STM32H750VB_Hello/Core/Src/main.c

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2020 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under BSD 3-Clause license,
  * the "License"; You may not use this file except in compliance with the
  * License. You may obtain a copy of the License at:
  *                        opensource.org/licenses/BSD-3-Clause
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "cmsis_os.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

#include <string.h>

#include "h3lis331dl.h"

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

I2C_HandleTypeDef hi2c1;

RTC_HandleTypeDef hrtc;

TIM_HandleTypeDef htim3;
DMA_HandleTypeDef hdma_tim3_ch1;

/* Definitions for defaultTask */
osThreadId_t defaultTaskHandle;
const osThreadAttr_t defaultTask_attributes = {
  .name = "defaultTask",
  .stack_size = 128 * 4,
  .priority = (osPriority_t) osPriorityNormal,
};
/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_I2C1_Init(void);
static void MX_DMA_Init(void);
static void MX_TIM3_Init(void);
static void MX_RTC_Init(void);
void StartDefaultTask(void *argument);

/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_I2C1_Init();
  MX_DMA_Init();
  MX_TIM3_Init();
  MX_RTC_Init();
  /* USER CODE BEGIN 2 */

  /* USER CODE END 2 */

  /* Init scheduler */
  osKernelInitialize();

  /* USER CODE BEGIN RTOS_MUTEX */
  /* add mutexes, ... */
  /* USER CODE END RTOS_MUTEX */

  /* USER CODE BEGIN RTOS_SEMAPHORES */
  /* add semaphores, ... */
  /* USER CODE END RTOS_SEMAPHORES */

  /* USER CODE BEGIN RTOS_TIMERS */
  /* start timers, add new ones, ... */
  /* USER CODE END RTOS_TIMERS */

  /* USER CODE BEGIN RTOS_QUEUES */
  /* add queues, ... */
  /* USER CODE END RTOS_QUEUES */

  /* Create the thread(s) */
  /* creation of defaultTask */
  defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);

  /* USER CODE BEGIN RTOS_THREADS */
  /* add threads, ... */
  /* USER CODE END RTOS_THREADS */

  /* USER CODE BEGIN RTOS_EVENTS */
  /* add events, ... */
  /* USER CODE END RTOS_EVENTS */

  /* Start scheduler */
  osKernelStart();

  /* We should never get here as control is now taken by the scheduler */
  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Supply configuration update enable
  */
  HAL_PWREx_ConfigSupply(PWR_LDO_SUPPLY);
  /** Configure the main internal regulator output voltage
  */
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE2);

  while(!__HAL_PWR_GET_FLAG(PWR_FLAG_VOSRDY)) {}
  /** Configure LSE Drive Capability
  */
  HAL_PWR_EnableBkUpAccess();
  __HAL_RCC_LSEDRIVE_CONFIG(RCC_LSEDRIVE_LOW);
  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE|RCC_OSCILLATORTYPE_LSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.LSEState = RCC_LSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 2;
  RCC_OscInitStruct.PLL.PLLN = 120;
  RCC_OscInitStruct.PLL.PLLP = 2;
  RCC_OscInitStruct.PLL.PLLQ = 2;
  RCC_OscInitStruct.PLL.PLLR = 4;
  RCC_OscInitStruct.PLL.PLLRGE = RCC_PLL1VCIRANGE_2;
  RCC_OscInitStruct.PLL.PLLVCOSEL = RCC_PLL1VCOWIDE;
  RCC_OscInitStruct.PLL.PLLFRACN = 0;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2
                              |RCC_CLOCKTYPE_D3PCLK1|RCC_CLOCKTYPE_D1PCLK1;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.SYSCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB3CLKDivider = RCC_APB3_DIV2;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_APB1_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_APB2_DIV2;
  RCC_ClkInitStruct.APB4CLKDivider = RCC_APB4_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
  /** Enables the Clock Security System
  */
  HAL_RCC_EnableCSS();
}

/**
  * @brief I2C1 Initialization Function
  * @param None
  * @retval None
  */
static void MX_I2C1_Init(void)
{

