mirror of
https://github.com/cosmic-pi-deprecated/cosmicpi-arduino_V1.6.git
synced 2026-05-12 16:09:25 +00:00
James Devine
8282d0a0b1
Compiles, but doesn't run. Left to do: Fix serial output Verify GPS Verify ADC + HV settings Swap accelerometer library Sort out timers (software for now) Confirm serial output format.
496 lines
16 KiB
C++
496 lines
16 KiB
C++
//Cosmic Pi software for Arduino - modified for STM32,
|
|
//J. Devine
|
|
//July 2019.
|
|
//Licensed under GPL V3 or later.
|
|
//cosmicpi.org
|
|
|
|
//pinouts
|
|
/*
|
|
* PA0 - Pin 14 - Shaped Signal 1
|
|
* PA1 - Pin 15 - Shaped Signal 2
|
|
* PA2 - Pin 16 - TX0
|
|
* PA3 - Pin 16 - RX0
|
|
* PA4 - Pin 20 - LED1 - Power/GPS
|
|
* PA5 - Pin 21 - LED2 - Event
|
|
* PA6 - Pin 22 - Injection leds
|
|
* PA7 - Pin 23 - Bias FB1
|
|
* PA8 - Pin 41 - SCL_Slave
|
|
* PA9 - Pin 42 - USB_OTG_VBUS
|
|
* PA10 - Pin 43 - GPSTX
|
|
* PA11 - Pin 44 - USBOTG DM
|
|
* PA12 - Pin 45 - USBOTG DP
|
|
* PA13 - Pin 46 - SWDIO
|
|
* PA14 - Pin 49 - SWCLK
|
|
* PA15 - Pin 50 - GPSPPS Input
|
|
* PB0 - Pin 26 - Bias FB2
|
|
* PB1 - Pin 27 - Flag to RPi
|
|
* PB2 Pin 28 - NC
|
|
* PB 3 - Pin 55 - NC
|
|
* PB4 - Pin 56 - SDA_Slave
|
|
* PB5 - Pin 57 - NC
|
|
* PB6 - Pin 58 - GPSRX
|
|
* PB7 - Pin 59 - SDA0
|
|
* PB8 - Pin 61 - SCL0
|
|
* PB9 - Pin 62 - NC
|
|
* PB10 - Pin 29 - Trigout (input to STM)
|
|
* PB12 - Pin 33 - NC
|
|
* PB13 - Pin 34 0 HVPSU SCLK (Clock to MAX1932)
|
|
* PB14, PB15 - NC
|
|
* PC0 - Pin 8 - NC
|
|
* PC1 - Pin 9 - HVPSU CL1
|
|
* PC2 - Pin 10 - HVPSU CL2
|
|
* PC3 - Pin 11 - HV PSU DIN
|
|
* PC4, PC5, PC6- NC
|
|
* PC7 - Pin 38 - HVPSU CS2
|
|
* PC8 - Pin 39 - HVPSU CS1
|
|
* PC9 - Pin 40 - Mag Interrupt
|
|
* PC10 - Pin 51 - NC
|
|
* PC11 - Pin 52 - STRIGOUT B
|
|
* PC12 - Pin 53 - STRIGOUT A
|
|
* PC13 - Pin 2 - Baro Int
|
|
* PC14 - Pin 3 - Accelint 1
|
|
* PC15 - Pin 4 - Accelint 2.
|
|
|
|
*/
|
|
#include "asyncSerial.h"
|
|
#include <Wire.h>
|
|
#include <EEPROM.h>
|
|
|
|
static const int SERIAL_BAUD_RATE = 19200; // Serial baud rate for version 1.5 production
|
|
static const int GPS_BAUD_RATE = 9600; // GPS and Serial1 line
|
|
|
|
// simulate events
|
|
static const bool simulateEvents = false;
|
|
unsigned long nextSimEvent = 0;
|
|
|
|
// enable gps and sensor output
|
|
static const bool enableSensorOutput = true;
|
|
static const bool enableGPSPipe = true;
|
|
|
|
// start our async serial connection for global use
|
|
// it would normally work just fine as an instance
|
|
// but I want to pass around the pointer to different classes
|
|
// to make sure that only one instance is ever used
|
|
AsyncSerial *aSer;
|
|
|
|
// sensors for global use
|
|
#include "sensors.h"
|
|
Sensors sensors(aSer);
|
|
|
|
// LED pins
|
|
#define PPS_PIN PA4 // PPS (Pulse Per Second) and LED
|
|
#define EVT_PIN PA5 // Cosmic ray event detected
|
|
|
|
// Leds flag
|
|
bool leds_on = true;
|
|
|
|
// time to print a sensor update (in ms before a PPL)
|
|
// the sensor update should always print inbetween the PPS, to avoid problems with the serial pipe from the GPS
|
|
static unsigned long distanceSensorUpdatePPS = 200;
|
|
unsigned long nextSensorUpdate = 0;
|
|
|
|
// How long the event LED should light up (in ms)
|
|
static int event_LED_time = 15;
|
|
|
|
|
|
// string used for passing data to our asynchronous serial print class
|
|
static const int TXTLEN = 512;
|
|
static char txt[TXTLEN]; // For writing to serial
|
|
|
|
static uint32_t displ = 0; // Display values in loop
|
|
|
|
// Timer registers REGA....
