Mercurial > public > ostc4
annotate Discovery/Src/ostc.c @ 574:01ee21dd311f
Improved focus detection:
In previous version th calibration window was turned into the current one. At all two translations were used causing a jitter. Now the current view is translated into the calibration windows by one step increasing the quality of the prediction.
Reworked detection of pitch/sector/scroll events:
Sector and scroll uses pitch angles to calculate the view to show. Movment detection uses movment, which may also be out of focus for a short time. To improve all detections these two use cases are now handled individual. Sector and scroll have increased action angle in case yaw and roll stay stable.
| author | Ideenmodellierer |
|---|---|
| date | Wed, 25 Nov 2020 20:26:01 +0100 |
| parents | 37ee61f93124 |
| children | bc6c90e20d9e |
| rev | line source |
|---|---|
| 38 | 1 /////////////////////////////////////////////////////////////////////////////// |
| 2 /// -*- coding: UTF-8 -*- | |
| 3 /// | |
| 4 /// \file Discovery/Src/ostc.c | |
| 5 /// \brief Hardware specific configuration | |
| 6 /// \author Heinrichs Weikamp gmbh | |
| 7 /// \date 05-Dec-2014 | |
| 8 /// | |
| 9 /// \details | |
| 10 /// | |
| 11 /// $Id$ | |
| 12 /////////////////////////////////////////////////////////////////////////////// | |
| 13 /// \par Copyright (c) 2014-2018 Heinrichs Weikamp gmbh | |
| 14 /// | |
| 15 /// This program is free software: you can redistribute it and/or modify | |
| 16 /// it under the terms of the GNU General Public License as published by | |
| 17 /// the Free Software Foundation, either version 3 of the License, or | |
| 18 /// (at your option) any later version. | |
| 19 /// | |
| 20 /// This program is distributed in the hope that it will be useful, | |
| 21 /// but WITHOUT ANY WARRANTY; without even the implied warranty of | |
| 22 /// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | |
| 23 /// GNU General Public License for more details. | |
| 24 /// | |
| 25 /// You should have received a copy of the GNU General Public License | |
| 26 /// along with this program. If not, see <http://www.gnu.org/licenses/>. | |
| 27 ////////////////////////////////////////////////////////////////////////////// | |
| 28 | |
| 29 /* Includes ------------------------------------------------------------------*/ | |
| 30 #include "ostc.h" | |
| 31 #include "stm32f4xx_hal.h" | |
| 32 | |
| 33 #ifndef BOOTLOADER_STANDALONE | |
| 34 #include "tCCR.h" | |
| 35 #endif | |
| 36 | |
| 37 /* Exported variables --------------------------------------------------------*/ | |
| 38 SPI_HandleTypeDef hspiDisplay; | |
| 39 SPI_HandleTypeDef cpu2DmaSpi; | |
| 40 | |
| 41 | |
| 42 UART_HandleTypeDef UartHandle; | |
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43 #ifdef USART_PIEZO |
| 38 | 44 UART_HandleTypeDef UartPiezoTxHandle; |
|
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45 #endif |
| 38 | 46 UART_HandleTypeDef UartIR_HUD_Handle; |
| 47 | |
| 48 __IO ITStatus UartReady = RESET; | |