  /* USER CODE BEGIN I2C1_Init 0 */

  /* USER CODE END I2C1_Init 0 */

  /* USER CODE BEGIN I2C1_Init 1 */

  /* USER CODE END I2C1_Init 1 */
  hi2c1.Instance = I2C1;
  hi2c1.Init.Timing = 0x00501E6C;
  hi2c1.Init.OwnAddress1 = 0;
  hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
  hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
  hi2c1.Init.OwnAddress2 = 0;
  hi2c1.Init.OwnAddress2Masks = I2C_OA2_NOMASK;
  hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
  hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
  if (HAL_I2C_Init(&hi2c1) != HAL_OK)
  {
    Error_Handler();
  }
  /** Configure Analogue filter
  */
  if (HAL_I2CEx_ConfigAnalogFilter(&hi2c1, I2C_ANALOGFILTER_ENABLE) != HAL_OK)
  {
    Error_Handler();
  }
  /** Configure Digital filter
  */
  if (HAL_I2CEx_ConfigDigitalFilter(&hi2c1, 0) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN I2C1_Init 2 */

  /* USER CODE END I2C1_Init 2 */

}

/**
  * @brief RTC Initialization Function
  * @param None
  * @retval None
  */
static void MX_RTC_Init(void)
{

  /* USER CODE BEGIN RTC_Init 0 */

  /* USER CODE END RTC_Init 0 */

  RTC_TimeTypeDef sTime = {0};
  RTC_DateTypeDef sDate = {0};

  /* USER CODE BEGIN RTC_Init 1 */

  /* USER CODE END RTC_Init 1 */
  /** Initialize RTC Only
  */
  hrtc.Instance = RTC;
  hrtc.Init.HourFormat = RTC_HOURFORMAT_24;
  hrtc.Init.AsynchPrediv = 127;
  hrtc.Init.SynchPrediv = 255;
  hrtc.Init.OutPut = RTC_OUTPUT_DISABLE;
  hrtc.Init.OutPutPolarity = RTC_OUTPUT_POLARITY_HIGH;
  hrtc.Init.OutPutType = RTC_OUTPUT_TYPE_OPENDRAIN;
  hrtc.Init.OutPutRemap = RTC_OUTPUT_REMAP_NONE;
  if (HAL_RTC_Init(&hrtc) != HAL_OK)
  {
    Error_Handler();
  }

  /* USER CODE BEGIN Check_RTC_BKUP */

  /* USER CODE END Check_RTC_BKUP */

  /** Initialize RTC and set the Time and Date
  */
  sTime.Hours = 0;
  sTime.Minutes = 0;
  sTime.Seconds = 0;
  sTime.DayLightSaving = RTC_DAYLIGHTSAVING_NONE;
  sTime.StoreOperation = RTC_STOREOPERATION_RESET;
  if (HAL_RTC_SetTime(&hrtc, &sTime, RTC_FORMAT_BIN) != HAL_OK)
  {
    Error_Handler();
  }
  sDate.WeekDay = RTC_WEEKDAY_MONDAY;
  sDate.Month = RTC_MONTH_JANUARY;
  sDate.Date = 1;
  sDate.Year = 0;

  if (HAL_RTC_SetDate(&hrtc, &sDate, RTC_FORMAT_BIN) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN RTC_Init 2 */

  /* USER CODE END RTC_Init 2 */

}

/**
  * @brief TIM3 Initialization Function
  * @param None
  * @retval None
  */
static void MX_TIM3_Init(void)
{

  /* USER CODE BEGIN TIM3_Init 0 */

  /* USER CODE END TIM3_Init 0 */

  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
  TIM_MasterConfigTypeDef sMasterConfig = {0};
  TIM_OC_InitTypeDef sConfigOC = {0};

  /* USER CODE BEGIN TIM3_Init 1 */

  /* USER CODE END TIM3_Init 1 */
  htim3.Instance = TIM3;
  htim3.Init.Prescaler = 15 - 1;
  htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim3.Init.Period = 10 - 1;
  htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  if (HAL_TIM_Base_Init(&htim3) != HAL_OK)
  {
    Error_Handler();
  }
  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
  if (HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_TIM_PWM_Init(&htim3) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sConfigOC.OCMode = TIM_OCMODE_PWM1;
  sConfigOC.Pulse = 0;
  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN TIM3_Init 2 */

  /* USER CODE END TIM3_Init 2 */
  HAL_TIM_MspPostInit(&htim3);

