reflow-oven-control-sw/stm-firmware/main.c

/* Reflow Oven Controller
 *
 * Copyright (C) 2020  Mario Hüttel <mario.huettel@gmx.net>
 *
 * This file is part of the Reflow Oven Controller Project.
 *
 * The reflow oven controller is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * The Reflow Oven Control Firmware is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with the reflow oven controller project.
 * If not, see <http://www.gnu.org/licenses/>.
 */

/**
 * @file main.c
 * @brief Main file for firmware
 */

#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include <inttypes.h>
/* #include <arm_math.h> */
#include <stm32/stm32f4xx.h>
#include <cmsis/core_cm4.h>
#include <setup/system_stm32f4xx.h>
#include <reflow-controller/systick.h>
#include <reflow-controller/adc-meas.h>
#include <reflow-controller/shell.h>
#include <reflow-controller/ui/lcd.h>
#include <reflow-controller/digio.h>
#include "fatfs/shimatta_sdio_driver/shimatta_sdio.h"
#include <reflow-controller/temp-converter.h>
#include <reflow-controller/rotary-encoder.h>
#include <reflow-controller/pid-controller.h>
#include <stm-periph/stm32-gpio-macros.h>
#include <stm-periph/clock-enable-manager.h>
#include <stm-periph/uart.h>
#include <reflow-controller/shell-uart-config.h>
#include <helper-macros/helper-macros.h>
#include <reflow-controller/button.h>
#include <reflow-controller/oven-driver.h>
#include <reflow-controller/safety-adc.h>
#include <fatfs/ff.h>

static void setup_nvic_priorities()
{
	/* No sub priorities */
	NVIC_SetPriorityGrouping(2);

	/* Setup Priorities */
	NVIC_SetPriority(ADC_IRQn, 2);
	NVIC_SetPriority(DMA2_Stream0_IRQn, 1);
	NVIC_SetPriority(DMA2_Stream7_IRQn, 3);
}

/* Process parameters are defined static globally to be watched in debugger from any context */
static float pt1000_value;
static volatile int pt1000_value_status;
static uint32_t rot;
static float target_temperature;
static struct pid_controller pid;
static volatile enum button_state button;

FATFS fs;
FATFS *fs_ptr = &fs;

static inline void uart_gpio_config()
{
	/*
	 * In case the application is build in debug mode, use the TX/RX Pins on the debug header
	 * else the Pins on the DIGIO header are configured in the digio module
	 */

#ifdef DEBUGBUILD
	rcc_manager_enable_clock(&RCC->AHB1ENR, BITMASK_TO_BITNO(SHELL_UART_PORT_RCC_MASK));
	SHELL_UART_PORT->MODER &=  MODER_DELETE(SHELL_UART_TX_PIN) & MODER_DELETE(SHELL_UART_RX_PIN);
	SHELL_UART_PORT->MODER |= ALTFUNC(SHELL_UART_RX_PIN) | ALTFUNC(SHELL_UART_TX_PIN);
	SETAF(SHELL_UART_PORT, SHELL_UART_RX_PIN, SHELL_UART_RX_PIN_ALTFUNC);
	SETAF(SHELL_UART_PORT, SHELL_UART_TX_PIN, SHELL_UART_TX_PIN_ALTFUNC);
#endif
}


static char shell_uart_tx_buff[128];
static char shell_uart_rx_buff[48];
struct stm_uart shell_uart;

static shellmatta_retCode_t write_shell_callback(const char *data, uint32_t len)
{
	uart_send_array_with_dma(&shell_uart, data, len);
	return SHELLMATTA_OK;
}

static inline void setup_sell_uart(struct stm_uart *uart)
{
	uart->rx = 1;
	uart->tx = 1;
	uart->brr_val = SHELL_UART_BRR_REG_VALUE;
	uart->rcc_reg = &SHELL_UART_RCC_REG;
	uart->rcc_bit_no = BITMASK_TO_BITNO(SHELL_UART_RCC_MASK);
	uart->uart_dev = SHELL_UART_PERIPH;
	uart->dma_rx_buff = shell_uart_rx_buff;
	uart->dma_tx_buff = shell_uart_tx_buff;
	uart->rx_buff_count = sizeof(shell_uart_rx_buff);
	uart->tx_buff_count = sizeof(shell_uart_tx_buff);
	uart->base_dma_num = 2;
	uart->dma_rx_stream = SHELL_UART_RECEIVE_DMA_STREAM;
	uart->dma_tx_stream = SHELL_UART_SEND_DMA_STREAM;
	uart->dma_rx_trigger_channel = SHELL_UART_RX_DMA_TRIGGER;
	uart->dma_tx_trigger_channel = SHELL_UART_TX_DMA_TRIGGER;

	uart_init(uart);
	NVIC_EnableIRQ(DMA2_Stream7_IRQn);
}

static bool mount_sd_card_if_avail(bool mounted)
{
	FRESULT res;

	if (sdio_check_inserted() && mounted) {
		memset(fs_ptr, 0, sizeof(FATFS));
		return false;
	}

	if (!sdio_check_inserted() && !mounted) {
		res = f_mount(fs_ptr, "0:/", 1);
		if (res == FR_OK) {
			return true;
		} else {
			return false;
		}
	}

	return mounted;
}

static inline int32_t handle_pid_controller(struct pid_controller *pid, float target_temperature,
					    float current_temperature)
{
	int32_t pid_out;

	pid_out = (int32_t)pid_sample(pid, target_temperature - current_temperature);

