commit 848cb41acaddffdd2de81572e55bccda8fe0ada4 Author: Aadi Desai <21363892+supleed2@users.noreply.github.com> Date: Wed Mar 9 12:06:26 2022 +0000 Initial commit Using Arduino Framework diff --git a/.gitattributes b/.gitattributes new file mode 100644 index 0000000..dfe0770 --- /dev/null +++ b/.gitattributes @@ -0,0 +1,2 @@ +# Auto detect text files and perform LF normalization +* text=auto diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..8d4748e --- /dev/null +++ b/.gitignore @@ -0,0 +1,36 @@ +# Prerequisites +*.d + +# Compiled Object files +*.slo +*.lo +*.o +*.obj + +# Precompiled Headers +*.gch +*.pch + +# Compiled Dynamic libraries +*.so +*.dylib +*.dll + +# Fortran module files +*.mod +*.smod + +# Compiled Static libraries +*.lai +*.la +*.a +*.lib + +# Executables +*.exe +*.out +*.app + +# Project Folders +.pio +.vscode diff --git a/docs/InstrPart1.pdf b/docs/InstrPart1.pdf new file mode 100644 index 0000000..a0c792e Binary files /dev/null and b/docs/InstrPart1.pdf differ diff --git a/docs/InstrPart2.pdf b/docs/InstrPart2.pdf new file mode 100644 index 0000000..806decb Binary files /dev/null and b/docs/InstrPart2.pdf differ diff --git a/docs/MarkScheme.pdf b/docs/MarkScheme.pdf new file mode 100644 index 0000000..68dbe1e Binary files /dev/null and b/docs/MarkScheme.pdf differ diff --git a/docs/Spec.pdf b/docs/Spec.pdf new file mode 100644 index 0000000..427ed92 Binary files /dev/null and b/docs/Spec.pdf differ diff --git a/include/README b/include/README new file mode 100644 index 0000000..194dcd4 --- /dev/null +++ b/include/README @@ -0,0 +1,39 @@ + +This directory is intended for project header files. + +A header file is a file containing C declarations and macro definitions +to be shared between several project source files. You request the use of a +header file in your project source file (C, C++, etc) located in `src` folder +by including it, with the C preprocessing directive `#include'. + +```src/main.c + +#include "header.h" + +int main (void) +{ + ... +} +``` + +Including a header file produces the same results as copying the header file +into each source file that needs it. Such copying would be time-consuming +and error-prone. With a header file, the related declarations appear +in only one place. If they need to be changed, they can be changed in one +place, and programs that include the header file will automatically use the +new version when next recompiled. The header file eliminates the labor of +finding and changing all the copies as well as the risk that a failure to +find one copy will result in inconsistencies within a program. + +In C, the usual convention is to give header files names that end with `.h'. +It is most portable to use only letters, digits, dashes, and underscores in +header file names, and at most one dot. + +Read more about using header files in official GCC documentation: + +* Include Syntax +* Include Operation +* Once-Only Headers +* Computed Includes + +https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html diff --git a/lib/ES_CAN/ES_CAN.cpp b/lib/ES_CAN/ES_CAN.cpp new file mode 100644 index 0000000..6061069 --- /dev/null +++ b/lib/ES_CAN/ES_CAN.cpp @@ -0,0 +1,214 @@ +#include +#include +#include +#include + +//Overwrite the weak default IRQ Handlers and callabcks +extern "C" void CAN1_RX0_IRQHandler(void); +extern "C" void CAN1_TX_IRQHandler(void); + +//Pointer to user ISRS +void (*CAN_RX_ISR)() = NULL; +void (*CAN_TX_ISR)() = NULL; + +//CAN handle struct with initialisation parameters +//Timing from http://www.bittiming.can-wiki.info/ with bit rate = 125kHz and clock frequency = 80MHz +CAN_HandleTypeDef CAN_Handle = { + CAN1, + { + 40, //Prescaler + CAN_MODE_NORMAL, //Normal/loopback/silent mode + CAN_SJW_2TQ, //SyncJumpWidth + CAN_BS1_13TQ, //TimeSeg1 + CAN_BS2_2TQ, //TimeSeg2 + DISABLE, //TimeTriggeredMode + DISABLE, //AutoBusOff + ENABLE, //AutoWakeUp + ENABLE, //AutoRetransmission + DISABLE, //ReceiveFifoLocked + ENABLE //TransmitFifoPriority + }, + HAL_CAN_STATE_RESET, //State + HAL_CAN_ERROR_NONE //Error Code +}; + + +//Initialise CAN dependencies: GPIO and clock +void HAL_CAN_MspInit(CAN_HandleTypeDef* CAN_Handle) { + + //Set up the pin initialisation + GPIO_InitTypeDef GPIO_InitCAN_TX = { + GPIO_PIN_12, //PA12 is CAN TX + GPIO_MODE_AF_PP, //Alternate function, push-pull driver + GPIO_NOPULL, //No pull-up + GPIO_SPEED_FREQ_MEDIUM, //Medium slew rate + GPIO_AF9_CAN1 //Alternate function is CAN + }; + + GPIO_InitTypeDef GPIO_InitCAN_RX = { + GPIO_PIN_11, //PA11 is CAN RX + GPIO_MODE_AF_PP, //Alternate function, push-pull driver + GPIO_PULLUP, //Pull-up enabled + GPIO_SPEED_FREQ_MEDIUM, //Medium slew rate + GPIO_AF9_CAN1 //Alternate function is CAN + }; + + //Enable the CAN and GPIO clocks + __HAL_RCC_CAN1_CLK_ENABLE(); //Enable the CAN interface clock + __HAL_RCC_GPIOA_CLK_ENABLE(); //Enable the clock for the CAN GPIOs + + //Initialise the pins + HAL_GPIO_Init(GPIOA, &GPIO_InitCAN_TX); //Configure CAN pin + HAL_GPIO_Init(GPIOA, &GPIO_InitCAN_RX); //Configure CAN pin +} + + +uint32_t CAN_Init(bool loopback=false) { + if (loopback) + CAN_Handle.Init.Mode = CAN_MODE_LOOPBACK; + return (uint32_t) HAL_CAN_Init(&CAN_Handle); +} + + +uint32_t setCANFilter(uint32_t filterID, uint32_t maskID, uint32_t filterBank) { + + //Set up the filter definition + CAN_FilterTypeDef filterInfo = { + (filterID << 5) & 0xffe0, //Filter ID + 0, //Filter ID LSBs = 0 + (maskID << 5) & 0xffe0, //Mask MSBs + 0, //Mask LSBs = 0 + 0, //FIFO selection + filterBank & 0xf, //Filter bank selection + CAN_FILTERMODE_IDMASK, //Mask mode + CAN_FILTERSCALE_32BIT, //32 bit IDs + CAN_FILTER_ENABLE, //Enable filter + 0 //uint32_t SlaveStartFilterBank + }; + + return (uint32_t) HAL_CAN_ConfigFilter(&CAN_Handle, &filterInfo); +} + + +uint32_t CAN_Start() { + return (uint32_t) HAL_CAN_Start(&CAN_Handle); +} + + +uint32_t CAN_TX(uint32_t ID, uint8_t data[8]) { + + //Set up the message header + CAN_TxHeaderTypeDef txHeader = { + ID & 0x7ff, //Standard ID + 0, //Ext ID = 0 + CAN_ID_STD, //Use Standard ID + CAN_RTR_DATA, //Data Frame + 8, //Send 8 bytes + DISABLE //No time triggered mode + }; + + //Wait for free mailbox + while (!HAL_CAN_GetTxMailboxesFreeLevel(&CAN_Handle)); + + //Start the transmission + return (uint32_t) HAL_CAN_AddTxMessage(&CAN_Handle, &txHeader, data, NULL); +} + + +uint32_t