| 49 | |
| 50 /* Private types -------------------------------------------------------------*/ | |
| 51 | |
| 52 /* Private variables ---------------------------------------------------------*/ | |
| 53 | |
| 54 /* Private variables with external access via get_xxx() function -------------*/ | |
| 55 | |
| 56 /* Private function prototypes -----------------------------------------------*/ | |
| 57 | |
| 58 /* Exported functions --------------------------------------------------------*/ | |
| 59 | |
| 60 /** SPI init function | |
| 61 * called from HAL | |
| 62 */ | |
| 63 void MX_SPI_Init(void) | |
| 64 { | |
| 65 hspiDisplay.Instance = SPI5; | |
| 66 hspiDisplay.Init.Mode = SPI_MODE_MASTER; | |
| 67 hspiDisplay.Init.Direction = SPI_DIRECTION_2LINES; | |
| 68 hspiDisplay.Init.DataSize = SPI_DATASIZE_8BIT; | |
| 69 hspiDisplay.Init.CLKPolarity = SPI_POLARITY_LOW; | |
| 70 hspiDisplay.Init.CLKPhase = SPI_PHASE_1EDGE; | |
| 71 hspiDisplay.Init.NSS = SPI_NSS_SOFT; | |
| 72 hspiDisplay.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32;//SPI_BAUDRATEPRESCALER_4;//SPI_BAUDRATEPRESCALER_256; | |
| 73 hspiDisplay.Init.FirstBit = SPI_FIRSTBIT_MSB; | |
| 74 hspiDisplay.Init.TIMode = SPI_TIMODE_DISABLED; | |
| 75 hspiDisplay.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLED; | |
| 76 HAL_SPI_Init(&hspiDisplay); | |
| 77 | |
| 78 cpu2DmaSpi.Instance = SPI1; | |
| 79 cpu2DmaSpi.Init.Mode = SPI_MODE_MASTER; | |
| 80 cpu2DmaSpi.Init.Direction = SPI_DIRECTION_2LINES; | |
| 81 cpu2DmaSpi.Init.DataSize = SPI_DATASIZE_8BIT; | |
| 82 cpu2DmaSpi.Init.CLKPolarity = SPI_POLARITY_LOW; | |
| 83 cpu2DmaSpi.Init.CLKPhase = SPI_PHASE_1EDGE; | |
| 84 cpu2DmaSpi.Init.NSS = SPI_NSS_SOFT;//SPI_NSS_HARD_OUTPUT;//SPI_NSS_SOFT; | |
|
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85 cpu2DmaSpi.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_128; |
| 38 | 86 cpu2DmaSpi.Init.FirstBit = SPI_FIRSTBIT_MSB; |
| 87 cpu2DmaSpi.Init.TIMode = SPI_TIMODE_DISABLED; | |
| 88 cpu2DmaSpi.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLED; | |
| 89 cpu2DmaSpi.Init.CRCPolynomial = 7; | |
| 90 | |
| 91 HAL_SPI_Init(&cpu2DmaSpi); | |
| 92 } | |
| 93 | |
| 94 void MX_GPIO_Init(void) | |
| 95 { | |
| 96 GPIO_InitTypeDef GPIO_InitStruct; | |
| 97 | |
| 98 DISPLAY_CSB_GPIO_ENABLE(); | |
| 99 DISPLAY_RESETB_GPIO_ENABLE(); | |
| 100 EXTFLASH_CSB_GPIO_ENABLE(); | |
| 101 SMALLCPU_CSB_GPIO_ENABLE(); | |
| 102 OSCILLOSCOPE_GPIO_ENABLE(); | |
| 103 OSCILLOSCOPE2_GPIO_ENABLE(); | |
| 104 | |
| 105 GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; | |
| 106 GPIO_InitStruct.Pull = GPIO_PULLUP; | |
| 107 GPIO_InitStruct.Speed = GPIO_SPEED_LOW; | |
| 108 | |
| 109 GPIO_InitStruct.Pin = DISPLAY_CSB_PIN; | |
| 110 HAL_GPIO_Init(DISPLAY_CSB_GPIO_PORT, &GPIO_InitStruct); | |
| 111 | |
| 112 GPIO_InitStruct.Pin = DISPLAY_RESETB_PIN; | |
| 113 HAL_GPIO_Init(DISPLAY_RESETB_GPIO_PORT, &GPIO_InitStruct); | |
| 114 | |
| 115 GPIO_InitStruct.Pin = EXTFLASH_CSB_PIN; | |
