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@@ -82,6 +82,7 @@ typedef StaticTask_t osStaticThreadDef_t;
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/* Private variables ---------------------------------------------------------*/
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ADC_HandleTypeDef hadc1;
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+ADC_HandleTypeDef hadc2;
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FDCAN_HandleTypeDef hfdcan1;
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@@ -105,7 +106,7 @@ SRAM_HandleTypeDef hsram4;
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/* Definitions for taskEPS */
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osThreadId_t taskEPSHandle;
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-uint32_t taskEPSBuffer[ 128 ];
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+uint32_t taskEPSBuffer[ 256 ];
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osStaticThreadDef_t taskEPSControlBlock;
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const osThreadAttr_t taskEPS_attributes = {
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.name = "taskEPS",
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@@ -125,7 +126,7 @@ const osThreadAttr_t taskSnap_attributes = {
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.stack_size = sizeof(taskSnapBuffer),
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.cb_mem = &taskSnapControlBlock,
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.cb_size = sizeof(taskSnapControlBlock),
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- .priority = (osPriority_t) osPriorityNormal,
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+ .priority = (osPriority_t) osPriorityRealtime,
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};
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/* Definitions for taskAI */
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osThreadId_t taskAIHandle;
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@@ -161,12 +162,12 @@ static void MX_USART2_UART_Init(void);
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static void MX_USART3_UART_Init(void);
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static void MX_ICACHE_Init(void);
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static void MX_GTZC_Init(void);
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+static void MX_ADC2_Init(void);
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void taskEPSRunner(void *argument);
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void taskSnapRunner(void *argument);
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void taskAIRunner(void *argument);
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/* USER CODE BEGIN PFP */
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-
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/* USER CODE END PFP */
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/* Private user code ---------------------------------------------------------*/
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@@ -176,7 +177,7 @@ extern "C" int _write(int32_t file, uint8_t *ptr, int32_t len) {
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#else
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int _write(int32_t file, uint8_t *ptr, int32_t len) {
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#endif
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- if( HAL_UART_Transmit(&huart1, ptr, len, len) == HAL_OK ) return len;
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+ if( HAL_UART_Transmit(&UART_HANDLER_SBC, ptr, len, len) == HAL_OK ) return len;
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else return 0;
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}
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@@ -251,16 +252,17 @@ int main(void)
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MX_USART3_UART_Init();
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MX_ICACHE_Init();
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MX_USB_Device_Init();
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+ MX_ADC2_Init();
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/* USER CODE BEGIN 2 */
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printf("\r\n\r\n\r\n");
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printf("**************************\r\n");
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printf("** TEST APP INFORMATION **\r\n");
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- printf(" - SBC M33 freeRTOS, truztzone, CAM, EPS\r\n");
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- printf(" - 2023. 7. 13. 12:00\r\n");
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+ printf(" - SBC M33 freeRTOS, truztzone, ADC test\r\n");
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+ printf(" - 2023.10.20. 10:00\r\n");
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printf("**************************\r\n");
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printf("\r\n\r\n\r\n");
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/* after SBC boot-up, sbc power gpio pin should be ON */
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- imc_sbc_power_on(0); // delay(param) should be 0ms
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+ imc_sbc_power_on(); // delay(param) should be 0ms
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/* USER CODE END 2 */
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@@ -303,6 +305,7 @@ int main(void)
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/* Start scheduler */
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osKernelStart();
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+
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/* We should never get here as control is now taken by the scheduler */
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/* Infinite loop */
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/* USER CODE BEGIN WHILE */
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@@ -470,6 +473,64 @@ static void MX_ADC1_Init(void)
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}
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+/**
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+ * @brief ADC2 Initialization Function
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+ * @param None
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+ * @retval None
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+ */
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+static void MX_ADC2_Init(void)
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+{
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+
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+ /* USER CODE BEGIN ADC2_Init 0 */
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+
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+ /* USER CODE END ADC2_Init 0 */
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+
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+ ADC_ChannelConfTypeDef sConfig = {0};
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+
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+ /* USER CODE BEGIN ADC2_Init 1 */
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+
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+ /* USER CODE END ADC2_Init 1 */
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+
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+ /** Common config
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+ */
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+ hadc2.Instance = ADC2;
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+ hadc2.Init.ClockPrescaler = ADC_CLOCK_ASYNC_DIV1;
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+ hadc2.Init.Resolution = ADC_RESOLUTION_12B;
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+ hadc2.Init.DataAlign = ADC_DATAALIGN_RIGHT;
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+ hadc2.Init.ScanConvMode = ADC_SCAN_DISABLE;
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+ hadc2.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
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+ hadc2.Init.LowPowerAutoWait = DISABLE;
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+ hadc2.Init.ContinuousConvMode = DISABLE;
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+ hadc2.Init.NbrOfConversion = 1;
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+ hadc2.Init.DiscontinuousConvMode = DISABLE;
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+ hadc2.Init.ExternalTrigConv = ADC_SOFTWARE_START;
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+ hadc2.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
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+ hadc2.Init.DMAContinuousRequests = DISABLE;
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+ hadc2.Init.Overrun = ADC_OVR_DATA_PRESERVED;
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+ hadc2.Init.OversamplingMode = DISABLE;
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+ if (HAL_ADC_Init(&hadc2) != HAL_OK)
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+ {
