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pse-firmware/Core/Src/main.c

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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2023 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include <stdio.h>
#include "lvgl.h"
#include "lcdio.h"
#include "ILI9341.h"
#include "ADS7843.h"
#include "home_screen.h"
#include "PSE_unit.h"
#include "pse_stepper_planer.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
#define BUFF_SIZE (320 * 10)
#define LCD_WIDTH 320
#define LCD_HEIGHT 240
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
TIM_HandleTypeDef htim4;
UART_HandleTypeDef huart1;
SRAM_HandleTypeDef hsram1;
/* USER CODE BEGIN PV */
static lv_disp_draw_buf_t disp_buf;
static lv_color_t buf_1[BUFF_SIZE];
ADS7843_Def Touch_Def = {
.CS_GPIO_Port = ADS7843_CS_GPIO_Port,
.CS_GPIO_Pin = ADS7843_CS_Pin,
.SCK_GPIO_Port = ADS7843_SCK_GPIO_Port,
.SCK_GPIO_Pin = ADS7843_SCK_Pin,
.MOSI_GPIO_Port = ADS7843_MOSI_GPIO_Port,
.MOSI_GPIO_Pin = ADS7843_MOSI_Pin,
.MISO_GPIO_Port = ADS7843_MISO_GPIO_Port,
.MISO_GPIO_Pin = ADS7843_MISO_Pin,
.Int_GPIO_Port = ADS7843_Int_GPIO_Port,
.Int_GPIO_Pin = ADS7843_Int_Pin,
};
pse_unit pse_units[PSE_UNITS_NUM];
pse_syringe pse_syringes[PSE_UNITS_NUM];
enum steppers_axis{PSE_X_STEPPER, PSE_Y_STEPPER, PSE_Z_STEPPER, PSE_E_STEPPER, PSE_STEPPER_NUM};
pse_stepper_conf pse_stepper_confs[PSE_STEPPER_NUM] = {
[PSE_X_STEPPER] = {
.DIR_GPIO_Port = X_STEPPER_DIR_GPIO_Port,
.DIR_GPIO_Pin = X_STEPPER_DIR_Pin,
.EN_GPIO_Port = X_STEPPER_EN_GPIO_Port,
.EN_GPIO_Pin = X_STEPPER_EN_Pin,
.STEP_GPIO_Port = X_STEPPER_STEP_GPIO_Port,
.STEP_GPIO_Pin = X_STEPPER_STEP_Pin,
.step_max = 69,
},
[PSE_Y_STEPPER] = {
.DIR_GPIO_Port = Y_STEPPER_DIR_GPIO_Port,
.DIR_GPIO_Pin = Y_STEPPER_DIR_Pin,
.EN_GPIO_Port = Y_STEPPER_EN_GPIO_Port,
.EN_GPIO_Pin = Y_STEPPER_EN_Pin,
.STEP_GPIO_Port = Y_STEPPER_STEP_GPIO_Port,
.STEP_GPIO_Pin = Y_STEPPER_STEP_Pin,
},
[PSE_Z_STEPPER] = {
.DIR_GPIO_Port = Z_STEPPER_DIR_GPIO_Port,
.DIR_GPIO_Pin = Z_STEPPER_DIR_Pin,
.EN_GPIO_Port = Z_STEPPER_EN_GPIO_Port,
.EN_GPIO_Pin = Z_STEPPER_EN_Pin,
.STEP_GPIO_Port = Z_STEPPER_STEP_GPIO_Port,
.STEP_GPIO_Pin = Z_STEPPER_STEP_Pin,
},
[PSE_E_STEPPER] = {
.DIR_GPIO_Port = E_STEPPER_DIR_GPIO_Port,
.DIR_GPIO_Pin = E_STEPPER_DIR_Pin,
.EN_GPIO_Port = E_STEPPER_EN_GPIO_Port,
.EN_GPIO_Pin = E_STEPPER_EN_Pin,
.STEP_GPIO_Port = E_STEPPER_STEP_GPIO_Port,
.STEP_GPIO_Pin = E_STEPPER_STEP_Pin,
},
};
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_FSMC_Init(void);
static void MX_USART1_UART_Init(void);
static void MX_TIM4_Init(void);
/* USER CODE BEGIN PFP */
#ifdef __GNUC__
#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
#else
#define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
#endif
PUTCHAR_PROTOTYPE
{
HAL_UART_Transmit(&huart1, (uint8_t *)&ch, 1, HAL_MAX_DELAY);
return ch;
}
// LVGL screen update function
