Rtc

fw/rbcx-coprocessor/include/Bsp.hpp

@@ -20,6 +20,66 @@ typedef uint32_t ADC_rank_t;
 inline const IRQn_Type usbLpIRQn = USB_LP_CAN1_RX0_IRQn;
 inline constexpr unsigned usbLpIRQnPrio = 8;
 
+inline void clocksInit() {
+    RCC_OscInitTypeDef RCC_OscInitStruct {};
+    RCC_ClkInitTypeDef RCC_ClkInitStruct {};
+    RCC_PeriphCLKInitTypeDef PeriphClkInit {};
+
+    RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
+    RCC_OscInitStruct.HSEState = RCC_HSE_ON;
+    RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
+    RCC_OscInitStruct.HSIState = RCC_HSI_ON;
+    RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
+    RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
+    RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
+    if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
+        abort();
+    }
+
+    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) {
+        abort();
+    }
+
+    PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USB | RCC_PERIPHCLK_ADC;
+    PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5;
+    PeriphClkInit.AdcClockSelection = RCC_CFGR_ADCPRE_DIV6;
+    if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) {
+        abort();
+    }
+
+    __HAL_RCC_GPIOA_CLK_ENABLE();
+    __HAL_RCC_GPIOB_CLK_ENABLE();
+    __HAL_RCC_GPIOC_CLK_ENABLE();
+    __HAL_RCC_GPIOD_CLK_ENABLE();
+    __HAL_RCC_GPIOE_CLK_ENABLE();
+    __HAL_RCC_AFIO_CLK_ENABLE();
+    __HAL_RCC_USART1_CLK_ENABLE();
+    __HAL_RCC_USART2_CLK_ENABLE();
+    __HAL_RCC_USART3_CLK_ENABLE();
+    __HAL_RCC_UART4_CLK_ENABLE();
+    __HAL_RCC_UART5_CLK_ENABLE();
+    __HAL_RCC_DMA1_CLK_ENABLE();
+    __HAL_RCC_DMA2_CLK_ENABLE();
+    __HAL_RCC_PWR_CLK_ENABLE();
+    __HAL_RCC_BKP_CLK_ENABLE();
+    __HAL_RCC_RTC_ENABLE();
+    __HAL_RCC_TIM1_CLK_ENABLE();
+    __HAL_RCC_TIM2_CLK_ENABLE();
+    __HAL_RCC_TIM3_CLK_ENABLE();
+    __HAL_RCC_TIM4_CLK_ENABLE();
+    __HAL_RCC_TIM5_CLK_ENABLE();
+    __HAL_RCC_TIM6_CLK_ENABLE();
+    __HAL_RCC_TIM7_CLK_ENABLE();
+    __HAL_RCC_TIM8_CLK_ENABLE();
+    __HAL_RCC_ADC1_CLK_ENABLE();
+}
+
 inline void pinInit(GPIO_TypeDef* port, uint32_t pinMask, uint32_t mode,
     uint32_t pull, uint32_t speed, bool deInitFirst = false) {
 

fw/rbcx-coprocessor/include/Bsp_v10.hpp

@@ -162,65 +162,6 @@ inline const IRQn_Type auxiliaryAndMotorAdcIRQn = ADC1_2_IRQn;
 inline const unsigned auxiliaryAndMotorAdcIrqPrio = 9;
 #define AUXILIARY_AND_MOTOR_ADC_IRQ_HANDLER ADC1_2_IRQHandler
 
-inline void clocksInit() {
-    RCC_OscInitTypeDef RCC_OscInitStruct;
-    RCC_ClkInitTypeDef RCC_ClkInitStruct;
-    RCC_PeriphCLKInitTypeDef PeriphClkInit;
-
-    RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
-    RCC_OscInitStruct.HSEState = RCC_HSE_ON;
-    RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
-    RCC_OscInitStruct.HSIState = RCC_HSI_ON;
-    RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
-    RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
-    RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
-    if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
-        abort();
-    }
-
-    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) {
-        abort();
-    }
-
-    PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USB;
-    PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5;
-    PeriphClkInit.AdcClockSelection = RCC_CFGR_ADCPRE_DIV6;
-    if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) {
-        abort();
-    }
-
-    __HAL_RCC_GPIOA_CLK_ENABLE();
-    __HAL_RCC_GPIOB_CLK_ENABLE();
-    __HAL_RCC_GPIOC_CLK_ENABLE();
-    __HAL_RCC_GPIOD_CLK_ENABLE();
-    __HAL_RCC_GPIOE_CLK_ENABLE();
-    __HAL_RCC_AFIO_CLK_ENABLE();
-    __HAL_RCC_USART1_CLK_ENABLE();
-    __HAL_RCC_USART2_CLK_ENABLE();
-    __HAL_RCC_USART3_CLK_ENABLE();
-    __HAL_RCC_UART4_CLK_ENABLE();
-    __HAL_RCC_UART5_CLK_ENABLE();
-    __HAL_RCC_DMA1_CLK_ENABLE();
-    __HAL_RCC_DMA2_CLK_ENABLE();
-    __HAL_RCC_PWR_CLK_ENABLE();
-    __HAL_RCC_BKP_CLK_ENABLE();
-    __HAL_RCC_TIM1_CLK_ENABLE();
-    __HAL_RCC_TIM2_CLK_ENABLE();
-    __HAL_RCC_TIM3_CLK_ENABLE();
-    __HAL_RCC_TIM4_CLK_ENABLE();
-    __HAL_RCC_TIM5_CLK_ENABLE();
-    __HAL_RCC_TIM6_CLK_ENABLE();
-    __HAL_RCC_TIM7_CLK_ENABLE();
-    __HAL_RCC_TIM8_CLK_ENABLE();
-    __HAL_RCC_ADC1_CLK_ENABLE();
-}
-
 // Set-up ESP32 strapping pins for the normal mode functions. Esp32Manager
 // handles the strapping process and ESP32 reset, and calls this function
 // after the reset is done so that normal function can be restored.
@@ -237,10 +178,10 @@ inline void reinitEspStrappingPins() {
 }
 