| 116 HAL_GPIO_Init(EXTFLASH_CSB_GPIO_PORT, &GPIO_InitStruct); | |
| 117 | |
| 118 GPIO_InitStruct.Pin = OSCILLOSCOPE_PIN; | |
| 119 HAL_GPIO_Init(OSCILLOSCOPE_GPIO_PORT, &GPIO_InitStruct); | |
| 120 | |
| 121 GPIO_InitStruct.Pin = OSCILLOSCOPE2_PIN; | |
| 122 HAL_GPIO_Init(OSCILLOSCOPE2_GPIO_PORT, &GPIO_InitStruct); | |
| 123 | |
| 124 #ifdef DISPLAY_BACKLIGHT_PIN | |
| 125 DISPLAY_BACKLIGHT_GPIO_ENABLE(); | |
| 126 GPIO_InitStruct.Pin = DISPLAY_BACKLIGHT_PIN; | |
| 127 HAL_GPIO_Init(DISPLAY_BACKLIGHT_GPIO_PORT, &GPIO_InitStruct); | |
| 128 HAL_GPIO_WritePin(DISPLAY_BACKLIGHT_GPIO_PORT,DISPLAY_BACKLIGHT_PIN,GPIO_PIN_SET); | |
| 129 #endif | |
| 130 | |
| 131 #ifdef SMALLCPU_CSB_PIN | |
| 132 SMALLCPU_CSB_GPIO_ENABLE(); | |
| 133 GPIO_InitStruct.Pin = SMALLCPU_CSB_PIN; | |
| 134 HAL_GPIO_Init(SMALLCPU_CSB_GPIO_PORT, &GPIO_InitStruct); | |
| 135 HAL_GPIO_WritePin(SMALLCPU_CSB_GPIO_PORT,SMALLCPU_CSB_PIN,GPIO_PIN_SET); | |
| 136 #endif | |
| 137 | |
| 138 #ifdef SMALLCPU_BOOT0_PIN | |
| 139 GPIO_InitStruct.Pull = GPIO_NOPULL; | |
| 140 SMALLCPU_BOOT0_GPIO_ENABLE(); | |
| 141 GPIO_InitStruct.Pin = SMALLCPU_BOOT0_PIN; | |
| 142 HAL_GPIO_Init(SMALLCPU_BOOT0_GPIO_PORT, &GPIO_InitStruct); | |
| 143 HAL_GPIO_WritePin(SMALLCPU_BOOT0_GPIO_PORT,SMALLCPU_BOOT0_PIN,GPIO_PIN_RESET); | |
| 144 GPIO_InitStruct.Pull = GPIO_PULLUP; | |
| 145 #endif | |
| 146 | |
| 147 #ifdef IR_HUD_ENABLE_PIN | |
| 148 IR_HUD_ENABLE_GPIO_ENABLE(); | |
| 149 GPIO_InitStruct.Pin = IR_HUD_ENABLE_PIN; | |
| 150 GPIO_InitStruct.Pull = GPIO_NOPULL; | |
| 151 HAL_GPIO_Init(IR_HUD_ENABLE_GPIO_PORT, &GPIO_InitStruct); | |
| 152 HAL_GPIO_WritePin(IR_HUD_ENABLE_GPIO_PORT,IR_HUD_ENABLE_PIN,GPIO_PIN_SET); | |
| 153 GPIO_InitStruct.Pull = GPIO_PULLUP; | |
| 154 #endif | |
| 155 | |
| 156 #ifdef BLE_NENABLE_PIN | |
| 157 BLE_NENABLE_GPIO_ENABLE(); | |
| 158 MX_Bluetooth_PowerOff(); | |
| 159 #endif | |
| 160 | |
| 161 #ifdef TESTPIN | |
| 162 GPIO_InitStruct.Pull = GPIO_PULLUP; | |
| 163 TEST_GPIO_ENABLE(); | |
| 164 GPIO_InitStruct.Pin = TEST_PIN; | |
| 165 HAL_GPIO_Init(TEST_GPIO_PORT, &GPIO_InitStruct); | |
| 166 HAL_GPIO_WritePin(TEST_GPIO_PORT,TEST_PIN,GPIO_PIN_SET); | |
| 167 GPIO_InitStruct.Pull = GPIO_PULLUP; | |
| 168 #endif | |
| 169 } | |
| 170 | |
| 171 | |
| 172 void MX_TestPin_High(void) | |
| 173 { | |
| 174 #ifdef TESTPIN | |
| 175 HAL_GPIO_WritePin(TEST_GPIO_PORT,TEST_PIN,GPIO_PIN_SET); | |
| 176 #endif | |
| 177 } | |
| 178 | |
| 179 | |
| 180 void MX_TestPin_Low(void) | |
| 181 { | |
| 182 #ifdef TESTPIN | |
| 183 HAL_GPIO_WritePin(TEST_GPIO_PORT,TEST_PIN,GPIO_PIN_RESET); | |
| 184 #endif | |
| 185 } | |
| 186 | |
| 187 void MX_Bluetooth_PowerOn(void) | |
| 188 { | |
| 189 GPIO_InitTypeDef GPIO_InitStruct; | |
| 190 GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; | |
| 191 GPIO_InitStruct.Pull = GPIO_NOPULL; | |
| 192 GPIO_InitStruct.Speed = GPIO_SPEED_LOW; | |
| 193 GPIO_InitStruct.Pin = BLE_NENABLE_PIN; | |
| 194 HAL_GPIO_Init(BLE_NENABLE_GPIO_PORT, &GPIO_InitStruct); | |