void my_flush_cb(lv_disp_drv_t * disp, const lv_area_t * area, lv_color_t * buf){
int32_t x, y;
for(y = area->y1; y <= area->y2; y++) {
ILI9341_SetCursor(area->x1,y);
ILI9341_WriteRam();
for(x = area->x1; x <= area->x2; x++) {
LCD_IO_WriteData(*(uint16_t*)buf);
buf++;
}
}
lv_disp_flush_ready(disp);
}
// LVGL input update function
void touchscreen_read_callback(lv_indev_drv_t * drv, lv_indev_data_t*data){
if(ADS7843_Touched(&Touch_Def)) {
data->state = LV_INDEV_STATE_PRESSED;
data->point.x = ADS7843_GetX(&Touch_Def);
data->point.y = ADS7843_GetY(&Touch_Def);
} else {
data->state = LV_INDEV_STATE_RELEASED;
data->point.x = -1;
data->point.y = -1;
}
}
/* 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_FSMC_Init();
MX_USART1_UART_Init();
MX_TIM4_Init();
/* USER CODE BEGIN 2 */
// Reset the LCD to start clean
HAL_GPIO_WritePin(LCD_RST_GPIO_Port, LCD_RST_Pin, GPIO_PIN_RESET);
HAL_Delay(5);
HAL_GPIO_WritePin(LCD_RST_GPIO_Port, LCD_RST_Pin, GPIO_PIN_SET);
HAL_Delay(5);
// Initialise the LCD driver
ILI9341_Init();
// Initialise LVGL UI library
lv_init();
// Add the display buffer to LVGL
lv_disp_draw_buf_init(&disp_buf, buf_1, NULL, BUFF_SIZE);
// initilize LVGL display
lv_disp_drv_t disp_drv;
lv_disp_drv_init(&disp_drv);
disp_drv.draw_buf = &disp_buf;
disp_drv.hor_res = LCD_WIDTH;
disp_drv.ver_res = LCD_HEIGHT;
disp_drv.flush_cb = &my_flush_cb;
lv_disp_drv_register(&disp_drv);
lv_disp_t * disp = lv_disp_drv_register(&disp_drv);
// load the default theme
lv_theme_t * th = lv_theme_default_init(lv_disp_get_default(), lv_color_hex(0x2BAEE1), lv_color_hex(0x001361), true, LV_FONT_DEFAULT);
lv_disp_set_theme(lv_disp_get_default(), th);
// initialize LVGL touchscreen input
lv_indev_drv_t indev_drv;
lv_indev_drv_init(&indev_drv);
indev_drv.type = LV_INDEV_TYPE_POINTER;
indev_drv.read_cb = touchscreen_read_callback;
lv_indev_t * my_indev = lv_indev_drv_register(&indev_drv);
// import the MINT logo as a picture
LV_IMG_DECLARE(logo_mint_resize);
lv_obj_t * logo_mint = lv_img_create(lv_scr_act());
lv_img_set_src(logo_mint, &logo_mint_resize);
// Draw the MINT logo
lv_obj_align(logo_mint, LV_ALIGN_CENTER, 0, 0);
lv_obj_set_size(logo_mint, 320, 240);
// Create the cursor
lv_obj_t* cursor = lv_label_create(lv_scr_act());
lv_label_set_text(cursor, "A");
lv_indev_set_cursor(my_indev, cursor);
// initialize the Touchscreen Driver
ADS7843_Init(&Touch_Def);
load_units(pse_units, pse_syringes, pse_stepper_confs, PSE_UNITS_NUM);
pse_sp_set_timer(&htim4);
Home_Screen_Gen(pse_units, PSE_UNITS_NUM);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
// Run LVGL update loop
lv_timer_handler();
HAL_Delay(5);
/* 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};
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI_DIV2;
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL16;
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_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
{
Error_Handler();
}
}
/**
