mainloop/* moved to root

2022-09-27 20:01:14 +02:00
parent 8e211fd8fb
commit 5dd7f4a277
40 changed files with 895 additions and 35 deletions
@@ -0,0 +1,91 @@
+
+/*
+ * Copyright 2022 Oleg Borodin  <borodin@unix7.org>
+ */
+
+#include <libopencm3/cm3/nvic.h>
+#include <libopencm3/cm3/systick.h>
+#include <libopencm3/cm3/scb.h>
+
+#include <libopencm3/stm32/rcc.h>
+#include <libopencm3/stm32/gpio.h>
+#include <libopencm3/stm32/usart.h>
+#include <libopencm3/stm32/flash.h>
+
+#include <stdlib.h>
+#include <stdio.h>
+#include <stdbool.h>
+#include <string.h>
+#include <math.h>
+
+#include <usartu.h>
+#include <sbus.h>
+
+
+static void clock_setup(void) {
+    rcc_clock_setup_pll(&rcc_hse_8mhz_3v3[RCC_CLOCK_3V3_168MHZ]);
+    rcc_periph_clock_enable(RCC_GPIOA);
+    rcc_periph_clock_enable(RCC_GPIOB);
+    rcc_periph_clock_enable(RCC_GPIOD);
+    rcc_periph_clock_enable(RCC_USART1);
+    rcc_periph_clock_enable(RCC_USART2);
+}
+
+static void usart_setup(uint32_t usart, uint32_t gpioport, uint32_t gpiopins, uint32_t baudrate) {
+    usart_disable(usart);
+
+    gpio_mode_setup(gpioport, GPIO_MODE_AF, GPIO_PUPD_NONE, gpiopins);
+    gpio_set_af(gpioport, GPIO_AF7, gpiopins);
+    gpio_set_output_options(gpioport, GPIO_OTYPE_PP, GPIO_OSPEED_100MHZ, gpiopins);
+
+    usart_set_baudrate(usart, baudrate);
+    usart_set_databits(usart, 8);
+    usart_set_stopbits(usart, USART_STOPBITS_1);
+    usart_set_parity(usart, USART_PARITY_NONE);
+    usart_set_flow_control(usart, USART_FLOWCONTROL_NONE);
+    usart_set_mode(usart, USART_MODE_TX_RX);
+    usart_disable_rx_interrupt(usart);
+
+    usart_enable(usart);
+}
+
+static void sbus_setup(uint32_t usart, uint32_t gpioport, uint32_t gpiopins, uint32_t baudrate) {
+    usart_disable(usart);
+
+    gpio_mode_setup(gpioport, GPIO_MODE_AF, GPIO_PUPD_NONE, gpiopins);
+    gpio_set_af(gpioport, GPIO_AF7, gpiopins);
+    gpio_set_output_options(gpioport, GPIO_OTYPE_PP, GPIO_OSPEED_100MHZ, gpiopins);
+
+    usart_set_baudrate(usart, baudrate);
+    usart_set_databits(usart, 8);
+    usart_set_stopbits(usart, USART_STOPBITS_1);
+    usart_set_parity(usart, USART_PARITY_NONE);
+    usart_set_flow_control(usart, USART_FLOWCONTROL_NONE);
+    usart_set_mode(usart, USART_MODE_TX_RX);
+    usart_disable_rx_interrupt(usart);
+
+    usart_enable(usart);
+}
+
+
+int main(void) {
+
+    clock_setup();
+    usart_setup(USART1, GPIOA, GPIO9 | GPIO10, 460800);
+    sbus_setup(USART2, GPIOD, GPIO6, 115200);
+
+    sbus_t bus;
+    sbus_init(&bus);
+    while (true) {
+        uint8_t ibyte = usart_recv_blocking(USART2);
+        bool ready = sbus_recv(&bus, ibyte);
+        //if (ready) {
+        //    for (int i = 0; i < sbus_chcount(&bus); i++) {
+        //        printf("%2d=%4d ", i, sbus_getch(&bus, i));
+        //    }
+        //    printf(" xxx \r\n");
+        //}
+    }
+
+
+}