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add skitterrx
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cnlohr
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/**
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MIT-like-non-ai-license
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Copyright (c) 2024 Charles Lohr "CNLohr"
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the two following conditions:
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The above copyright notice and this permission notice shall be included in all
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copies or substantial portions of the Software.
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In addition the following restrictions apply:
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1. The Software and any modifications made to it may not be used for the
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purpose of training or improving machine learning algorithms, including but not
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limited to artificial intelligence, natural language processing, or data
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mining. This condition applies to any derivatives, modifications, or updates
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based on the Software code. Any usage of the Software in an AI-training dataset
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is considered a breach of this License.
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2. The Software may not be included in any dataset used for training or
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improving machine learning algorithms, including but not limited to artificial
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intelligence, natural language processing, or data mining.
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3. Any person or organization found to be in violation of these restrictions
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will be subject to legal action and may be held liable for any damages
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resulting from such use.
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If any term is unenforcable, other terms remain in-force.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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SOFTWARE.
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**/
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// NOT LORA!!! -- but experimenting with the possibility of rx.
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#include "ch32v003fun.h"
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#include <stdio.h>
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#include <string.h>
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#include "rv003usb.h"
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uint8_t scratchout[15];
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volatile int outready = 0;
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uint8_t scratchin[255];
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volatile int inready = 0;
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#define PWM_PERIOD (28-1) //For 27.000500MHz
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#define QUADRATURE
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uint32_t TQ = 128;
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#define ADC_BUFFSIZE 256
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volatile uint16_t adc_buffer[ADC_BUFFSIZE];
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void SetupADC()
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{
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// Reset the ADC to init all regs
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RCC->APB2PRSTR |= RCC_APB2Periph_ADC1;
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RCC->APB2PRSTR &= ~RCC_APB2Periph_ADC1;
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// ADCCLK = 12 MHz => RCC_ADCPRE divide by 4
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RCC->CFGR0 &= ~RCC_ADCPRE; // Clear out the bis in case they were set
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RCC->CFGR0 |= RCC_ADCPRE_DIV2; // Fastest possible (divide-by-2) NOTE: This is OUTSIDE the specified value in the datasheet.
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// Set up single conversion on chl 7
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ADC1->RSQR1 = 0;
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ADC1->RSQR2 = 0;
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ADC1->RSQR3 = 6; // 0-9 for 8 ext inputs and two internals /// 7 or 6 means one of the ADC inputs.
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// Not using injection group.
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// PD4 is analog input chl 7 + 6
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GPIOD->CFGLR &= ~(0xf<<(4*4)); // CNF = 00: Analog, MODE = 00: Input
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GPIOD->CFGLR &= ~(0xf<<(4*6)); // CNF = 00: Analog, MODE = 00: Input
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// Sampling time for channels. Careful: This has PID tuning implications.
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// Note that with 3 and 3,the full loop (and injection) runs at 138kHz.
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ADC1->SAMPTR2 = (0<<(3*7));
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// Turn on ADC and set rule group to sw trig
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// 0 = Use TRGO event for Timer 1 to fire ADC rule.
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ADC1->CTLR2 = ADC_ADON | ADC_EXTTRIG | ADC_DMA;
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// Reset calibration
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ADC1->CTLR2 |= ADC_RSTCAL;
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while(ADC1->CTLR2 & ADC_RSTCAL);
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// Calibrate ADC
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ADC1->CTLR2 |= ADC_CAL;
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while(ADC1->CTLR2 & ADC_CAL);
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// ADC_SCAN: Allow scanning.