}

/**
  * Enable DMA controller clock
  */
static void MX_DMA_Init(void)
{

  /* DMA controller clock enable */
  __HAL_RCC_DMA1_CLK_ENABLE();

  /* DMA interrupt init */
  /* DMA1_Stream0_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(DMA1_Stream0_IRQn, 5, 0);
  HAL_NVIC_EnableIRQ(DMA1_Stream0_IRQn);
  /* DMAMUX1_OVR_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(DMAMUX1_OVR_IRQn, 5, 0);
  HAL_NVIC_EnableIRQ(DMAMUX1_OVR_IRQn);

}

/**
  * @brief GPIO Initialization Function
  * @param None
  * @retval None
  */
static void MX_GPIO_Init(void)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOC_CLK_ENABLE();
  __HAL_RCC_GPIOH_CLK_ENABLE();
  __HAL_RCC_GPIOA_CLK_ENABLE();
  __HAL_RCC_GPIOB_CLK_ENABLE();
  __HAL_RCC_GPIOE_CLK_ENABLE();

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(LED0_GPIO_Port, LED0_Pin, GPIO_PIN_SET);

  /*Configure GPIO pin : LED0_Pin */
  GPIO_InitStruct.Pin = LED0_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(LED0_GPIO_Port, &GPIO_InitStruct);

  /*Configure GPIO pins : ACC_INT1_Pin ACC_INT2_Pin */
  GPIO_InitStruct.Pin = ACC_INT1_Pin|ACC_INT2_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);

  /* EXTI interrupt init*/
  HAL_NVIC_SetPriority(EXTI0_IRQn, 5, 0);
  HAL_NVIC_EnableIRQ(EXTI0_IRQn);

  HAL_NVIC_SetPriority(EXTI1_IRQn, 5, 0);
  HAL_NVIC_EnableIRQ(EXTI1_IRQn);

}

/* USER CODE BEGIN 4 */

osSemaphoreId_t h3lis_int1_semphr;
osSemaphoreId_t h3lis_int2_semphr;

static h3lis331dl_ret_t h3lis_cb_read(void *handle, uint8_t addr, uint8_t *data, uint8_t len) {
  I2C_HandleTypeDef *i2c = handle;

  HAL_StatusTypeDef ret = HAL_I2C_Master_Receive(i2c, addr << 1U, data, len, 1000);
  if(ret != HAL_OK) return H3LIS331DL_FAIL;

  return H3LIS331DL_OK;
}

static h3lis331dl_ret_t h3lis_cb_write(void *handle, uint8_t addr, uint8_t *data, uint8_t len) {
  I2C_HandleTypeDef *i2c = handle;

  HAL_StatusTypeDef ret = HAL_I2C_Master_Transmit(i2c, addr << 1U, data, len, 1000);
  if(ret != HAL_OK) return H3LIS331DL_FAIL;

  return H3LIS331DL_OK;
}

static h3lis331dl_ret_t h3lis_cb_poll_irq(void *handle, h3lis331dl_int_t irq) {
  h3lis331dl_ret_t ret = H3LIS331DL_FAIL;
  if(irq == H3LIS331DL_INT1) {
    if(osSemaphoreAcquire(h3lis_int1_semphr, osWaitForever) == osOK) ret = H3LIS331DL_OK;
  }
  else if(irq == H3LIS331DL_INT2) {
    if(osSemaphoreAcquire(h3lis_int2_semphr, osWaitForever) == osOK) ret = H3LIS331DL_OK;
  }

  return ret;
}

/* Note: This will be called from ISR. */
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
  if(GPIO_Pin == ACC_INT1_Pin) {
    /* Release INT1 Semaphore */
    osSemaphoreRelease(h3lis_int1_semphr);
  }

  if(GPIO_Pin ==ACC_INT2_Pin) {
    /* Release INT2 Semaphore */
    osSemaphoreRelease(h3lis_int2_semphr);
  }
}

static h3lis331dl_t accel = {
  .slave_addr = 0x19, /* Sparkfun default shunt open */
  .cb = {
    .i2c_read_cb = h3lis_cb_read,
    .i2c_write_cb = h3lis_cb_write,
    .poll_irq_cb = h3lis_cb_poll_irq,
  },
  .config = {
    .sample_mode = H3LIS331DL_MODE_LP_10_HZ,
  },
  .user_data = &hi2c1
};

static h3lis331dl_result_t accel_result;