|
|
static uint32_t rega1, stsr1 = 0;
|
|
static uint32_t stsr2 = 0;
|
|
|
|
boolean pll_flag = false;
|
|
boolean pll_pulse = false;
|
|
|
|
long eventCount = 0;
|
|
unsigned long pps_micros = 0;
|
|
unsigned long target_mills = millis() + 1030;
|
|
unsigned long last_event_LED = 0;
|
|
int eventstack = 0;
|
|
#define maxevent 100 //we don't expect more events than this
|
|
unsigned long evttime [maxevent];
|
|
|
|
|
|
|
|
#define FREQ 84000000 // Clock frequency
|
|
#define MFRQ 80000000 // Sanity check frequency value
|
|
|
|
// Timer chip interrupt handlers try to get time stamps to within 4 system clock ticks
|
|
static uint32_t rega0 = FREQ, // RA reg
|
|
stsr0 = 0, // Interrupt status register
|
|
ppcnt = 0, // PPS count
|
|
delcn = 0; // Synthetic PPS ms
|
|
|
|
// GPS and time flags
|
|
boolean gps_ok = false; // Chip OK flag
|
|
boolean pps_recieved = false;
|
|
|
|
|
|
|
|
// ---------------------- Timing
|
|
|
|
// Initialize the timer chips to measure time between the PPS pulses and the EVENT pulse
|
|
// The PPS enters pin D2, the PPS is forwarded accross an isolating diode to pin D5
|
|
// The event pulse is also connected to pin D5. So D5 sees the LOR of the PPS and the
|
|
// event, while D2 sees only the PPS. In this way we measure the frequency of the
|
|
// clock MCLK/2 each second on the first counter, and the time between EVENTs on the second
|
|
// I use a the unconnected timer block TC1 to make a PLL that is kept in phase by the PPS
|
|
// arrival in TC0 and which is loaded with the last measured PPS frequency. This PLL will
|
|
// take over the PPS generation if the real PPS goes missing.
|
|
// In this implementation the diode is implemented in software, see later
|
|
|
|
|
|
void TimersStart() {
|
|
|
|
uint32_t config = 0;
|
|
|
|
// Set up the power management controller for TC0 and TC2
|
|
|
|
/*
|
|
* pmc_set_writeprotect(false); // Enable write access to power management chip
|
|
pmc_enable_periph_clk(ID_TC0); // Turn on power for timer block 0 channel 0
|
|
pmc_enable_periph_clk(ID_TC3); // Turn on power for timer block 1 channel 0
|
|
pmc_enable_periph_clk(ID_TC6); // Turn on power for timer block 2 channel 0
|
|
|
|
// Timer block 0 channel 0 is connected only to the PPS
|
|
// We set it up to load regester RA on each PPS and reset
|
|
// So RA will contain the number of clock ticks between two PPS, this
|
|
// value is the clock frequency and should be very stable +/- one tick
|
|
|
|
config = TC_CMR_TCCLKS_TIMER_CLOCK1 | // Select fast clock MCK/2 = 42 MHz
|
|
TC_CMR_ETRGEDG_RISING | // External trigger rising edge on TIOA0
|
|
TC_CMR_ABETRG | // Use the TIOA external input line
|
|
TC_CMR_LDRA_RISING; // Latch counter value into RA
|
|
|
|
TC_Configure(TC0, 0, config); // Configure channel 0 of TC0
|
|
TC_Start(TC0, 0); // Start timer running
|
|
|
|
TC0->TC_CHANNEL[0].TC_IER = TC_IER_LDRAS; // Enable the load AR channel 0 interrupt each PPS
|
|
TC0->TC_CHANNEL[0].TC_IDR = ~TC_IER_LDRAS; // and disable the rest of the interrupt sources
|
|
