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view Small_CPU/Src/spi.c @ 224:ceecabfddb57 div-fixes-3

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Bugfix, deco: fix 2 (small) problems with calculated ceiling This fixes 1 trivial, and 1 not really trivial bug in the calculation of the ceiling. When simulating a bounce dive to 80m, things become clear (tried this on a CCR dive, fixed setpoint 1.2bar, about 15 minutes of bottom time). Closely watch the behavior of the ceiling data. At some point during the ascent, the ceiling begins to decrease in 10cm steps. Then suddenly (while still ascending), the ceiling increases again with 1m, does not change for some time, and then suddenly steps 1.1m less deep. While not very relevant to real deco diving, it is simply wrong. The reason for this is subtle. The algorithm used to find the ceiling is a sort of linear search, stepping down a meter, overshoot the depth, and search back in 10cm steps. It seems some numerical instability. Fixing this, was a bit more computational intensive search by stepping up down in equal steps of 10cm. But, I'm pretty sure that things can be speeded up here, as a ceiling does not change fast, so it should be not that difficult to limit the search space, or use a binary search algorithm instead. The trivial second problem fixed, is that the ceiling ends at the surface and not at 1m depth. This small issue became visible after changing the step down size above. Signed-off-by: Jan Mulder <jlmulder@xs4all.nl>
author Jan Mulder <jlmulder@xs4all.nl>
date Sun, 31 Mar 2019 19:35:51 +0200
parents 9fc06e1e0f66
children e4207f0aaa4b
line wrap: on
line source

/**
 ******************************************************************************
 * @file    spi.c
 * @author  heinrichs weikamp gmbh
 * @version V0.0.1
 * @date    16-Sept-2014
 * @brief   Source code for spi control
 *
 @verbatim
 ==============================================================================
 ##### How to use #####
 ==============================================================================
 @endverbatim
 ******************************************************************************
 * @attention
 *
 * <h2><center>&copy; COPYRIGHT(c) 2014 heinrichs weikamp</center></h2>
 *
 ******************************************************************************
 */

/* Includes ------------------------------------------------------------------*/

#include "global_constants.h"
#include "spi.h"
#include "dma.h"

//#include "gpio.h"

/* USER CODE BEGIN 0 */
#include "scheduler.h"

#ifdef DEBUG_GPIO
extern void GPIO_new_DEBUG_LOW(void);
extern void GPIO_new_DEBUG_HIGH(void);
#endif

uint8_t data_error = 0;
uint32_t data_error_time = 0;
uint8_t SPIDataRX = 0; /* Flag to signal that SPI RX callback has been triggered */

static void SPI_Error_Handler(void);

/* USER CODE END 0 */

static uint8_t SPI_check_header_and_footer_ok(void);
static uint8_t DataEX_check_header_and_footer_shifted(void);

SPI_HandleTypeDef hspi1;
SPI_HandleTypeDef hspi3;

DMA_HandleTypeDef hdma_tx;
DMA_HandleTypeDef hdma_rx;

// SPI3 init function
void MX_SPI3_Init(void) {
	hspi3.Instance = SPI3;
	hspi3.Init.Mode = SPI_MODE_MASTER;
	hspi3.Init.Direction = SPI_DIRECTION_2LINES;
	hspi3.Init.DataSize = SPI_DATASIZE_8BIT;
	hspi3.Init.CLKPolarity = SPI_POLARITY_HIGH;
	hspi3.Init.CLKPhase = SPI_PHASE_1EDGE;
	hspi3.Init.NSS = SPI_NSS_SOFT;
	hspi3.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_256;
	hspi3.Init.FirstBit = SPI_FIRSTBIT_MSB;
	hspi3.Init.TIMode = SPI_TIMODE_DISABLED;
	hspi3.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLED;
	hspi3.Init.CRCPolynomial = 7;
	HAL_SPI_Init(&hspi3);
}