CAN_CheckRXLevel() { + return HAL_CAN_GetRxFifoFillLevel(&CAN_Handle, 0); +} + + +uint32_t CAN_RX(uint32_t &ID, uint8_t data[8]) { + CAN_RxHeaderTypeDef rxHeader; + + //Wait for message in FIFO + while (!HAL_CAN_GetRxFifoFillLevel(&CAN_Handle, 0)); + + //Get the message from the FIFO + uint32_t result = (uint32_t) HAL_CAN_GetRxMessage(&CAN_Handle, 0, &rxHeader, data); + + //Store the ID from the header + ID = rxHeader.StdId; + + return result; +} + + +uint32_t CAN_RegisterRX_ISR(void(& callback)()) { + //Store pointer to user ISR + CAN_RX_ISR = &callback; + + //Enable message received interrupt in HAL + uint32_t status = (uint32_t) HAL_CAN_ActivateNotification (&CAN_Handle, CAN_IT_RX_FIFO0_MSG_PENDING); + + //Switch on the interrupt + HAL_NVIC_SetPriority (CAN1_RX0_IRQn, 6, 0); + HAL_NVIC_EnableIRQ (CAN1_RX0_IRQn); + + return status; +} + + +uint32_t CAN_RegisterTX_ISR(void(& callback)()) { + //Store pointer to user ISR + CAN_TX_ISR = &callback; + + //Enable message received interrupt in HAL + uint32_t status = (uint32_t) HAL_CAN_ActivateNotification (&CAN_Handle, CAN_IT_TX_MAILBOX_EMPTY); + + //Switch on the interrupt + HAL_NVIC_SetPriority (CAN1_TX_IRQn, 6, 0); + HAL_NVIC_EnableIRQ (CAN1_TX_IRQn); + + return status; +} + + +void HAL_CAN_RxFifo0MsgPendingCallback (CAN_HandleTypeDef * hcan){ + + //Call the user ISR if it has been registered + if (CAN_RX_ISR) + CAN_RX_ISR(); +} + + +void HAL_CAN_TxMailbox0CompleteCallback (CAN_HandleTypeDef * hcan){ + + //Call the user ISR if it has been registered + if (CAN_TX_ISR) + CAN_TX_ISR(); +} + + +void HAL_CAN_TxMailbox1CompleteCallback (CAN_HandleTypeDef * hcan){ + + //Call the user ISR if it has been registered + if (CAN_TX_ISR) + CAN_TX_ISR(); +} + + +void HAL_CAN_TxMailbox2CompleteCallback (CAN_HandleTypeDef * hcan){ + + //Call the user ISR if it has been registered + if (CAN_TX_ISR) + CAN_TX_ISR(); +} + + +//This is the base ISR at the interrupt vector +void CAN1_RX0_IRQHandler(void){ + + //Use the HAL interrupt handler + HAL_CAN_IRQHandler(&CAN_Handle); +} + + +//This is the base ISR at the interrupt vector +void CAN1_TX_IRQHandler(void){ + + //Use the HAL interrupt handler + HAL_CAN_IRQHandler(&CAN_Handle); +} diff --git a/lib/ES_CAN/ES_CAN.h b/lib/ES_CAN/ES_CAN.h new file mode 100644 index 0000000..add9c50 --- /dev/null +++ b/lib/ES_CAN/ES_CAN.h @@ -0,0 +1,24 @@ +//Initialise the CAN module +uint32_t CAN_Init(bool loopback=false); + +//Enable the CAN module +uint32_t CAN_Start(); + +//Set up a recevie filter +//Defaults to receive everything +uint32_t setCANFilter(uint32_t filterID=0, uint32_t maskID=0, uint32_t filterBank=0); + +//Send a message +uint32_t CAN_TX(uint32_t ID, uint8_t data[8]); + +//Get the number of received messages +uint32_t CAN_CheckRXLevel(); + +//Get a received message from the FIFO +uint32_t CAN_RX(uint32_t &ID, uint8_t data[8]); + +//Set up an interrupt on received messages +uint32_t CAN_RegisterRX_ISR(void(& callback)()); + +//Set up an interrupt on transmitted messages +uint32_t CAN_RegisterTX_ISR(void(& callback)()); \ No newline at end of file diff --git a/lib/README b/lib/README new file mode 100644 index 0000000..6debab1 --- /dev/null +++ b/lib/README @@ -0,0 +1,46 @@ + +This directory is intended for project specific (private) libraries. +PlatformIO will compile them to static libraries and link into executable file. + +The source code of each library should be placed in a an own separate directory +("lib/your_library_name/[here are source files]"). + +For example, see a structure of the following two libraries `Foo` and `Bar`: + +|--lib +| | +| |--Bar +| | |--docs +| | |--examples +| | |--src +| | |- Bar.c +| | |- Bar.h +| | |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html +| | +| |--Foo +| | |- Foo.c +| | |- Foo.h +| | +| |- README --> THIS FILE +| +|- platformio.ini +|--src + |- main.c + +and a contents of `src/main.c`: +``` +#include +#include + +int main (void) +{ + ... +} + +``` + +PlatformIO Library Dependency Finder will find automatically dependent +libraries scanning project source files. + +More information about PlatformIO Library Dependency Finder +- https://docs.platformio.org/page/librarymanager/ldf.html diff --git a/platformio.ini b/platformio.ini new file mode 100644 index 0000000..cd3edda --- /dev/null +++ b/platformio.ini @@ -0,0 +1,17 @@ +; PlatformIO Project Configuration File +; +; Build options: build flags, source filter +; Upload options: custom upload port, speed and extra flags +; Library options: dependencies, extra library storages +; Advanced options: extra scripting +; +; Please visit documentation for the other options and examples +; https://docs.platformio.org/page/projectconf.html + +[env:nucleo_l432kc] +platform = ststm32 +board = nucleo_l432kc +framework = arduino +monitor_speed = 115200 +lib_deps = + olikraus/U8g2@^2.32.10 diff --git a/src/main.cpp b/src/main.cpp new file mode 100644 index 0000000..593349b --- /dev/null +++ b/src/main.cpp @@ -0,0 +1,143 @@ +// https://github.com/adamb314/ThreadHandler + +#include +#include + +#pragma region Config Values +const uint32_t interval = 10; // Display update interval +#pragma endregion + +#pragma region Pin Definitions +// Row select and enable +const int RA0_PIN = D3; +const int RA1_PIN = D6; +const int RA2_PIN = D12; +const int REN_PIN = A5; +// Matrix input and output +const int C0_PIN = A2; +const int C1_PIN = D9; +const int C2_PIN = A6; +const int C3_PIN = D1; +const int OUT_PIN = D11; +// Audio analogue out +const int OUTL_PIN = A4; +const int OUTR_PIN = A3; +// Joystick analogue in +const int JOYY_PIN = A0; +const int JOYX_PIN = A1; +// Output multiplexer bits +const int DEN_BIT = 3; +const int DRST_BIT = 4; +const int HKOW_BIT = 5; +const int HKOE_BIT = 6; +#pragma endregion + +U8G2_SSD1305_128X32_NONAME_F_HW_I2C u8g2(U8G2_R0); // Display driver object + +// Function to set outputs using key matrix +void setOutMuxBit(const uint8_t bitIdx, const bool value) { + digitalWrite(REN_PIN, LOW); + digitalWrite(RA0_PIN, bitIdx & 0x01); + digitalWrite(RA1_PIN, bitIdx & 0x02); + digitalWrite(RA2_PIN, bitIdx & 0x04); + digitalWrite(OUT_PIN, value); + digitalWrite(REN_PIN, HIGH); + delayMicroseconds(2); + digitalWrite(REN_PIN, LOW); +} + +// Function to read keys from key matrix +uint32_t readKeys() { + uint32_t keys = 0; + for (uint8_t i = 0; i < 3; i++) { + digitalWrite(REN_PIN, LOW); + digitalWrite(RA0_PIN, i & 0x01); + digitalWrite(RA1_PIN, i & 0x02); + digitalWrite(RA2_PIN, i & 0x04); + digitalWrite(REN_PIN, HIGH); + delayMicroseconds(5); + keys |= !digitalRead(C0_PIN) << (i * 4); + keys |= !digitalRead(C1_PIN) << (i * 4 + 1); + keys |= !digitalRead(C2_PIN) << (i * 4 + 2); + keys |= !digitalRead(C3_PIN) << (i * 4 + 3); + } + digitalWrite(REN_PIN, LOW); + return keys; +} + +// Read key values in currently set row +uint8_t readCols() { + uint8_t row = 0; + row |= !digitalRead(C0_PIN) << 0; + row |= !digitalRead(C1_PIN) << 1; + row |= !digitalRead(C2_PIN) << 2; + row |= !digitalRead(C3_PIN) << 3; + return row; +} + +// Set current row +void setRow(const uint8_t rowIdx) { + digitalWrite(REN_PIN, LOW); + digitalWrite(RA0_PIN, rowIdx & 0x01); + digitalWrite(RA1_PIN, rowIdx & 0x02); + digitalWrite(RA2_PIN, rowIdx & 0x04); + digitalWrite(REN_PIN, HIGH); +} + +void setup() { +#pragma region Pin Setup + pinMode(RA0_PIN, OUTPUT); + pinMode(RA1_PIN, OUTPUT); + pinMode(RA2_PIN, OUTPUT); + pinMode(REN_PIN, OUTPUT); + pinMode(OUT_PIN, OUTPUT); + pinMode(OUTL_PIN, OUTPUT); + pinMode(OUTR_PIN, OUTPUT); + pinMode(LED_BUILTIN, OUTPUT); + pinMode(C0_PIN, INPUT); + pinMode(C1_PIN, INPUT); + pinMode(C2_PIN, INPUT); + pinMode(C3_PIN, INPUT); + pinMode(JOYX_PIN, INPUT); + pinMode(JOYY_PIN, INPUT); +#pragma endregion +#pragma region Display Setup + setOutMuxBit(DRST_BIT, LOW); // Assert display logic reset + delayMicroseconds(2); + setOutMuxBit(DRST_BIT, HIGH); // Release display logic reset + u8g2.begin(); + setOutMuxBit(DEN_BIT, HIGH); // Enable display power supply +#pragma endregion + + // Initialise UART + Serial.begin(115200); + Serial.println("Hello World"); +} + +void loop() { + static uint32_t next = millis(); + static uint8_t keyArray[7]; + for (uint8_t i = 0; i < 3; i++) { + setRow(i); + delayMicroseconds(3); + keyArray[i] = readCols(); + } + for (uint8_t i = 3; i < 7; i++) { + setRow(i); + delayMicroseconds(3); + keyArray[i] = readCols(); + } + + if (millis() > next) { + next += interval; + u8g2.clearBuffer(); // clear the internal memory + u8g2.setFont(u8g2_font_profont12_mf); // choose a suitable font + u8g2.drawStr(2, 10, "Hello World!"); // write something to the internal memory + digitalToggle(LED_BUILTIN); + u8g2.setCursor(2, 20); + for (uint8_t i = 0; i < 7; i++) { + u8g2.print(keyArray[i], HEX); + } + u8g2.sendBuffer(); // transfer internal memory to the display + } +} \ No newline at end of file diff --git a/test/README b/test/README new file mode 100644 index 0000000..b94d089 --- /dev/null +++ b/test/README @@ -0,0 +1,11 @@ + +This directory is intended for PlatformIO Unit Testing and project tests. + +Unit Testing is a software testing method by which individual units of +source code, sets of one or more MCU program modules together with associated +control data, usage procedures, and operating procedures, are tested to +determine whether they are fit for use. Unit testing finds problems early +in the development cycle. + +More information about PlatformIO Unit Testing: +- https://docs.platformio.org/page/plus/unit-testing.html