#define WS2812_COUNT 8
#define WS2812_TIM_T1H_CMP 7
#define WS2812_TIM_T0H_CMP 2

static uint16_t s_ws2812_dma_buffer[24 * WS2812_COUNT + 1];
static osSemaphoreId_t ws2812_dma_done_semphr;

static void ws2812_dma_update(uint16_t *buf) {
  SCB_CleanDCache_by_Addr((uint32_t *)buf, 24 * WS2812_COUNT + 1);
  HAL_TIM_PWM_Start_DMA(&htim3, TIM_CHANNEL_1, (uint32_t *)buf, 24 * WS2812_COUNT + 1);
  osSemaphoreAcquire(ws2812_dma_done_semphr, osWaitForever);
  HAL_TIM_PWM_Stop_DMA(&htim3, TIM_CHANNEL_1);
}

static void ws2812_write_color(uint32_t color, uint16_t *buf, uint8_t num_led) {
  uint32_t byte_offset = num_led * 24;
  for(uint8_t i = 0; i < 24; i++) {
    if(color & (0x01 << i)) buf[byte_offset + (23 - i)] = WS2812_TIM_T1H_CMP;
    else buf[byte_offset + (23 - i)] = WS2812_TIM_T0H_CMP;
  }
}

void HAL_TIM_PWM_PulseFinishedCallback(TIM_HandleTypeDef *htim) {
  if(htim->Instance == TIM3) {
    osSemaphoreRelease(ws2812_dma_done_semphr);
  }
}


/* USER CODE END 4 */

/* USER CODE BEGIN Header_StartDefaultTask */
/**
  * @brief  Function implementing the defaultTask thread.
  * @param  argument: Not used
  * @retval None
  */
/* USER CODE END Header_StartDefaultTask */
void StartDefaultTask(void *argument)
{
  /* USER CODE BEGIN 5 */
  /* Infinite loop */

  ws2812_dma_done_semphr = osSemaphoreNew(1U, 0U, NULL);
  if(ws2812_dma_done_semphr == NULL) {
    osThreadSuspend(defaultTaskHandle);
  }

  s_ws2812_dma_buffer[24 * WS2812_COUNT + 1] = 0U;

  uint32_t color_buf[8] = {0x00};

  for(;;) {

    for(uint8_t i = 0; i < 7; i++) {
      color_buf[7 - i] = color_buf[6 - i];
    }

    color_buf[0] = osKernelGetTickCount();

    for(uint8_t i = 0; i < 8; i++) {
      ws2812_write_color(color_buf[i], s_ws2812_dma_buffer, i);
    }
    ws2812_dma_update(s_ws2812_dma_buffer);
    osDelay(50);
  }

  h3lis_int1_semphr = osSemaphoreNew(1U, 0U, NULL);
  h3lis_int2_semphr = osSemaphoreNew(1U, 0U, NULL);
  if(h3lis_int1_semphr == NULL || h3lis_int2_semphr == NULL) {
    osThreadSuspend(defaultTaskHandle);
  }

  if (h3lis331dl_init(&accel) != H3LIS331DL_OK) {
    osThreadSuspend(defaultTaskHandle);
  }

  for (;;) {
    HAL_GPIO_TogglePin(LED0_GPIO_Port, LED0_Pin);
    if(h3lis331dl_measure(&accel, &accel_result, 0x01) != H3LIS331DL_OK) {
      osThreadSuspend(defaultTaskHandle);
    }
  }

  /* USER CODE END 5 */
}

/**
  * @brief  Period elapsed callback in non blocking mode
  * @note   This function is called  when TIM7 interrupt took place, inside
  * HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
  * a global variable "uwTick" used as application time base.
  * @param  htim : TIM handle
  * @retval None
  */
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
  /* USER CODE BEGIN Callback 0 */

  /* USER CODE END Callback 0 */
  if (htim->Instance == TIM7) {
    HAL_IncTick();
  }
  /* USER CODE BEGIN Callback 1 */

  /* USER CODE END Callback 1 */
}

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

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