NVIC_EnableIRQ(TC0_IRQn); // Enable interrupt handler for channel 0
|
|
|
|
// Timer block 1 channel 0 is the PLL for when the GPS chip isn't providing the PPS
|
|
// it has the frequency loaded in reg C and is triggered from the TC0 ISR
|
|
|
|
config = TC_CMR_TCCLKS_TIMER_CLOCK1 | // Select fast clock MCK/2 = 42 MHz
|
|
TC_CMR_CPCTRG; // Compare register C with count value
|
|
|
|
TC_Configure(TC1, 0, config); // Configure channel 0 of TC1
|
|
TC_SetRC(TC1, 0, FREQ); // One second approx initial PLL value
|
|
TC_Start(TC1, 0); // Start timer running
|
|
|
|
TC1->TC_CHANNEL[0].TC_IER = TC_IER_CPCS; // Enable the C register compare interrupt
|
|
TC1->TC_CHANNEL[0].TC_IDR = ~TC_IER_CPCS; // and disable the rest
|
|
NVIC_EnableIRQ(TC3_IRQn); // Enable interrupt handler for channel 0
|
|
|
|
// Timer block 2 channel 0 is connected to the RAY event
|
|
// It is kept in phase by the PPS comming from TC0 when the PPS arrives
|
|
// or from TC1 when the PLL is active (This is the so called software diode logic)
|
|
|
|
config = TC_CMR_TCCLKS_TIMER_CLOCK1 | // Select fast clock MCK/2 = 42 MHz
|
|
TC_CMR_ETRGEDG_RISING | // External trigger rising edge on TIOA1
|
|
TC_CMR_ABETRG | // Use the TIOA external input line
|
|
TC_CMR_LDRA_RISING; // Latch counter value into RA
|
|
|
|
TC_Configure(TC2, 0, config); // Configure channel 0 of TC2
|
|
TC_Start(TC2, 0); // Start timer running
|
|
|
|
TC2->TC_CHANNEL[0].TC_IER = TC_IER_LDRAS; // Enable the load AR channel 0 interrupt each PPS
|
|
TC2->TC_CHANNEL[0].TC_IDR = ~TC_IER_LDRAS; // and disable the rest of the interrupt sources
|
|
NVIC_EnableIRQ(TC6_IRQn); // Enable interrupt handler for channel 0
|
|
|
|
// Set up the PIO controller to route input pins for TC0 and TC2
|
|
|
|
PIO_Configure(PIOC,PIO_INPUT,
|
|
PIO_PB25B_TIOA0, // D2 Input
|
|
PIO_DEFAULT);
|
|
|
|
PIO_Configure(PIOC,PIO_INPUT,
|
|
PIO_PC25B_TIOA6, // D5 Input
|
|
PIO_DEFAULT);
|
|
*/
|
|
|
|
}
|
|
|
|
// Dead time is the time to wait after seeing an event
|
|
// before detecting a new event. There is ringing on the
|
|
// event input on pin 5 that needs suppressing
|
|
|
|
uint32_t old_ra = 0; // Old register value from previous event
|
|
uint32_t new_ra = 0; // New counter value that must be bigger by dead time
|
|
uint32_t dead_time = 840000; // 10ms
|
|
uint32_t dead_cntr = 0; // Suppressed interrupts due to dead time
|
|
uint32_t dead_dely = 0; // Amout of time lost in dead time
|
|
|
|
// Handle the PPS interrupt in counter block 0 ISR
|
|
|
|
void TC0_Handler() {
|
|
//aSer->print("TC0debug\n");
|
|
|
|
// reset pps_millis
|
|
//pps_micros = micros();
|
|
// disable our backup "timer"
|
|
//target_mills = millis() + 1010;
|
|
|
|
// In principal we could connect a diode
|
|
// to pass on the PPS to counter blocks 1 & 2. However for some unknown
|
|
// reason this pulls down the PPS voltage level to less than 1V and
|
|
// the trigger becomes unreliable !!
|
|
// In any case the PPS is 100ms wide !! Introducing a blind spot when
|
|
// the diode creates the OR of the event trigger and the PPS.
