;
+ uint16_t pulse_us;
};
template<unsigned int BufferSize>
class sample_buffer {
- interval_us samples[BufferSize];
+ sample samples[BufferSize];
volatile unsigned int _size;
+ bool _first;
+
public:
void reset()
{
_size = 0;
+ _first = true;
}
- unsigned int size()
+ bool check_first()
+ {
+ if (_first) {
+ _first = false;
+ return true;
+ }
+ return false;
+ }
+
+ __always_inline
+ unsigned int size() const
{
return _size;
}
- bool is_full()
+ __always_inline
+ bool is_full() const
{
return _size == BufferSize;
}
- __noinline
- void append(interval_us sample)
+ __always_inline
+ void append(sample sample)
{
if (_size == BufferSize) {
return;
@@ -83,12 +66,14 @@ public:
samples[_size++] = sample;
}
- interval_us at(int i)
+ __always_inline
+ sample at(int i) const
{
return samples[i];
}
};
+volatile int sample_index;
sample_buffer<10> buffer;
mutex buffer_lock;
@@ -96,6 +81,15 @@ void main_pre_init()
{
}
+inline void hal_ok(HAL_StatusTypeDef status)
+{
+ if (__predict_true(status == HAL_OK)) {
+ return;
+ }
+
+ halt();
+}
+
void main_post_init()
{
bool debugger_connected = (CoreDebug->DHCSR & CoreDebug_DHCSR_C_DEBUGEN_Msk) != 0;
@@ -105,64 +99,155 @@ void main_post_init()
printf("Radio Controller\n");
-// HAL_TIM_Base_Start_IT(&htim1);
- if (HAL_TIM_IC_Start_IT(&htim1, TIM_CHANNEL_1) != HAL_OK) {
- halt();
- }
-
+ buffer.reset();
+ sample_index = 0;
uart2.enable();
- buffer.reset();
+ hal_ok(HAL_TIM_IC_Start_IT(&htim1, TIM_CHANNEL_1));
}
static uint32_t tick_next = 0;
-static uint32_t cnt_prev = 0;
-static bool seen_high = false;
+//static bool seen_high = false;
+
+#include <chrono>
+#include <stm32f1xx_hal_tim.h>
+#include <stm32f103x6.h>
+
+template<unsigned Fcpu, typename SecondsPerTimerTick>
+struct from_f_cpu_and_time_per_timer_tick {
+ template<std::intmax_t Num, std::intmax_t Den>
+ using r = std::ratio<Num, Den>;
+
+ using f_cpu = r<Fcpu, 1>;
+ using seconds_per_cpu_tick = r<1, f_cpu::num>;
+ using seconds_per_timer_tick = SecondsPerTimerTick;
+ using timer_frequency = r<SecondsPerTimerTick::den, SecondsPerTimerTick::num>;
+
+// static constexpr std::intmax_t prescaler = std::ratio_divive<f_cpu, timer_frequency>::value;
+ using prescaler_t = std::ratio_divide<f_cpu, timer_frequency>;
+ static_assert(prescaler_t::den == 1, "Could not represent the prescaler as an integer");
+ static constexpr std::intmax_t prescaler = prescaler_t::num;
+
+ // us_per_timer_tick = seconds_per_timer_tick * 1'000'000
+ using us_per_timer_tick_t = typename std::ratio_multiply<seconds_per_timer_tick, r<1'000'000, 1>>::type;
+
+ static constexpr uint16_t us_per_timer_tick = static_cast<uint16_t>(us_per_timer_tick_t::num);
+
+ template<typename T>
+ __always_inline constexpr
+ static T to_us(unsigned int count)
+ {
+ return T(count * us_per_timer_tick);
+ }
+};
+
+using values = from_f_cpu_and_time_per_timer_tick<72'000'000, std::ratio_multiply<std::ratio<5, 1>, std::micro>>;
+
+//static_assert(values::timer_frequency::num == 200'000, "timer_frequency::num");
+static_assert(values::timer_frequency::den == 1, "timer_frequency::den");
+//static_assert(std::is_same<
+// values::timer_frequency,
+// std::ratio<200'000, 1>>::value, "Timer frequency is not 200kHz");
+static_assert(values::prescaler == 360, "Timer frequency is not 200kHz");