| 195 HAL_GPIO_WritePin(BLE_NENABLE_GPIO_PORT,BLE_NENABLE_PIN,GPIO_PIN_RESET); | |
| 196 } | |
| 197 | |
| 198 | |
| 199 void MX_Bluetooth_PowerOff(void) | |
| 200 { | |
| 201 GPIO_InitTypeDef GPIO_InitStruct; | |
| 202 GPIO_InitStruct.Mode = GPIO_MODE_INPUT; | |
| 203 GPIO_InitStruct.Pin = BLE_NENABLE_PIN; | |
| 204 GPIO_InitStruct.Pull = GPIO_NOPULL; | |
| 205 HAL_GPIO_Init(BLE_NENABLE_GPIO_PORT, &GPIO_InitStruct); | |
| 206 } | |
| 207 | |
| 208 | |
| 209 void MX_SmallCPU_Reset_To_Boot(void) | |
| 210 { | |
| 211 #ifdef SMALLCPU_NRESET_PIN | |
| 212 GPIO_InitTypeDef GPIO_InitStruct; | |
| 213 | |
| 214 GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; | |
| 215 GPIO_InitStruct.Pull = GPIO_NOPULL; | |
| 216 GPIO_InitStruct.Speed = GPIO_SPEED_LOW; | |
| 217 | |
| 218 SMALLCPU_NRESET_GPIO_ENABLE(); | |
| 219 GPIO_InitStruct.Pin = SMALLCPU_NRESET_PIN; | |
| 220 HAL_GPIO_Init(SMALLCPU_NRESET_GPIO_PORT, &GPIO_InitStruct); | |
| 221 HAL_GPIO_WritePin(SMALLCPU_NRESET_GPIO_PORT,SMALLCPU_NRESET_PIN,GPIO_PIN_RESET); | |
| 222 HAL_GPIO_WritePin(SMALLCPU_BOOT0_GPIO_PORT,SMALLCPU_BOOT0_PIN,GPIO_PIN_SET); | |
| 223 HAL_Delay(2); | |
| 224 GPIO_InitStruct.Mode = GPIO_MODE_INPUT; | |
| 225 HAL_GPIO_Init(SMALLCPU_NRESET_GPIO_PORT, &GPIO_InitStruct); | |
| 226 HAL_Delay(100); | |
| 227 HAL_GPIO_WritePin(SMALLCPU_BOOT0_GPIO_PORT,SMALLCPU_BOOT0_PIN,GPIO_PIN_RESET); | |
| 228 #endif | |
| 229 } | |
| 230 | |
| 231 void MX_SmallCPU_Reset_To_Standard(void) | |
| 232 { | |
| 233 #ifdef SMALLCPU_NRESET_PIN | |
| 234 GPIO_InitTypeDef GPIO_InitStruct; | |
| 235 | |
| 236 GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; | |
| 237 GPIO_InitStruct.Pull = GPIO_NOPULL; | |
| 238 GPIO_InitStruct.Speed = GPIO_SPEED_LOW; | |
| 239 | |
| 240 SMALLCPU_NRESET_GPIO_ENABLE(); | |
| 241 GPIO_InitStruct.Pin = SMALLCPU_NRESET_PIN; | |
| 242 HAL_GPIO_Init(SMALLCPU_NRESET_GPIO_PORT, &GPIO_InitStruct); | |
| 243 HAL_GPIO_WritePin(SMALLCPU_NRESET_GPIO_PORT,SMALLCPU_NRESET_PIN,GPIO_PIN_RESET); | |
| 244 HAL_GPIO_WritePin(SMALLCPU_BOOT0_GPIO_PORT,SMALLCPU_BOOT0_PIN,GPIO_PIN_RESET); | |
| 245 HAL_Delay(2); | |
| 246 GPIO_InitStruct.Mode = GPIO_MODE_INPUT; | |
| 247 HAL_GPIO_Init(SMALLCPU_NRESET_GPIO_PORT, &GPIO_InitStruct); | |
| 248 #endif | |
| 249 } | |
| 250 | |
| 251 void MX_UART_Init(void) | |
| 252 { | |
| 253 /*##-1- Configure the UART peripheral ######################################*/ | |
| 254 /* Put the USART peripheral in the Asynchronous mode (UART Mode) */ | |
| 255 /* UART1 configured as follow: | |
| 256 - Word Length = 8 Bits | |
| 257 - Stop Bit = One Stop bit | |
| 258 - Parity = None | |
| 259 - BaudRate = 9600 baud | |
| 260 - Hardware flow control disabled (RTS and CTS signals) */ | |
| 261 | |
| 262 #ifdef USARTx_CTS_PIN | |
| 263 UartHandle.Init.HwFlowCtl = UART_HWCONTROL_RTS_CTS; | |
| 264 #else | |
| 265 UartHandle.Init.HwFlowCtl = UART_HWCONTROL_NONE; | |
| 266 #endif | |
| 267 UartHandle.Instance = USARTx; | |
| 268 UartHandle.Init.BaudRate = 115200; | |