|
|
// So this is a software diode
|
|
/*
|
|
TC2->TC_CHANNEL[0].TC_CCR = TC_CCR_SWTRG; // Forward PPS to counter block 2
|
|
TC1->TC_CHANNEL[0].TC_CCR = TC_CCR_SWTRG; // Forward PPS to counter block 1
|
|
|
|
rega0 = TC0->TC_CHANNEL[0].TC_RA; // Read the RA reg (PPS period)
|
|
stsr0 = TC_GetStatus(TC0, 0); // Read status and clear load bits
|
|
|
|
if (rega0 < MFRQ) // Sanity check against noise
|
|
rega0 = FREQ; // Use nominal value
|
|
|
|
TC_SetRC(TC1, 0, rega0); // Set the PLL count to what we just counted
|
|
|
|
ppcnt++; // PPS count
|
|
gps_ok = true; // Its OK because we got a PPS
|
|
pll_flag = true; // Inhibit PLL, dont take over PPS arrived
|
|
pps_recieved = true;
|
|
|
|
old_ra = 0; // Dead time counters
|
|
new_ra = 0;
|
|
dead_dely = 0; // Reset dead delay
|
|
|
|
if (leds_on) {
|
|
digitalWrite(PPS_PIN, !digitalRead(PPS_PIN)); // Toggle led
|
|
}
|
|
|
|
displ = 1;
|
|
|
|
*/
|
|
}
|
|
|
|
// Handle PLL interrupts
|
|
// When/If the PPS goes missing due to a lost lock we carry on with the last measured
|
|
// value for the second from TC0
|
|
|
|
void TC3_Handler() {
|
|
/*
|
|
//aSer->print("TC3debug\n");
|
|
|
|
stsr2 = TC_GetStatus(TC1, 0); // Read status and clear interrupt
|
|
|
|
if (pll_flag == false) { // Only take over when no PPS
|
|
//aSer->print("PLL FALSE\n");
|
|
TC2->TC_CHANNEL[0].TC_CCR = TC_CCR_SWTRG; // Forward PPS to counter block 2
|
|
ppcnt++; // PPS count
|
|
displ = 1; // Display stuff in the loop
|
|
gps_ok = false; // PPS missing
|
|
pll_pulse = true;
|
|
}
|
|
pll_flag = false; // Take over until PPS comes back
|
|
*/
|
|
}
|
|
|
|
// Handle isolated PPS (via diode) LOR with the Event
|
|
// The diode is needed to block Event pulses getting back to TC0
|
|
// LOR means Logical inclusive OR
|
|
// Now we are using the software diode implementation
|
|
|
|
|
|
void TC6_Handler() {
|
|
|
|
/*
|
|
//this is the event interrupt
|
|
|
|
//aSer->print("TC6 event debug\n");
|
|
|
|
//unsigned long us = micros() - pps_micros;
|
|
|
|
|
|
// send the event twice to make sure it is actually recieved without problems
|
|
// the reading software must be tuned to not double count this
|
|
//sprintf(txt,"Event: sub second micros:%d; Event Count:%d\n", us, eventCount);
|
|
//aSer->print(txt);
|
|
|
|
// turn on LED, it will be turned off in the main loop
|
|
last_event_LED = millis();
|
|
if (leds_on) {
|
|
digitalWrite(EVT_PIN, HIGH);
|
|
}
|
|
|
|
|
|
// Then unblock
|
|
rega1 = TC2->TC_CHANNEL[0].TC_RA; // Read the RA on channel 1 (PPS period)
|
|
if (eventstack > 0){
|
|
evttime[eventstack] = rega1+evttime[eventstack-1];
|
|
}
|
|
else
|
|
{
|
|
evttime[eventstack] = rega1;
|
|
}
|
|
eventCount++;
|
|
eventstack++; //increment the event stack for this second
|
|
|
|
|
|
stsr1 = TC_GetStatus(TC2, 0); // Read status clear load bits
|
|
|
|
*/
|
|
}
|
|
|
|
|
|
|
|
// Push the GPS state when we recieve a PPS or PPL
|
|
void printPPS() {
|
|
sprintf(txt,"PPS: GPS lock:%d;\n", gps_ok);
|
|
aSer->print(txt);
|
|
}
|
|
|
|
// Things that need handling on PPS and PLL, but are non time critical
|
|
void PPL_PPS_combinedHandling(){
|
|
printPPS();
|
|
// set the time for the next sensor update
|
|
nextSensorUpdate = target_mills - distanceSensorUpdatePPS;
|
|
}
|
|
|
|
|
|