 inline void pinsInit() {
-    pinInit(ledPins, GPIO_MODE_OUTPUT_PP, GPIO_NOPULL, GPIO_SPEED_FREQ_LOW);
+    // pinInit(ledPins, GPIO_MODE_OUTPUT_PP, GPIO_NOPULL, GPIO_SPEED_FREQ_LOW);
 
-    pinWrite(powerPin, 1);
-    pinInit(powerPin, GPIO_MODE_OUTPUT_OD, GPIO_NOPULL, GPIO_SPEED_FREQ_LOW);
+    // pinWrite(powerPin, 1);
+    // pinInit(powerPin, GPIO_MODE_OUTPUT_OD, GPIO_NOPULL, GPIO_SPEED_FREQ_LOW);
 
     for (auto button : buttonPin)
         pinInit(button, GPIO_MODE_INPUT, GPIO_PULLUP, GPIO_SPEED_FREQ_LOW);

fw/rbcx-coprocessor/include/Bsp_v11.hpp

@@ -70,11 +70,11 @@ inline const PinDef userUartTxPin = std::make_pair(GPIOB, GPIO_PIN_6);
 inline const PinDef userUartRxPin = std::make_pair(GPIOB, GPIO_PIN_7);
 inline const PinDef tunnelUartTxPin = std::make_pair(GPIOD, GPIO_PIN_5);
 inline const PinDef tunnelUartRxPin = std::make_pair(GPIOD, GPIO_PIN_6);
-inline const PinDef controlUartTxPin = std::make_pair(GPIOB, GPIO_PIN_10);
-inline const PinDef controlUartRxPin = std::make_pair(GPIOB, GPIO_PIN_11);
 inline const PinDef debugUartTxPin = std::make_pair(GPIOC, GPIO_PIN_10);
 inline const PinDef debugUartRxPin = std::make_pair(GPIOC, GPIO_PIN_11);
 inline const PinDef servoUartTxRxPin = std::make_pair(GPIOC, GPIO_PIN_12);
+inline const PinDef controlUartTxPin = std::make_pair(GPIOB, GPIO_PIN_10);
+inline const PinDef controlUartRxPin = std::make_pair(GPIOB, GPIO_PIN_11);
 
 inline USART_TypeDef* const userUart = USART1;
 inline USART_TypeDef* const tunnelUart = USART2;
@@ -159,65 +159,6 @@ inline const IRQn_Type auxiliaryAndMotorAdcIRQn = ADC1_2_IRQn;
 inline const unsigned auxiliaryAndMotorAdcIrqPrio = 9;
 #define AUXILIARY_AND_MOTOR_ADC_IRQ_HANDLER ADC1_2_IRQHandler
 