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ADC1->CTLR1 = ADC_SCAN;
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// Turn on DMA
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RCC->AHBPCENR |= RCC_AHBPeriph_DMA1;
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//DMA1_Channel1 is for ADC
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DMA1_Channel1->PADDR = (uint32_t)&ADC1->RDATAR;
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DMA1_Channel1->MADDR = (uint32_t)adc_buffer;
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DMA1_Channel1->CNTR = ADC_BUFFSIZE;
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DMA1_Channel1->CFGR =
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DMA_M2M_Disable |
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DMA_Priority_VeryHigh |
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DMA_MemoryDataSize_HalfWord |
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DMA_PeripheralDataSize_HalfWord |
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DMA_MemoryInc_Enable |
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DMA_Mode_Circular |
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DMA_DIR_PeripheralSRC;
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// Turn on DMA channel 1
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DMA1_Channel1->CFGR |= DMA_CFGR1_EN;
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// Enable continuous conversion and DMA
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//ADC1->CTLR2 |= ADC_DMA | ADC_EXTSEL; //ADC_CONT
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// start conversion
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ADC1->CTLR2 |= ADC_SWSTART;
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}
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static void SetupTimer1()
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{
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// Enable Timer 1
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RCC->APB2PRSTR |= RCC_APB2Periph_TIM1;
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RCC->APB2PRSTR &= ~RCC_APB2Periph_TIM1;
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TIM1->PSC = 0x0000; // Prescalar to 0x0000 (so, 48MHz base clock)
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TIM1->ATRLR = PWM_PERIOD;
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#ifdef PWM_OUTPUT
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GPIOC->CFGLR &= ~(0xf<<(4*4));
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GPIOC->CFGLR |= (GPIO_Speed_10MHz | GPIO_CNF_OUT_PP_AF)<<(4*4);
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TIM1->CCER = TIM_CC4E | TIM_CC4P;
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TIM1->CHCTLR2 = TIM_OC4M_2 | TIM_OC4M_1;
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TIM1->CH4CVR = 5; // Actual duty cycle (Off to begin with)
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#endif
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// Setup TRGO for ADC. This makes is to the ADC will trigger on timer
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// reset, so we trigger at the same position every time relative to the
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// FET turning on.
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TIM1->CTLR2 = TIM_MMS_1;
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// Enable TIM1 outputs
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TIM1->BDTR = TIM_MOE;
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TIM1->CTLR1 = TIM_CEN;
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}
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void InnerLoop() __attribute__((noreturn));
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void InnerLoop()
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{
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int i = 0;
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int q = 0;
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int tpl = 0;
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int Q = TQ;
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// Timer goes backwards when we are moving forwards.
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volatile uint16_t * adc_buffer_end = 0;
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volatile uint16_t * adc_buffer_top = adc_buffer + ADC_BUFFSIZE;
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volatile uint16_t * adc = adc_buffer;
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int frcnt = 0;
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int tstart = 0;
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#ifdef DUMPBUFF
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uint16_t shadowbuff[Q+16];
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int shadowplace = 0;
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#define SHADOWSTORE(X) shadowbuff[frcnt+X] = t;
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#else
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#define SHADOWSTORE(X)
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#endif
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while( 1 )
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{
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tpl = ADC_BUFFSIZE - DMA1_Channel1->CNTR; // Warning, sometimes this is == to the base, or == 0 (i.e. might be 256, if top is 255)
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if( tpl == ADC_BUFFSIZE ) tpl = 0;
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adc_buffer_end = adc_buffer + ( ( tpl / 4) * 4 );
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//printf( "%3d %4d %d %04x\n", DMA1_Channel1->CNTR, TIM1->CNT, ADC1->RDATAR, ADC1->STATR );
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while( adc != adc_buffer_end )
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{
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int32_t t = adc[0]; SHADOWSTORE(0);
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i += t; q += t;
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t = adc[1]; SHADOWSTORE(1);
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i -= t; q += t;
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t = adc[2]; SHADOWSTORE(2);
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i -= t; q -= t;
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t = adc[3]; SHADOWSTORE(3);
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i += t; q -= t;
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adc += 4;
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frcnt += 4;
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if( adc == adc_buffer_top ) adc = adc_buffer;
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if( frcnt >= Q ) break;
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}
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if( frcnt >= Q )
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{
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int ti = i>>3;
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int tq = q>>3;
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int is = (ti*ti + tq*tq)>>8;
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int s = 1<<( ( 32 - __builtin_clz(is) )/2);
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s = (s + is/s)/2;
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//int tv = (i>>PWM_OUTPUT) + (PWM_PERIOD/2);
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//if( tv < 0 ) tv = 0;
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//if( tv >= PWM_PERIOD ) tv = PWM_PERIOD-1;
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//TIM1->CH4CVR = tv;
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//printf( "%d\n", s );
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frcnt = 0;
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i = 0;
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q = 0;
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tpl = ADC_BUFFSIZE - DMA1_Channel1->CNTR;
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adc = adc_buffer + ( ( tpl / 4) * 4 );
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tstart = SysTick->CNT;
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}
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/*
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Delay_Us( 100 );
