HydroBot/protomodule-firmware Changeset - ab94f8a0a0c6

Changeset - ab94f8a0a0c6

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matthewreed - 7 years ago 2018-08-24 20:02:34

Read analog ph sensor

5 files changed with 43 insertions and 14 deletions:

Inc/config.h

Inc/ph.h

Makefile

Src/main.c

Src/ph.c

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Inc/config.h

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 #ifndef _CONFIG_H_
 #define _CONFIG_H_
 #include "stm32f0xx_hal.h"
 #define DEFAULT_CAN_ID 0x208
 #define DEFAULT_BROADCAST_ID 0x00000000
 #define DEFAULT_DATA_RATE 1000
-#define DEFAULT_LED_BRIGHTNESS 100
+#define DEFAULT_LED_BRIGHTNESS 20
 typedef struct {
     uint8_t x;
     uint16_t y;
     uint32_t z;
 } flash_user_vars_t;
 #endif //_CONFIG_H_

Inc/ph.h

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 #ifndef _PH_H_
 #define _PH_H_
 #include "stm32f0xx_hal.h"
 #include <stdbool.h>
 #include <led.h>
 #include <protocol.h>
 #include <config.h>
 void init(void);
 float get_ph(void);
 void ph_init(void);
 void ph_update(void);
 float ph_get(void);
 float ph_convert(uint32_t ph_raw);
 #endif /*_GPIO_H_ */

Makefile

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@@ @@ -3,96 +3,97 @@ @@
 ##########################################################################################################################
 # ------------------------------------------------
 # Generic Makefile (based on gcc)
+#
 # ChangeLog :
 #	2017-02-10 - Several enhancements + project update mode
 #   2015-07-22 - first version
 # ------------------------------------------------
 ######################################
 # target
 ######################################
 TARGET = protomodule-software
 ######################################
 # building variables
 ######################################
 # debug build?
 DEBUG = 1
 # optimization
 OPT = -Og
 #######################################
 # paths
 #######################################
 # source path
 SOURCES_DIR =  \
 Drivers/CMSIS \
 Drivers/STM32F0xx_HAL_Driver \
 Application/MAKEFILE \
 Application \
 Application/User \
 Drivers
 # firmware library path
 PERIFLIB_PATH =
 # Build path
 BUILD_DIR = build
 ######################################
 # source
 ######################################
 # C sources
 C_SOURCES =  \
 Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_adc.c \
 Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_can.c \
 Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_i2c_ex.c \
 Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_rcc_ex.c \
 Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal.c \
 Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_pwr.c \
 Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_dma.c \
 Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_i2c.c \
 Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_flash.c \
 Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_pwr_ex.c \
 Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_tim_ex.c \
 Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_flash_ex.c \
 Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_tim.c \
 Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_rcc.c \
 Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_gpio.c \
 Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_cortex.c \
 Src/gpio.c \
 Src/main.c \
 Src/stm32f0xx_hal_msp.c \
 Src/stm32f0xx_it.c \
 Src/system_stm32f0xx.c \
 Src/system.c \
 Src/ph.c \
 hydrobot-sharedlibs/src/can_buffer.c \
 hydrobot-sharedlibs/src/can.c \
 hydrobot-sharedlibs/src/flash.c \
 hydrobot-sharedlibs/src/led.c \
 hydrobot-sharedlibs/src/protocol.c
 # ASM sources
 ASM_SOURCES =  \
 startup_stm32f042x6.s
 ######################################
 # firmware library
 ######################################
 PERIFLIB_SOURCES =
 #######################################
 # binaries
 #######################################
 BINPATH =
 PREFIX = arm-none-eabi-
 CC = $(PREFIX)gcc
 AS = $(PREFIX)gcc -x assembler-with-cpp
 CP = $(PREFIX)objcopy
 AR = $(PREFIX)ar
@@ @@ -120,90 +121,93 @@ MCU = $(CPU) -mthumb $(FPU) $(FLOAT-ABI) @@
 AS_DEFS =
 # C defines
 C_DEFS =  \
 -DUSE_HAL_DRIVER \
 -DSTM32F042x6
 # AS includes
 AS_INCLUDES =
 # C includes
 C_INCLUDES =  \
 -IInc \
 -IDrivers/STM32F0xx_HAL_Driver/Inc \
 -IDrivers/STM32F0xx_HAL_Driver/Inc/Legacy \
 -IDrivers/CMSIS/Device/ST/STM32F0xx/Include \
 -IDrivers/CMSIS/Include \
 -Ihydrobot-sharedlibs/inc
 # compile gcc flags
 ASFLAGS = $(MCU) $(AS_DEFS) $(AS_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sections
 CFLAGS = $(MCU) $(C_DEFS) $(C_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sections
 ifeq ($(DEBUG), 1)
 CFLAGS += -g -gdwarf-2
 endif
 # Generate dependency information
 CFLAGS += -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)"
 #######################################
 # LDFLAGS
 #######################################
 # link script
 LDSCRIPT = STM32F042K6Tx_FLASH.ld
 # libraries
 LIBS = -lc -lm -lnosys
 LIBDIR =
 LDFLAGS = $(MCU) -specs=nano.specs -T$(LDSCRIPT) $(LIBDIR) $(LIBS) -Wl,-Map=$(BUILD_DIR)/$(TARGET).map,--cref -Wl,--gc-sections
 # default action: build all
 all: $(BUILD_DIR)/$(TARGET).elf $(BUILD_DIR)/$(TARGET).hex $(BUILD_DIR)/$(TARGET).bin
 # flash via serial wire debug
 flash: all
 	st-flash --reset write $(BUILD_DIR)/$(TARGET).bin 0x8000000
 #######################################
 # build the application
 #######################################
 # list of objects
 OBJECTS = $(addprefix $(BUILD_DIR)/,$(notdir $(C_SOURCES:.c=.o)))
 vpath %.c $(sort $(dir $(C_SOURCES)))
 # list of ASM program objects
 OBJECTS += $(addprefix $(BUILD_DIR)/,$(notdir $(ASM_SOURCES:.s=.o)))
 vpath %.s $(sort $(dir $(ASM_SOURCES)))
 $(BUILD_DIR)/%.o: %.c Makefile | $(BUILD_DIR)
 	$(CC) -c $(CFLAGS) -Wa,-a,-ad,-alms=$(BUILD_DIR)/$(notdir $(<:.c=.lst)) $< -o $@
 $(BUILD_DIR)/%.o: %.s Makefile | $(BUILD_DIR)
 	$(AS) -c $(CFLAGS) $< -o $@
 $(BUILD_DIR)/$(TARGET).elf: $(OBJECTS) Makefile
 	$(CC) $(OBJECTS) $(LDFLAGS) -o $@
 	$(SZ) $@
 $(BUILD_DIR)/%.hex: $(BUILD_DIR)/%.elf | $(BUILD_DIR)
 	$(HEX) $< $@
 $(BUILD_DIR)/%.bin: $(BUILD_DIR)/%.elf | $(BUILD_DIR)
 	$(BIN) $< $@
 $(BUILD_DIR):
 	mkdir $@
 #######################################
 # clean up
 #######################################
 clean:
 	-rm -fR .dep $(BUILD_DIR)
 #######################################
 # dependencies
 #######################################
 -include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*)
 # *** EOF ***
@@ \ No newline at end of file @@