void MX_SPI3_DeInit(void) {
	HAL_SPI_DeInit(&hspi3);
}

uint8_t SPI3_ButtonAdjust(uint8_t *arrayInput, uint8_t *arrayOutput) {
	HAL_StatusTypeDef status;
	uint8_t answer[10];
	uint8_t rework[10];

	rework[0] = 0xFF;
	for (int i = 0; i < 3; i++) {
		// limiter
		if (arrayInput[i] == 0xFF)
			arrayInput[i] = 0xFE;
		if (arrayInput[i] >= 15) {
			// copy - ausl�se-schwelle
			rework[i + 1] = arrayInput[i];
			// wieder-scharf-schalte-schwelle
			rework[i + 3 + 1] = arrayInput[i] - 10;
		} else if (arrayInput[i] >= 10) {
			// copy - ausl�se-schwelle
			rework[i + 1] = arrayInput[i];
			// wieder-scharf-schalte-schwelle
			rework[i + 3 + 1] = arrayInput[i] - 5;
		} else {
			// copy - ausl�se-schwelle
			rework[i + 1] = 7;
			// wieder-scharf-schalte-schwelle
			rework[i + 3 + 1] = 6;
		}
	}

	status = HAL_OK; /* = 0 */
	HAL_GPIO_WritePin(GPIOC, GPIO_PIN_9, GPIO_PIN_SET);
	for (int i = 0; i < 7; i++) {
		HAL_Delay(10);
		HAL_GPIO_WritePin(GPIOC, GPIO_PIN_9, GPIO_PIN_RESET);
		HAL_Delay(10);
		status += HAL_SPI_TransmitReceive(&hspi3, &rework[i], &answer[i], 1,
				20);
		HAL_Delay(10);
		HAL_GPIO_WritePin(GPIOC, GPIO_PIN_9, GPIO_PIN_SET);
	}

	if (status == HAL_OK) {
		for (int i = 0; i < 3; i++) {
			arrayOutput[i] = answer[i + 2]; // first not, return of 0xFF not
		}
		return 1;
	} else

		return 0;
}

// SPI5 init function
void MX_SPI1_Init(void) {
	hspi1.Instance = SPI1;
	hspi1.Init.Mode = SPI_MODE_SLAVE;
	hspi1.Init.Direction = SPI_DIRECTION_2LINES;
	hspi1.Init.DataSize = SPI_DATASIZE_8BIT;
	hspi1.Init.CLKPolarity = SPI_POLARITY_LOW;
	hspi1.Init.CLKPhase = SPI_PHASE_1EDGE;
	hspi1.Init.NSS = SPI_NSS_HARD_INPUT; //SPI_NSS_SOFT;
	hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_128;
	hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
	hspi1.Init.TIMode = SPI_TIMODE_DISABLED;
	hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLED; //_DISABLED; _ENABLED;
	hspi1.Init.CRCPolynomial = 7;
	HAL_SPI_Init(&hspi1);
}

void MX_SPI_DeInit(void) {
	HAL_SPI_DeInit(&hspi1);
}

void HAL_SPI_MspInit(SPI_HandleTypeDef* hspi) {

	GPIO_InitTypeDef GPIO_InitStruct;

	if (hspi->Instance == SPI1) {
		SPIDataRX = 0;
		// Peripheral clock enable
		__SPI1_CLK_ENABLE();
		__GPIOA_CLK_ENABLE();
		//SPI1 GPIO Configuration  
		//PA4   ------> SPI1_CS 
		//PA5   ------> SPI1_SCK
		//PA6   ------> SPI1_MISO 
		//PA7   ------> SPI1_MOSI 

		GPIO_InitStruct.Pin = GPIO_PIN_4 | GPIO_PIN_5 | GPIO_PIN_6 | GPIO_PIN_7;
//    GPIO_InitStruct.Pin = GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7;
		GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
		GPIO_InitStruct.Pull = GPIO_PULLUP;
		GPIO_InitStruct.Speed = GPIO_SPEED_FAST; /* Decision is based on errata which recommends FAST for GPIO at 90Mhz */
		GPIO_InitStruct.Alternate = GPIO_AF5_SPI1;
		HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