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int end = DMA1_Channel1->CNTR;
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int v0 = adc_buffer[0];
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int v1 = adc_buffer[1];
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int v2 = adc_buffer[2];
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int v3 = adc_buffer[3];
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printf( "%d %d %d %d %d\n", (uint8_t)(start-end), v0, v1, v2, v3 );
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*/
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}
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}
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int main()
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{
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// REQUIRES External 24MHz oscillator
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printf( "Initializing\n" );
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SystemInit();
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Delay_Ms(10);
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printf( "System On\n" );
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// Enable Peripherals
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RCC->APB2PCENR |= RCC_APB2Periph_GPIOD | RCC_APB2Periph_GPIOC |
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RCC_APB2Periph_GPIOA | RCC_APB2Periph_TIM1 | RCC_APB2Periph_ADC1 |
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RCC_APB2Periph_AFIO;
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RCC->APB1PCENR = RCC_APB1Periph_TIM2;
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// Disable HSI
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RCC->CTLR &= ~(RCC_HSION);
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printf( "CTLR: %08lx CFGR0: %08lx\n", RCC->CTLR, RCC->CFGR0 );
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SetupADC();
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#if 0
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// turn on the op-amp
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EXTEN->EXTEN_CTR |= EXTEN_OPA_EN;
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// select op-amp pos pin: 0 = PA2, 1 = PD7
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EXTEN->EXTEN_CTR |= EXTEN_OPA_PSEL;
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// select op-amp neg pin: 0 = PA1, 1 = PD0
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EXTEN->EXTEN_CTR |= EXTEN_OPA_NSEL;
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#endif
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printf( "ADC Setup\n" );
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SetupTimer1();
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printf( "Timer 1 setup\n" );
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InnerLoop();
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}
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void usb_handle_user_in_request( struct usb_endpoint * e, uint8_t * scratchpad, int endp, uint32_t sendtok, struct rv003usb_internal * ist )
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{
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// Make sure we only deal with control messages. Like get/set feature reports.
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if( endp )
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{
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usb_send_empty( sendtok );
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}
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}
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void usb_handle_user_data( struct usb_endpoint * e, int current_endpoint, uint8_t * data, int len, struct rv003usb_internal * ist )
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{
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if( outready )
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{
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// Send NACK (can't accept any more data right now)
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usb_send_data( 0, 0, 2, 0x5A );
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return;
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}
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usb_send_data( 0, 0, 2, 0xD2 ); // Send ACK
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int offset = e->count<<3;
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int torx = e->max_len - offset;
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if( torx > len ) torx = len;
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if( torx > 0 )
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{
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memcpy( scratchout + offset, data, torx );
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e->count++;
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if( ( e->count << 3 ) >= e->max_len )
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{
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outready = e->max_len;
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}
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}
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}
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void usb_handle_hid_get_report_start( struct usb_endpoint * e, int reqLen, uint32_t lValueLSBIndexMSB )
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{
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if( reqLen > sizeof( scratchin ) ) reqLen = sizeof( scratchin );
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// You can check the lValueLSBIndexMSB word to decide what you want to do here
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// But, whatever you point this at will be returned back to the host PC where
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// it calls hid_get_feature_report.
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//
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// Please note, that on some systems, for this to work, your return length must
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// match the length defined in HID_REPORT_COUNT, in your HID report, in usb_config.h
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if( reqLen > inready ) inready = inready;
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e->opaque = scratchin;
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e->max_len = reqLen;
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}
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void usb_handle_hid_set_report_start( struct usb_endpoint * e, int reqLen, uint32_t lValueLSBIndexMSB )
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{
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// Here is where you get an alert when the host PC calls hid_send_feature_report.
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//
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// You can handle the appropriate message here. Please note that in this
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// example, the data is chunked into groups-of-8-bytes.
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//
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// Note that you may need to make this match HID_REPORT_COUNT, in your HID
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// report, in usb_config.h
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if( outready ) reqLen = 0;
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if( reqLen > sizeof( scratchout ) ) reqLen = sizeof( scratchout );
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e->opaque = scratchout;
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e->max_len = reqLen;
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}
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void usb_handle_other_control_message( struct usb_endpoint * e, struct usb_urb * s, struct rv003usb_internal * ist )
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{
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LogUEvent( SysTick->CNT, s->wRequestTypeLSBRequestMSB, s->lValueLSBIndexMSB, s->wLength );
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}
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Reference in New Issue
Block a user