* @brief TIM4 Initialization Function
* @param None
* @retval None
*/
static void MX_TIM4_Init(void)
{
/* USER CODE BEGIN TIM4_Init 0 */
/* USER CODE END TIM4_Init 0 */
TIM_ClockConfigTypeDef sClockSourceConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
/* USER CODE BEGIN TIM4_Init 1 */
/* USER CODE END TIM4_Init 1 */
htim4.Instance = TIM4;
htim4.Init.Prescaler = 64;
htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
htim4.Init.Period = 50;
htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
if (HAL_TIM_Base_Init(&htim4) != HAL_OK)
{
Error_Handler();
}
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
if (HAL_TIM_ConfigClockSource(&htim4, &sClockSourceConfig) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM4_Init 2 */
/* USER CODE END TIM4_Init 2 */
}
/**
* @brief USART1 Initialization Function
* @param None
* @retval None
*/
static void MX_USART1_UART_Init(void)
{
/* USER CODE BEGIN USART1_Init 0 */
/* USER CODE END USART1_Init 0 */
/* USER CODE BEGIN USART1_Init 1 */
/* USER CODE END USART1_Init 1 */
huart1.Instance = USART1;
huart1.Init.BaudRate = 115200;
huart1.Init.WordLength = UART_WORDLENGTH_8B;
huart1.Init.StopBits = UART_STOPBITS_1;
huart1.Init.Parity = UART_PARITY_NONE;
huart1.Init.Mode = UART_MODE_TX_RX;
huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart1.Init.OverSampling = UART_OVERSAMPLING_16;
if (HAL_UART_Init(&huart1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN USART1_Init 2 */
/* USER CODE END USART1_Init 2 */
}
/**
* @brief GPIO Initialization Function
* @param None
* @retval None
*/
static void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* USER CODE BEGIN MX_GPIO_Init_1 */
/* USER CODE END MX_GPIO_Init_1 */
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOE_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOE, E_STEPPER_DIR_Pin|E_STEPPER_STEP_Pin|Z_STEPPER_STEP_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOE, E_STEPPER_EN_Pin|Z_STEPPER_EN_Pin, GPIO_PIN_SET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(LCD_RST_GPIO_Port, LCD_RST_Pin, GPIO_PIN_SET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOB, ADS7843_CS_Pin|X_STEPPER_DIR_Pin|X_STEPPER_EN_Pin|Y_STEPPER_EN_Pin
|Z_STEPPER_DIR_Pin, GPIO_PIN_SET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOB, ADS7843_SCK_Pin|ADS7843_MOSI_Pin|X_STEPPER_STEP_Pin|Y_STEPPER_DIR_Pin
|Y_STEPPER_STEP_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(LCD_CS_GPIO_Port, LCD_CS_Pin, GPIO_PIN_SET);
/*Configure GPIO pins : E_STEPPER_DIR_Pin E_STEPPER_STEP_Pin E_STEPPER_EN_Pin Z_STEPPER_STEP_Pin
Z_STEPPER_EN_Pin */
GPIO_InitStruct.Pin = E_STEPPER_DIR_Pin|E_STEPPER_STEP_Pin|E_STEPPER_EN_Pin|Z_STEPPER_STEP_Pin
|Z_STEPPER_EN_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
/*Configure GPIO pins : LED_Pin LCD_RST_Pin */
GPIO_InitStruct.Pin = LED_Pin|LCD_RST_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/*Configure GPIO pins : ADS7843_CS_Pin ADS7843_SCK_Pin ADS7843_MOSI_Pin */