	/* Blink green LED */
	led_set(1, !led_get(1));

	return pid_out;
}

static void setup_unused_pins()
{
	int i;

	rcc_manager_enable_clock(&RCC->AHB1ENR, BITMASK_TO_BITNO(RCC_AHB1ENR_GPIOEEN));
	GPIOE->MODER = 0UL;
	for (i = 0; i < 16; i++)
		GPIOE->PUPDR |= PULLDOWN(i);
}

static inline void setup_system()
{
	setup_nvic_priorities();
	systick_setup();

	adc_pt1000_setup_meas();
	oven_driver_init();
	digio_setup_default_all();
	led_setup();
	loudspeaker_setup();
	rotary_encoder_setup();
	button_init();
	lcd_init();
	safety_adc_init();

	uart_gpio_config();
	setup_sell_uart(&shell_uart);

	setup_unused_pins();
}

static void handle_shell_uart_input(shellmatta_handle_t shell_handle)
{
	int uart_receive_status;
	const char *uart_input;
	size_t uart_input_len;

	/* Handle uart input for shell */
	uart_receive_status = uart_receive_data_with_dma(&shell_uart, &uart_input, &uart_input_len);
	if (uart_receive_status >= 0)
		shell_handle_input(shell_handle, uart_input, uart_input_len);
}



int main()
{
	bool sd_card_mounted = false;
	shellmatta_handle_t shell_handle;

	uint64_t pid_timestamp = 0ULL;
	bool pid_controller_active = false;
	int32_t pid_controller_output;
	uint64_t display_timestamp = 0ULL;
	char disp[4][21] = {0};
	enum lcd_fsm_ret lcd_ret = LCD_FSM_NOP;
	int temp_status;
	float current_temp;

	target_temperature = 25.0f;

	setup_system();

	shell_handle = shell_init(write_shell_callback);
	shell_print_motd(shell_handle);

	pid_init(&pid, 0.1, 0.1, 4.0, 0.0, 100.0, 40.0, 0.25);
	pid_zero(&pid);

	while (1) {
		sd_card_mounted = mount_sd_card_if_avail(sd_card_mounted);

		snprintf(&disp[0][0], 17, "SD %smounted", sd_card_mounted ? "" : "un");

		pt1000_value_status = adc_pt1000_get_current_resistance(&pt1000_value);

		if (systick_ticks_have_passed(pid_timestamp, 250)) {

			(void)handle_safety_adc();

			pid_timestamp = systick_get_global_tick();

			temp_status = temp_converter_convert_resistance_to_temp(pt1000_value,
										&current_temp);

			if (pt1000_value_status >= 0 && pid_controller_active)
				pid_controller_output = handle_pid_controller(&pid, target_temperature, current_temp);

			/* Blink red led in case of temp error */
			if (pt1000_value_status < 0)
				led_set(0, !led_get(0));
			else
				led_set(0, 0);

			snprintf(&disp[3][0], 17, "Temp: %s%.1f C", (temp_status == 0 ? "" : temp_status < 0 ? "<" : ">")
					, current_temp);
		}

		/* Handle error in case PID controller should be active, but temperature measurement failed */
		if (pid_controller_active && pt1000_value_status < 0) {
			/* Disable the oven controller */
			oven_driver_set_power(0U);

			/* Activate loundspeaker permanently */
			loudspeaker_set(100);
		} else if (pid_controller_active) {
			/* In case temperature measurement is okay and controlelr is working, write output power */
			oven_driver_set_power(pid_controller_output < 0 ? 0U : (uint8_t)pid_controller_output);
		}

		button = button_read_event();
		rot = rotary_encoder_get_abs_val();

		oven_driver_set_power(rot > 100U ? 100U : rot);


		/* TODO: handle gui */
		snprintf(&disp[1][0], 17, "Rotary: %u", (unsigned int)rot);
		snprintf(&disp[2][0], 17, "Button: %s", (button == BUTTON_SHORT ? "SHORT" : (button == BUTTON_LONG ? "LONG" : "")));

		handle_shell_uart_input(shell_handle);

		if (systick_ticks_have_passed(display_timestamp, 2) || lcd_ret == LCD_FSM_CALL_AGAIN) {
			lcd_ret = lcd_fsm_write_buffer(disp);
			display_timestamp = systick_get_global_tick();
		}

		if (lcd_ret == LCD_FSM_CALL_AGAIN) {
			/* Nothing */
		} else {
			__WFI();
		}
	}

}

void sdio_wait_ms(uint32_t ms)
{
	systick_wait_ms(ms);
}

void DMA2_Stream7_IRQHandler()
{
	uint32_t hisr = DMA2->HISR;
	DMA2->HIFCR = hisr;

	if (hisr & DMA_HISR_TCIF7) {
		uart_tx_dma_complete_int_callback(&shell_uart);
	}
}