		//##-3- Configure the DMA streams ##########################################
		// Configure the DMA handler for Transmission process 
		hdma_tx.Instance = DMA2_Stream3;
		hdma_tx.Init.Channel = DMA_CHANNEL_3;
		hdma_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
		hdma_tx.Init.PeriphInc = DMA_PINC_DISABLE;
		hdma_tx.Init.MemInc = DMA_MINC_ENABLE;
		hdma_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
		hdma_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
		hdma_tx.Init.Mode = DMA_NORMAL;
		hdma_tx.Init.Priority = DMA_PRIORITY_VERY_HIGH;
		hdma_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
		hdma_tx.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL;
		hdma_tx.Init.MemBurst = DMA_MBURST_INC4;
		hdma_tx.Init.PeriphBurst = DMA_PBURST_INC4;

		HAL_DMA_Init(&hdma_tx);

		// Associate the initialized DMA handle to the the SPI handle
		__HAL_LINKDMA(hspi, hdmatx, hdma_tx);

		// Configure the DMA handler for Transmission process
		hdma_rx.Instance = DMA2_Stream0;
		hdma_rx.Init.Channel = DMA_CHANNEL_3;
		hdma_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
		hdma_rx.Init.PeriphInc = DMA_PINC_DISABLE;
		hdma_rx.Init.MemInc = DMA_MINC_ENABLE;
		hdma_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
		hdma_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
		hdma_rx.Init.Mode = DMA_NORMAL;
		hdma_rx.Init.Priority = DMA_PRIORITY_HIGH;
		hdma_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
		hdma_rx.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL;
		hdma_rx.Init.MemBurst = DMA_MBURST_INC4;
		hdma_rx.Init.PeriphBurst = DMA_PBURST_INC4;

		HAL_DMA_Init(&hdma_rx);

		// Associate the initialized DMA handle to the the SPI handle
		__HAL_LINKDMA(hspi, hdmarx, hdma_rx);

		//##-4- Configure the NVIC for DMA #########################################
		//NVIC configuration for DMA transfer complete interrupt (SPI3_RX)
		HAL_NVIC_SetPriority(DMA2_Stream0_IRQn, 1, 0);
		HAL_NVIC_EnableIRQ(DMA2_Stream0_IRQn);

		// NVIC configuration for DMA transfer complete interrupt (SPI1_TX)
		HAL_NVIC_SetPriority(DMA2_Stream3_IRQn, 1, 1);
		HAL_NVIC_EnableIRQ(DMA2_Stream3_IRQn);
	} else if (hspi->Instance == SPI3) {
		__GPIOC_CLK_ENABLE();
		__SPI3_CLK_ENABLE();

		//SPI1 GPIO Configuration  
		//PC10   ------> SPI3_SCK
		//PC11   ------> SPI3_MISO 
		//PC12   ------> SPI3_MOSI 
		//PA15   ------> SPI3_NSS (official)
		//PC9    ------> SPI3_NSS (hw)

		GPIO_InitStruct.Pin = GPIO_PIN_10 | GPIO_PIN_11 | GPIO_PIN_12;
		GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
		GPIO_InitStruct.Pull = GPIO_PULLUP;
		GPIO_InitStruct.Speed = GPIO_SPEED_FAST;
		GPIO_InitStruct.Alternate = GPIO_AF6_SPI3;
		HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);

		GPIO_InitStruct.Pin = GPIO_PIN_9;
		GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
		GPIO_InitStruct.Pull = GPIO_PULLUP;
		GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
		HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);

		HAL_GPIO_WritePin(GPIOC, GPIO_PIN_9, GPIO_PIN_SET);
	}
}

void HAL_SPI_MspDeInit(SPI_HandleTypeDef* hspi) {
	if (hspi->Instance == SPI1) {
		__SPI1_FORCE_RESET();
		__SPI1_RELEASE_RESET();