GPIO_InitStruct.Pin = ADS7843_CS_Pin|ADS7843_SCK_Pin|ADS7843_MOSI_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pin : ADS7843_MISO_Pin */
GPIO_InitStruct.Pin = ADS7843_MISO_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(ADS7843_MISO_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : LCD_CS_Pin */
GPIO_InitStruct.Pin = LCD_CS_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(LCD_CS_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : ADS7843_Int_Pin */
GPIO_InitStruct.Pin = ADS7843_Int_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(ADS7843_Int_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : X_STEPPER_DIR_Pin X_STEPPER_STEP_Pin X_STEPPER_EN_Pin Y_STEPPER_DIR_Pin
Y_STEPPER_STEP_Pin Y_STEPPER_EN_Pin Z_STEPPER_DIR_Pin */
GPIO_InitStruct.Pin = X_STEPPER_DIR_Pin|X_STEPPER_STEP_Pin|X_STEPPER_EN_Pin|Y_STEPPER_DIR_Pin
|Y_STEPPER_STEP_Pin|Y_STEPPER_EN_Pin|Z_STEPPER_DIR_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* USER CODE BEGIN MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
}
/* FSMC initialization function */
static void MX_FSMC_Init(void)
{
/* USER CODE BEGIN FSMC_Init 0 */
/* USER CODE END FSMC_Init 0 */
FSMC_NORSRAM_TimingTypeDef Timing = {0};
/* USER CODE BEGIN FSMC_Init 1 */
/* USER CODE END FSMC_Init 1 */
/** Perform the SRAM1 memory initialization sequence
*/
hsram1.Instance = FSMC_NORSRAM_DEVICE;
hsram1.Extended = FSMC_NORSRAM_EXTENDED_DEVICE;
/* hsram1.Init */
hsram1.Init.NSBank = FSMC_NORSRAM_BANK1;
hsram1.Init.DataAddressMux = FSMC_DATA_ADDRESS_MUX_DISABLE;
hsram1.Init.MemoryType = FSMC_MEMORY_TYPE_SRAM;
hsram1.Init.MemoryDataWidth = FSMC_NORSRAM_MEM_BUS_WIDTH_16;
hsram1.Init.BurstAccessMode = FSMC_BURST_ACCESS_MODE_DISABLE;
hsram1.Init.WaitSignalPolarity = FSMC_WAIT_SIGNAL_POLARITY_LOW;
hsram1.Init.WrapMode = FSMC_WRAP_MODE_DISABLE;
hsram1.Init.WaitSignalActive = FSMC_WAIT_TIMING_BEFORE_WS;
hsram1.Init.WriteOperation = FSMC_WRITE_OPERATION_ENABLE;
hsram1.Init.WaitSignal = FSMC_WAIT_SIGNAL_DISABLE;
hsram1.Init.ExtendedMode = FSMC_EXTENDED_MODE_DISABLE;
hsram1.Init.AsynchronousWait = FSMC_ASYNCHRONOUS_WAIT_DISABLE;
hsram1.Init.WriteBurst = FSMC_WRITE_BURST_DISABLE;
/* Timing */
Timing.AddressSetupTime = 15;
Timing.AddressHoldTime = 15;
Timing.DataSetupTime = 255;
Timing.BusTurnAroundDuration = 15;
Timing.CLKDivision = 16;
Timing.DataLatency = 17;
Timing.AccessMode = FSMC_ACCESS_MODE_A;
/* ExtTiming */
if (HAL_SRAM_Init(&hsram1, &Timing, NULL) != HAL_OK)
{
Error_Handler( );
}
/** Disconnect NADV
*/
__HAL_AFIO_FSMCNADV_DISCONNECTED();
/* USER CODE BEGIN FSMC_Init 2 */
/* USER CODE END FSMC_Init 2 */
}
/* USER CODE BEGIN 4 */
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef* htim){
pse_stepper_planer_tick(pse_units, PSE_UNITS_NUM);
}
/* USER CODE END 4 */
/**
* @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 */
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