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+ Error_Handler();
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+ }
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+
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+ /** Configure Regular Channel
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+ */
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+ sConfig.Channel = ADC_CHANNEL_2;
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+ sConfig.Rank = ADC_REGULAR_RANK_1;
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+ sConfig.SamplingTime = ADC_SAMPLETIME_2CYCLES_5;
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+ sConfig.SingleDiff = ADC_SINGLE_ENDED;
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+ sConfig.OffsetNumber = ADC_OFFSET_NONE;
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+ sConfig.Offset = 0;
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+ if (HAL_ADC_ConfigChannel(&hadc2, &sConfig) != HAL_OK)
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+ {
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+ Error_Handler();
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+ }
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+ /* USER CODE BEGIN ADC2_Init 2 */
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+
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+ /* USER CODE END ADC2_Init 2 */
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+
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+}
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+
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/**
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* @brief FDCAN1 Initialization Function
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* @param None
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@@ -940,18 +1001,14 @@ static void MX_USART3_UART_Init(void)
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/*
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* use below code if code is re-generated by .ioc modification
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#if CAM_CHANGE_BAUDRATE
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- huart3.Init.BaudRate = 38400;
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+ UART_HANDLER_CAM.Init.BaudRate = 38400;
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#else
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- huart3.Init.BaudRate = 115200;
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+ UART_HANDLER_CAM.Init.BaudRate = 115200;
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#endif
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*/
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/* USER CODE END USART3_Init 1 */
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huart3.Instance = USART3;
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-#if CAM_CHANGE_BAUDRATE
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- huart3.Init.BaudRate = 38400;
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-#else
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huart3.Init.BaudRate = 115200;
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-#endif
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huart3.Init.WordLength = UART_WORDLENGTH_8B;
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huart3.Init.StopBits = UART_STOPBITS_1;
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huart3.Init.Parity = UART_PARITY_NONE;
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@@ -1282,11 +1339,35 @@ static void MX_GPIO_Init(void)
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void taskEPSRunner(void *argument)
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{
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/* USER CODE BEGIN 5 */
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+#if (EPS_CAP_VOLT_ADC)
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+ int capacitor_voltage0 = 0;
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+ //int capacitor_voltage1 = 0;
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+
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/* Infinite loop */
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+ for(;;)
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+ {
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+ capacitor_voltage0 = measure_voltage(ADC_HANDLER_SBC, EPS_CAP_ID_SBC);
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+ //capacitor_voltage1 = measure_voltage(ADC_HANDLER_CAM, EPS_CAP_ID_CAM);
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+
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+ //printf("\t\t\t\t\t\t[EPS] CAP VOLT: %d.%03d, %d.%03d\r\n", capacitor_voltage0/1000, capacitor_voltage0%1000, capacitor_voltage1/1000, capacitor_voltage1%1000);
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+
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+ if (capacitor_voltage0 < EPS_CAP_VOLT_LOW_THRESHOLD_SBC)
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+ {
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+ printf("[EPS] CAP#%d < %dmV (TODO JIT CHECKPOINT)\r\n", EPS_CAP_ID_SBC, EPS_CAP_VOLT_LOW_THRESHOLD_SBC);
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+ // TODO: JIT CHECKPOINT
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+ imc_sbc_power_off();
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+ }
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+
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+ osDelay(DELAY_AFTER_WORK);
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+ }
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+#endif
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+
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+#if (EPS_CAP_VOLT_GPIO)
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/* energy_level: 1~7, and SBC power off when the level is 1 */
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uint8_t energy_level_prev = 8;
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uint8_t energy_level_curr = 8;
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+ /* Infinite loop */
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for(;;)
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{
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energy_level_curr = imc_get_energy_level();
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@@ -1298,7 +1379,7 @@ void taskEPSRunner(void *argument)
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if (energy_level_curr <= EPS_SBC_OFF_LEVEL)
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{
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- imc_sbc_power_off(0);
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+ imc_sbc_power_off();
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}
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energy_level_prev = energy_level_curr;
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@@ -1306,6 +1387,7 @@ void taskEPSRunner(void *argument)
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osDelay(DELAY_AFTER_WORK);
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}
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+#endif
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/* USER CODE END 5 */
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}
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@@ -1322,26 +1404,36 @@ void taskSnapRunner(void *argument)
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{
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/* USER CODE BEGIN taskSnapRunner */
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sc03mpd_ifx_t ifx = {
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- .context = (void*)&huart3,
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+ .context = (void*)&UART_HANDLER_CAM,
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.sendif = hal_uart_ifx_send,
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.recvif = hal_uart_ifx_recv,
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};
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+ uint8_t error_count = 0;
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+
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/* Infinite loop */
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while (1)
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{
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+ printf ("\r\n\r\n\r\n#%ld\r\n\r\n", trial);
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+ trial++;
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+
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// osSemaphoreWait(empty, osWaitForever);
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+#if EPS_CAP_VOLT_ADC
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+ SC03MPD_ASSERT(imc_sc03mpd_cap_check (ADC_HANDLER_CAM), "[CAM] FAILED CAP volt", ERROR)
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+#endif
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+
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/*
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* 2022. 11. 10. TEST for EPS-SBC-CAM; SBC controls CAM ON/OFF; KETI EPS does NOT wait 2.5s for CAM init.