		//SPI1 GPIO Configuration  
		//PA5   ------> SPI1_SCK
		//PA6   ------> SPI1_MISO 
		//PA7   ------> SPI1_MOSI 

		HAL_GPIO_DeInit(GPIOA, GPIO_PIN_5 | GPIO_PIN_6 | GPIO_PIN_7);

		HAL_DMA_DeInit(&hdma_tx);
		HAL_DMA_DeInit(&hdma_rx);

		HAL_NVIC_DisableIRQ(DMA2_Stream3_IRQn);
		HAL_NVIC_DisableIRQ(DMA2_Stream0_IRQn);
	} else if (hspi->Instance == SPI3) {
		__SPI3_FORCE_RESET();
		__SPI3_RELEASE_RESET();

		//SPI1 GPIO Configuration  
		//PC10   ------> SPI3_SCK
		//PC11   ------> SPI3_MISO 
		//PC12   ------> SPI3_MOSI 
		//PA15   ------> SPI3_NSS (official)
		//PC9    ------> SPI3_NSS (hw)
		HAL_GPIO_DeInit(GPIOC, GPIO_PIN_10 | GPIO_PIN_11 | GPIO_PIN_12);
	}
}

void SPI_synchronize_with_Master(void) {
#ifdef USE_OLD_SYNC_METHOD
	GPIO_InitTypeDef GPIO_InitStruct;
//
	__GPIOA_CLK_ENABLE();
	/**SPI1 GPIO Configuration
	 PA5   ------> SPI1_SCK
	 */
	GPIO_InitStruct.Pin = GPIO_PIN_4 | GPIO_PIN_5;
	GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
	GPIO_InitStruct.Pull = GPIO_PULLUP;
	GPIO_InitStruct.Speed = GPIO_SPEED_FAST;
	HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
//
	HAL_Delay(10);
	while (HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_4) == 0);
	HAL_Delay(10);
	while (HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_5) == 1);
	HAL_Delay(50);
#endif
}

void SPI_Start_single_TxRx_with_Master(void) {
	uint8_t * pOutput;
	HAL_StatusTypeDef retval;

	if (global.dataSendToSlave.getDeviceDataNow) {
		global.dataSendToSlave.getDeviceDataNow = 0;
		pOutput = (uint8_t*) &(global.deviceDataSendToMaster);
	} else {
		pOutput = (uint8_t*) &(global.dataSendToMaster);
	}
	retval = HAL_SPI_TransmitReceive_DMA(&hspi1, pOutput,(uint8_t*) &(global.dataSendToSlave), EXCHANGE_BUFFERSIZE);
	if ( retval!= HAL_OK) {
		SPI_Error_Handler();
	}
}

void HAL_SPI_TxRxCpltCallback(SPI_HandleTypeDef *hspi) {
	/* restart SPI */
	if (hspi == &hspi1)
	{
		Scheduler_SyncToSPI();
		SPIDataRX = 1;

		/* stop data exchange? */
		if (global.mode == MODE_SHUTDOWN) {
			global.mode = MODE_SLEEP;
			global.dataSendToSlavePending = 0;
			global.dataSendToSlaveIsValid = 1;
			global.dataSendToSlaveIsNotValidCount = 0;
		}
	}
}

void SPI_Evaluate_RX_Data()
{
	uint8_t resettimeout = 1;