| 269 UartHandle.Init.WordLength = UART_WORDLENGTH_8B; | |
| 270 UartHandle.Init.StopBits = UART_STOPBITS_1; | |
| 271 UartHandle.Init.Parity = UART_PARITY_NONE; | |
| 272 UartHandle.Init.Mode = UART_MODE_TX_RX; | |
| 273 HAL_UART_Init(&UartHandle); | |
| 274 | |
| 275 #ifdef USART_PIEZO | |
| 276 UartPiezoTxHandle.Instance = USART_PIEZO; | |
| 277 UartPiezoTxHandle.Init.BaudRate = 1200; | |
| 278 UartPiezoTxHandle.Init.WordLength = UART_WORDLENGTH_8B; | |
| 279 UartPiezoTxHandle.Init.StopBits = UART_STOPBITS_1; | |
| 280 UartPiezoTxHandle.Init.Parity = UART_PARITY_NONE; | |
| 281 UartPiezoTxHandle.Init.HwFlowCtl = UART_HWCONTROL_NONE; | |
| 282 UartPiezoTxHandle.Init.Mode = UART_MODE_TX_RX; | |
| 283 | |
| 284 HAL_UART_Init(&UartPiezoTxHandle); | |
| 285 #endif | |
| 286 | |
| 287 #ifdef USART_IR_HUD | |
| 288 UartIR_HUD_Handle.Instance = USART_IR_HUD; | |
| 289 UartIR_HUD_Handle.Init.BaudRate = 2400; | |
| 290 UartIR_HUD_Handle.Init.WordLength = UART_WORDLENGTH_8B; | |
| 291 UartIR_HUD_Handle.Init.StopBits = UART_STOPBITS_1; | |
| 292 UartIR_HUD_Handle.Init.Parity = UART_PARITY_NONE; | |
| 293 UartIR_HUD_Handle.Init.HwFlowCtl = UART_HWCONTROL_NONE; | |
| 294 UartIR_HUD_Handle.Init.Mode = UART_MODE_TX_RX; | |
| 295 | |
| 296 HAL_UART_Init(&UartIR_HUD_Handle); | |
| 297 #endif | |
| 298 } | |
| 299 | |
| 300 void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart) | |
| 301 { | |
| 302 if(huart == &UartHandle) | |
| 303 UartReady = SET; | |
| 304 } | |
| 305 | |
|
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306 |
| 38 | 307 void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) |
| 308 { | |
| 309 if(huart == &UartHandle) | |
| 310 UartReady = SET; | |
| 311 else | |
| 312 if(huart == &UartIR_HUD_Handle) | |
| 313 { | |
|
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314 tCCR_SetRXIndication(); |
| 38 | 315 } |
| 316 } | |
| 317 | |
| 318 void MX_tell_reset_logik_alles_ok(void) | |
| 319 { | |
| 320 #ifdef RESET_LOGIC_ALLES_OK_PIN | |
| 321 GPIO_InitTypeDef GPIO_InitStruct; | |
| 322 | |
| 323 RESET_LOGIC_ALLES_OK_GPIO_ENABLE(); | |
| 324 | |
| 325 GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; | |
| 326 GPIO_InitStruct.Pull = GPIO_NOPULL; | |
| 327 GPIO_InitStruct.Speed = GPIO_SPEED_LOW; | |
| 328 GPIO_InitStruct.Pin = RESET_LOGIC_ALLES_OK_PIN; | |
| 329 HAL_GPIO_Init(RESET_LOGIC_ALLES_OK_GPIO_PORT, &GPIO_InitStruct); | |
| 330 | |
| 331 HAL_GPIO_WritePin(RESET_LOGIC_ALLES_OK_GPIO_PORT,RESET_LOGIC_ALLES_OK_PIN,GPIO_PIN_RESET); | |
| 332 HAL_Delay(1); | |
| 333 HAL_GPIO_WritePin(RESET_LOGIC_ALLES_OK_GPIO_PORT,RESET_LOGIC_ALLES_OK_PIN,GPIO_PIN_SET); | |
| 334 | |
| 335 GPIO_InitStruct.Mode = GPIO_MODE_INPUT; | |
| 336 HAL_GPIO_Init(RESET_LOGIC_ALLES_OK_GPIO_PORT, &GPIO_InitStruct); | |
| 337 #endif | |
| 338 } | |
| 339 | |
| 340 | |
| 341 #ifndef BOOTLOADER_STANDALONE | |
| 342 void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart) | |
| 343 { | |
| 344 if(huart == &UartIR_HUD_Handle) | |
| 345 tCCR_restart(); | |
| 346 } | |
| 347 #endif |