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*/
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- printf ("\r\n\r\n#%lu\r\n\r\n", trial);
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- trial++;
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+ imc_cam_power_on();
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- imc_cam_power_on(0);
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+ // (M33) moved from imc_sc03mpd_init
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+ printf("[CAM] wait %dms for boot-up\r\n", DELAY_AFTER_POWERUP);
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+ osDelay (DELAY_AFTER_POWERUP);
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+ MX_USART3_UART_Init();
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+ // (M33) moved from imc_sc03mpd_init
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- /* camera init */
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- MX_USART3_UART_Init(); // (M33) moved from imc_sc03mpd_init
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SC03MPD_ASSERT(imc_sc03mpd_init(&ifx), "[CAM] FAILED init", ERROR)
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/* execute once when change CAM default baudrate */
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@@ -1373,7 +1465,10 @@ void taskSnapRunner(void *argument)
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/*
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* 2022. 11. 10. TEST for EPS-SBC-CAM
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*/
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- imc_cam_power_off(0);
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+ imc_cam_power_off();
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+
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+ // error_count reset
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+ error_count = 0;
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/* DO SOMETHING */
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#if 0
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@@ -1383,8 +1478,8 @@ void taskSnapRunner(void *argument)
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// osSemaphoreRelease(full);
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#else
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- printf ("[SBC] wait %dms for next job\r\n", DELAY_AFTER_WORK);
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- osDelay(DELAY_AFTER_WORK);
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+ printf ("[SBC] wait %dms for DO SOMETHING\r\n", DELAY_DO_SOMETHING);
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+ osDelay(DELAY_DO_SOMETHING);
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#endif
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continue;
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@@ -1395,20 +1490,27 @@ ERROR:
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* 2022. 8. 25. add USART3 init. and reset fn.; download or capture failure --> normal
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* 2022. 8. 25. after SC03MPD power off/on, works well after few failures
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* 2022. 11. 11. start of this while loop, CAM init is called
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+ * 2023. 10. 20. add error_count for handling successive errors
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*/
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-#if 1
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+ error_count++;
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+
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printf("[CAM] ERROR HANDLING; CAM OFF > %dms delay > CAM ON\r\n", DELAY_BEFORE_ERR_HANDLING);
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- imc_cam_power_off(0);
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+ imc_cam_power_off();
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// osSemaphoreRelease(empty);
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- osDelay(DELAY_BEFORE_ERR_HANDLING);
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+ osDelay(DELAY_BEFORE_ERR_HANDLING); //imc_sbc_power_off();
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- continue;
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-#else
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- osDelay(DELAY_BEFORE_ERR_HANDLING);
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+ // ERROR 3 times -> SBC reboot
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+ if (error_count >= CAM_ERROR_COUNT_MAX) {
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+ error_count = 0;
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- SC03MPD_ASSERT(imc_sc03mpd_init(&ifx), "[CAM] FAILED ERROR HANDLING; init", ERROR)
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-#endif
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+ printf("[CAM] %d ERRORs continue and SBC OFF\r\n", CAM_ERROR_COUNT_MAX);
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+ imc_sbc_power_off();
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+
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+ osDelay(DELAY_DO_SOMETHING);
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+ }
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+
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+ continue;
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}
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#if 0
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EXIT:
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Yoojin Lim