	if ((global.mode != MODE_SHUTDOWN) && ( global.mode != MODE_SLEEP) && (SPIDataRX))
	{
		SPIDataRX = 0;
		/* data consistent? */
		if (SPI_check_header_and_footer_ok()) {
			global.dataSendToMaster.header.checkCode[SPI_HEADER_INDEX_RX_STATE] = SPI_RX_STATE_OK;
	//		GPIO_new_DEBUG_HIGH(); //For debug.
			global.dataSendToSlaveIsValid = 1;
			global.dataSendToSlaveIsNotValidCount = 0;
			/* Master signal a data shift outside of his control => reset own DMA and resync */
			if(global.dataSendToSlave.header.checkCode[SPI_HEADER_INDEX_RX_STATE] == SPI_RX_STATE_SHIFTED)
			{
				HAL_SPI_Abort_IT(&hspi1);
				Scheduler_Request_sync_with_SPI(SPI_SYNC_METHOD_HARD);
			}
			 else
			 {
			 }
		}
		else
		{
	//		GPIO_new_DEBUG_LOW(); //For debug.
				global.dataSendToSlaveIsValid = 0;
				global.dataSendToSlaveIsNotValidCount++;
				if(DataEX_check_header_and_footer_shifted())
				{

					/* Reset own DMA */
					if ((global.dataSendToSlaveIsNotValidCount % 10) == 1)  //% 10
					{	
						HAL_SPI_Abort_IT(&hspi1); /* reset DMA only once */
					}
					/* Signal problem to master */
					if ((global.dataSendToSlaveIsNotValidCount ) >= 2)
					{
						global.dataSendToMaster.header.checkCode[SPI_HEADER_INDEX_RX_STATE] = SPI_RX_STATE_SHIFTED;
					}
				}
				else /* handle received data as if no data would have been received */
				{
					global.dataSendToMaster.header.checkCode[SPI_HEADER_INDEX_RX_STATE] = SPI_RX_STATE_OFFLINE;
					resettimeout = 0;
				}
		}

		global.dataSendToMaster.power_on_reset = 0;
		global.deviceDataSendToMaster.power_on_reset = 0;

	//TODO:REMOVE
	//		if ( !global.dataSendToSlaveStopEval ) {
	//			scheduleSpecial_Evaluate_DataSendToSlave();
	//		}
		scheduleSpecial_Evaluate_DataSendToSlave();

		SPI_Start_single_TxRx_with_Master();
	}

	if(resettimeout)
	{
			global.check_sync_not_running = 0;
	}
}

static uint8_t SPI_check_header_and_footer_ok(void) {
	if (global.dataSendToSlave.header.checkCode[0] != 0xBB)
		return 0;
#ifdef USE_OLD_HEADER_FORMAT
	if (global.dataSendToSlave.header.checkCode[1] != 0x01)
		return 0;
	if (global.dataSendToSlave.header.checkCode[2] != 0x01)
		return 0;
#endif
	if (global.dataSendToSlave.header.checkCode[3] != 0xBB)
		return 0;
	if (global.dataSendToSlave.footer.checkCode[0] != 0xF4)
		return 0;
	if (global.dataSendToSlave.footer.checkCode[1] != 0xF3)
		return 0;
	if (global.dataSendToSlave.footer.checkCode[2] != 0xF2)
		return 0;
	if (global.dataSendToSlave.footer.checkCode[3] != 0xF1)
		return 0;

	return 1;
}


/* Check if there is an empty frame providec by RTE (all 0) or even no data provided by RTE (all 0xFF)
 * If that is not the case the DMA is somehow not in sync
 */
uint8_t DataEX_check_header_and_footer_shifted()
{
	uint8_t ret = 1;
	if((global.dataSendToSlave.footer.checkCode[0] == 0x00)
	&& (global.dataSendToSlave.footer.checkCode[1] == 0x00)
	&& (global.dataSendToSlave.footer.checkCode[2] == 0x00)
	&& (global.dataSendToSlave.footer.checkCode[3] == 0x00)) { ret = 0; }

	if((global.dataSendToSlave.footer.checkCode[0] == 0xff)
	&& (global.dataSendToSlave.footer.checkCode[1] == 0xff)
	&& (global.dataSendToSlave.footer.checkCode[2] == 0xff)
	&& (global.dataSendToSlave.footer.checkCode[3] == 0xff)) { ret = 0; }

	return ret;
}

static void SPI_Error_Handler(void) {
	//The device is locks. Hard to recover.
//  while(1)
//  {
//  }
}

/**
 * @}
 */

/**
 * @}
 */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/