+static_assert(values::prescaler - 1 == RADIO_RX_TIMER_PRESCALER, "Bad prescaler from STM32CubeMX");
+static_assert(values::us_per_timer_tick == 5, "bad us_per_timer_tick");
void main_loop()
{
auto now = HAL_GetTick();
if (now >= tick_next) {
- uint32_t cnt = __HAL_TIM_GET_COUNTER(&htim1);
- auto diff = static_cast<int>(cnt - cnt_prev);
- dbg.println("cnt=%lu, diff=%d, now=%" PRIu32 ", seen_high=%d, buffer_size=%d", cnt, diff, now, seen_high,
- buffer.size());
- cnt_prev = cnt;
+ printf("now=%" PRIu32 "\n", now);
- auto *str = "1234567890\n";
- CDC_Transmit_FS(const_cast<uint8_t *>(reinterpret_cast<const uint8_t *>(str)), 5);
+// auto *str = "1234567890\n";
+// CDC_Transmit_FS(const_cast<uint8_t *>(reinterpret_cast<const uint8_t *>(str)), 5);
tick_next += 1000;
- seen_high = false;
+// seen_high = false;
}
if (buffer.is_full()) {
buffer_lock.lock();
+ hal_ok(HAL_TIM_IC_Stop_IT(&htim1, TIM_CHANNEL_1));
+
+// printf("Period:");
+// for (unsigned int i = 0; i < buffer.size(); i++) {
+// printf(" %u", buffer.at(i));
+// }
+// printf("\n");
+
+// dbg.print("Pulse: ");
+// for (unsigned int i = 0; i < buffer.size(); i++) {
+// auto p = values::to_us(buffer_pulse.at(i));
+// dbg.print(" %05u", p);
+// }
+// dbg.print("\n");
+//
+// dbg.print("Period:");
+// for (unsigned int i = 0; i < buffer.size(); i++) {
+// auto p = values::to_us(buffer_period.at(i));
+// dbg.print(" %05u", p);
+// }
+// dbg.print("\n");
+
+ dbg.println("Samples");
for (unsigned int i = 0; i < buffer.size(); i++) {
- dbg.println("%d", static_cast<int>(buffer.at(i)));
+ sample s = buffer.at(i);
+ auto pulse = s.pulse_us;
+ auto period = s.period_us;
+ dbg.println("%d %d, %d%%", period, pulse, int(pulse / double(period) * 100));
}
- dbg.println("\n");
+ dbg.println();
buffer.reset();
-// buffer_lock.unlock();
+ sample_index = 0;
+ hal_ok(HAL_TIM_IC_Start_IT(&htim1, TIM_CHANNEL_1));
+ buffer_lock.unlock();
}
- seen_high |= HAL_GPIO_ReadPin(RADIO_RX_GPIO_Port, RADIO_RX_Pin);
+// seen_high |= HAL_GPIO_ReadPin(RADIO_RX_GPIO_Port, RADIO_RX_Pin);
-#ifdef HAL_IWDG_MODULE_ENABLED
HAL_IWDG_Refresh(&hiwdg);
-#endif
}
+//static uint16_t start = 0;
+
void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim)
{
- auto input_capture = __HAL_TIM_GET_COMPARE(htim, TIM_CHANNEL_1);
+ if (htim->Channel != HAL_TIM_ACTIVE_CHANNEL_1) {
+ return;
+ }
- if (buffer_lock.try_lock()) {
- buffer.append(static_cast<uint16_t>(input_capture));
- buffer_lock.unlock();
+// if (buffer.check_first()) {
+// return;
+// }
+
+ static uint16_t value1, value2;
+
+ if (sample_index == 0) {
+// value1 = static_cast<uint16_t>(HAL_TIM_ReadCapturedValue(htim, TIM_CHANNEL_1));
+ value1 = static_cast<uint16_t>(htim->Instance->CCR1);
+ sample_index = 1;
+ } else {
+// value2 = static_cast<uint16_t>(HAL_TIM_ReadCapturedValue(htim, TIM_CHANNEL_1));
+ value2 = static_cast<uint16_t>(htim->Instance->CCR1);
+ sample_index = 0;
+
+ uint16_t diff;
+ if (value2 > value1) {
+ diff = value2 - value1;
+ } else if (value1 > value2) {
+ diff = (static_cast<uint16_t>(0xffff) - value1) + value2 + static_cast<uint16_t>(1);
+ } else {
+ return;
+ }
+
+ if (buffer_lock.try_lock()) {
+ buffer.append({values::to_us<uint16_t>(0), values::to_us<uint16_t>(diff)});
+
+ buffer_lock.unlock();
+ }
}
}
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