Src/main.c

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 #include "stm32f0xx_hal.h"
 #include "can.h"
 #include "gpio.h"
 #include "system.h"
 #include "led.h"
 #include "protocol.h"
 #include "ph.h"
 int main(void)
+{
     HAL_Init();
     system_init();
     gpio_init();
     ph_init();
     protocol_init(PROTOMODULE);
     led_init();
     led_blink(LED_STATUS, 2000);
     led_blink_once(LED_CAN, 2000);
     led_set(LED_ERROR, 0);
     uint32_t loop_timer_1ms = 0;
     uint32_t loop_timer_10ms = 0;
     uint32_t loop_timer_200ms = 0;
     uint32_t loop_timer_1s = 0;
     uint32_t loop_timer_2s = 0;
     uint32_t loop_timer_data = 0;
     while (1)
+    {
         can_receive();
         if (HAL_GetTick() - loop_timer_1ms >= 1)
+        {
             can_process_receive_buffer();
             led_update_all();
             loop_timer_1ms = HAL_GetTick();
+        }
         if (HAL_GetTick() - loop_timer_10ms >= 10)
+        {
             loop_timer_10ms = HAL_GetTick();
+        }
         if (HAL_GetTick() - loop_timer_200ms >= 200)
+        {
             loop_timer_200ms = HAL_GetTick();
+        }
         if (HAL_GetTick() - loop_timer_1s >= 1000)
+        {
         	ph_update();
             loop_timer_1s = HAL_GetTick();
+        }
         if (HAL_GetTick() - loop_timer_2s >= 2000)
+        {
             loop_timer_2s = HAL_GetTick();
+        }
         if (HAL_GetTick() - loop_timer_data >= (protocol_get_settings()->val.data_rate))
+        {
-            protocol_send_data(NONE, 0, get_ph());
+            protocol_send_data(WATER_PH, 0, ph_get());
             loop_timer_data = HAL_GetTick();
+        }
+    }
+}
 bool protocol_set_output(protocol_message_t* message)
+{
     bool result = false;
     return result;
+}
 bool protocol_get_data(protocol_message_t* message)
+{
     bool result = false;
     return result;
+}
 bool protocol_config(protocol_message_t* message)
+{
     bool result = false;
     protocol_data_key_t data = (protocol_data_key_t)(uint16_t)message->data.float_data;
     return result;
+}
 bool protocol_calibrate(protocol_message_t* message)
+{
     bool result = false;
     return result;
+}