// ------------------------- Arudino Functions
|
|
|
|
// Arduino setup function, initialize hardware and software
|
|
// This is the first function to be called when the sketch is started
|
|
|
|
//setup serials
|
|
HardwareSerial Serial1(PB6,PA10);
|
|
//HardwareSerial Serial(PA3, PA2);
|
|
|
|
void setup() {
|
|
|
|
aSer->print("poweron");
|
|
|
|
|
|
if (simulateEvents) {
|
|
randomSeed(42);
|
|
}
|
|
|
|
// The two leds on the front pannel for PPS and Event
|
|
if (leds_on) {
|
|
pinMode(EVT_PIN, OUTPUT); // Pin for the cosmic ray event
|
|
pinMode(PPS_PIN, OUTPUT); // Pin for the PPS (LED pin)
|
|
}
|
|
if (leds_on) {
|
|
digitalWrite(PPS_PIN, HIGH); // Turn on led
|
|
}
|
|
|
|
//TimersStart(); // Start timers
|
|
//target_mills = millis() + 1010; // backup PPS
|
|
|
|
aSer = new AsyncSerial(SERIAL_BAUD_RATE); // Start the serial line
|
|
// start the GPS
|
|
Serial1.begin(GPS_BAUD_RATE);
|
|
GpsSetup();
|
|
|
|
// start the i2c bus
|
|
Wire.begin();
|
|
Wire.setSDA(PB7);
|
|
Wire.setSCL(PB8);
|
|
|
|
// start the detector
|
|
setupDetector();
|
|
|
|
// start the sensors
|
|
sensors = Sensors(aSer);
|
|
|
|
|
|
|
|
// initilize the sensors
|
|
if(!sensors.init()){
|
|
aSer->print("WARNING: Error in sensor initialization - continuing - output may be inclomplete!\n");
|
|
} else{
|
|
aSer->print("INFO: Sensor setup complete\n");
|
|
}
|
|
|
|
aSer->print("INFO: Running\n");
|
|
}
|
|
|
|
|
|
// Arduino main loop does all the user space work
|
|
|
|
void loop() {
|
|
/*
|
|
// on a PPS from the GPS
|
|
if (pps_recieved){
|
|
PPL_PPS_combinedHandling();
|
|
pps_recieved = false;
|
|
}
|
|
*/
|
|
/*
|
|
// if no pps recieved
|
|
if (millis() >= target_mills){
|
|
target_mills = millis() + 1000;
|
|
// reset pps_millis
|
|
pps_micros = micros();
|
|
// while we have no pps we will keep the LED solid
|
|
if (leds_on) {
|
|
digitalWrite(PPS_PIN, HIGH);
|
|
}
|
|
gps_ok = false;
|
|
PPL_PPS_combinedHandling();
|
|
}
|
|
|
|
// simulate an interrupt if we want to simulate events
|
|
if (simulateEvents) {
|
|
if (millis() >= nextSimEvent){
|
|
aSer->print("INFO: Simulating next event\n");
|
|
TC6_Handler();
|
|
nextSimEvent = millis() + random(100, 1000);
|
|
}
|
|
}
|
|
*/
|
|
|
|
// reset event LED when enough time has passed
|
|
if (millis() >= (last_event_LED + event_LED_time)){
|
|
if (leds_on) {
|
|
digitalWrite(EVT_PIN, LOW);
|
|
}
|
|
}
|
|
|
|
// print out sensor updates
|
|
if (enableSensorOutput){
|
|
if (millis() >= (nextSensorUpdate)){
|
|
sensors.printAll();
|
|
nextSensorUpdate += 1000;
|
|
}
|
|
}
|
|
//print out the events here
|
|
if (displ>0){
|
|
for (int i=0; i < eventstack; i++){
|
|
if (gps_ok) {
|
|
sprintf(txt,"Event: sub second micros:%d/%d; Event Count:%d\n", evttime[i], rega0, (eventCount-eventstack+i));
|
|
}
|
|
else {
|
|
sprintf(txt,"Event: sub second micros:%d/%d; Event Count:%d\n", evttime[i], FREQ, (eventCount-eventstack+i));
|
|
}
|
|
aSer->print(txt);
|
|
}
|
|
|
|
eventstack=0;//reset the event stack for the next second.
|
|
displ=0;
|
|
}
|
|
|
|
if ((pll_pulse)+(pps_recieved))
|
|
{
|
|
printPPS();
|
|
pps_recieved = false;
|
|
pll_pulse = false;
|
|
}
|
|
|
|
// pipe GPS if it's available
|
|
if (enableGPSPipe){
|
|
pipeGPS();
|
|
}
|
|
|
|
aSer->PutChar(); // Print one character per loop !!!
|
|
}
|