Src/ph.c

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 #include "ph.h"
 ADC_HandleTypeDef hadc;
 DMA_HandleTypeDef hdma_adc;
 uint32_t adc_reading;
 float ph_readings[10] = {0};
 uint8_t ph_i = 0;
-void init(void)
+void ph_init(void)
+{
     __HAL_RCC_ADC1_CLK_ENABLE();
     __HAL_RCC_DMA1_CLK_ENABLE();
     GPIO_InitTypeDef GPIO_InitStruct;
-    GPIO_InitStruct.Pin = GPIO_PIN_2|GPIO_PIN_7;
+    GPIO_InitStruct.Pin = GPIO_PIN_0;
     GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
     GPIO_InitStruct.Pull = GPIO_NOPULL;
     HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
     GPIO_InitStruct.Pin = GPIO_PIN_0;
     GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
     GPIO_InitStruct.Pull = GPIO_NOPULL;
     HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
     ADC_ChannelConfTypeDef sConfig;
     hadc.Instance = ADC1;
     hadc.Init.ClockPrescaler = ADC_CLOCK_ASYNC_DIV1;
     hadc.Init.Resolution = ADC_RESOLUTION_12B;
     hadc.Init.DataAlign = ADC_DATAALIGN_RIGHT;
     hadc.Init.ScanConvMode = ADC_SCAN_DIRECTION_FORWARD;
     hadc.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
     hadc.Init.LowPowerAutoWait = DISABLE;
     hadc.Init.LowPowerAutoPowerOff = DISABLE;
     hadc.Init.ContinuousConvMode = ENABLE;
     hadc.Init.DiscontinuousConvMode = DISABLE;
     hadc.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
     hadc.Init.DMAContinuousRequests = ENABLE;
     hadc.Init.Overrun = ADC_OVR_DATA_PRESERVED;
     HAL_ADC_Init(&hadc);
     // Configure DMA
     hdma_adc.Instance = DMA1_Channel1;
     hdma_adc.Init.Direction = DMA_PERIPH_TO_MEMORY;
     hdma_adc.Init.PeriphInc = DMA_PINC_DISABLE;
     hdma_adc.Init.MemInc = DMA_MINC_ENABLE;
     hdma_adc.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD;
     hdma_adc.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD;
     hdma_adc.Init.Mode = DMA_CIRCULAR;
     hdma_adc.Init.Priority = DMA_PRIORITY_LOW;
     HAL_DMA_Init(&hdma_adc);
     __HAL_LINKDMA(&hadc, DMA_Handle, hdma_adc);
     sConfig.Channel = ADC_CHANNEL_0;
     sConfig.Rank = ADC_RANK_CHANNEL_NUMBER;
     sConfig.SamplingTime = ADC_SAMPLETIME_1CYCLE_5;
     HAL_ADC_ConfigChannel(&hadc, &sConfig);
     HAL_ADC_Start_DMA(&hadc, &adc_reading, 1);
     //fill the rolling average buffer with real readings so the first reading isn't ~0
 	for (uint8_t i = 0; i < 10; i++)
+	{
 		ph_update();
 		HAL_Delay(100);
+	}
+}
 float get_ph(void)
 void ph_update(void)
+{
 	uint32_t ph_raw = adc_reading;
     ph_readings[ph_i] = ph_convert(ph_raw); //convert adc counts to pH
     ph_i = (ph_i + 1) % 10;
+}
 float ph_get(void)
+{
     float ph = 0;
     ph = (float) adc_reading;
     for (uint8_t i = 0; i < 10; i++)
+    {
     	ph += ph_readings[i];
+    }
     ph = ph / 10;
     return ph;
+}
 float ph_convert(uint32_t ph_raw)
+{
 	float ph = (float)ph_raw;
 	return ph;
+}

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