-inline void clocksInit() {
-    RCC_OscInitTypeDef RCC_OscInitStruct;
-    RCC_ClkInitTypeDef RCC_ClkInitStruct;
-    RCC_PeriphCLKInitTypeDef PeriphClkInit;
-
-    RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
-    RCC_OscInitStruct.HSEState = RCC_HSE_ON;
-    RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
-    RCC_OscInitStruct.HSIState = RCC_HSI_ON;
-    RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
-    RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
-    RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
-    if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
-        abort();
-    }
-
-    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) {
-        abort();
-    }
-
-    PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USB;
-    PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5;
-    PeriphClkInit.AdcClockSelection = RCC_CFGR_ADCPRE_DIV6;
-    if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) {
-        abort();
-    }
-
-    __HAL_RCC_GPIOA_CLK_ENABLE();
-    __HAL_RCC_GPIOB_CLK_ENABLE();
-    __HAL_RCC_GPIOC_CLK_ENABLE();
-    __HAL_RCC_GPIOD_CLK_ENABLE();
-    __HAL_RCC_GPIOE_CLK_ENABLE();
-    __HAL_RCC_AFIO_CLK_ENABLE();
-    __HAL_RCC_USART1_CLK_ENABLE();
-    __HAL_RCC_USART2_CLK_ENABLE();
-    __HAL_RCC_USART3_CLK_ENABLE();
-    __HAL_RCC_UART4_CLK_ENABLE();
-    __HAL_RCC_UART5_CLK_ENABLE();
-    __HAL_RCC_DMA1_CLK_ENABLE();
-    __HAL_RCC_DMA2_CLK_ENABLE();
-    __HAL_RCC_PWR_CLK_ENABLE();
-    __HAL_RCC_BKP_CLK_ENABLE();
-    __HAL_RCC_TIM1_CLK_ENABLE();
-    __HAL_RCC_TIM2_CLK_ENABLE();
-    __HAL_RCC_TIM3_CLK_ENABLE();
-    __HAL_RCC_TIM4_CLK_ENABLE();
-    __HAL_RCC_TIM5_CLK_ENABLE();
-    __HAL_RCC_TIM6_CLK_ENABLE();
-    __HAL_RCC_TIM7_CLK_ENABLE();
-    __HAL_RCC_TIM8_CLK_ENABLE();
-    __HAL_RCC_ADC1_CLK_ENABLE();
-}
-
 // Set-up ESP32 strapping pins for the normal mode functions. Esp32Manager
 // handles the strapping process and ESP32 reset, and calls this function
 // after the reset is done so that normal function can be restored.
@@ -234,10 +175,10 @@ inline void reinitEspStrappingPins() {
 }
 
 inline void pinsInit() {
-    pinInit(ledPins, GPIO_MODE_OUTPUT_PP, GPIO_NOPULL, GPIO_SPEED_FREQ_LOW);
+    // pinInit(ledPins, GPIO_MODE_OUTPUT_PP, GPIO_NOPULL, GPIO_SPEED_FREQ_LOW);
 
-    pinWrite(powerPin, 1);
-    pinInit(powerPin, GPIO_MODE_OUTPUT_OD, GPIO_NOPULL, GPIO_SPEED_FREQ_LOW);
+    // pinWrite(powerPin, 1);
+    // pinInit(powerPin, GPIO_MODE_OUTPUT_OD, GPIO_NOPULL, GPIO_SPEED_FREQ_LOW);
 
     for (auto button : buttonPin)
         pinInit(button, GPIO_MODE_INPUT, GPIO_PULLUP, GPIO_SPEED_FREQ_LOW);

fw/rbcx-coprocessor/include/Power.hpp

@@ -1,5 +1,6 @@
 #pragma once
 
+void powerEarlyInit();
 void powerInit();
 void powerPoll();
 

fw/rbcx-coprocessor/include/RtcController.hpp

@@ -0,0 +1,14 @@
+#pragma once
+
+#include "rbcx.pb.h"
+
+#include <stdint.h>
+
+void rtcInit();
+bool rtcInitReady();
+void rtcDispatch(const CoprocReq_RtcReq& req);
+
+uint32_t rtcGetTime();
+void rtcSetTime(uint32_t seconds);
+uint32_t rtcGetAlarm();
+void rtcSetAlarm(uint32_t seconds);

fw/rbcx-coprocessor/platformio.ini

@@ -17,7 +17,7 @@ platform = ststm32@~7.0.0
 board = genericSTM32F103VC
 framework = stm32cube
 lib_deps =
-    https://github.com/RoboticsBrno/RB3204-RBCX-coproc-comm/archive/039f2ae62d14ca7d05cdb194439514a92bbaaa78.zip
+    https://github.com/RoboticsBrno/RB3204-RBCX-coproc-comm/archive/81dae0effc201174b9e55c9702d58f80d51b720b.zip
 
 build_flags =
     -Iinclude

fw/rbcx-coprocessor/src/DebugLink.cpp

@@ -14,6 +14,7 @@
 #include "BuzzerController.hpp"
 #include "Dispatcher.hpp"
 #include "Power.hpp"
+#include "RtcController.hpp"
 #include "UsbCdcLink.h"
 #include "coproc_codec.h"
 #include "coproc_link_parser.h"
@@ -322,6 +323,35 @@ static void debugLinkHandleCommand(const char* cmd) {
         });
     });
 
+    COMMAND("rtc", {
+        COMMAND("get", {
+            printf("RTC seconds: %lu\n", rtcGetTime());
+            return;
+        });
+        COMMAND("set", {
+            uint32_t val = 0;
+            if (sscanf(cmd, "%lu", &val) != 1) {
+                printf("Invalid parameters!\n");
+                return;
+            }
+            rtcSetTime(val);
+            return;
+        });
+        COMMAND("alarm get", {
+            printf("RTC alarm: %lu\n", rtcGetAlarm());
+            return;
+        });
+        COMMAND("alarm set", {
+            uint32_t val = 0;
+            if (sscanf(cmd, "%lu", &val) != 1) {
+                printf("Invalid parameters!\n");
+                return;
+            }
+            rtcSetAlarm(val);
+            return;
+        });
+    });
+
     printf("Invalid command.\n");
 }
 

fw/rbcx-coprocessor/src/Dispatcher.cpp

@@ -8,6 +8,7 @@
 #include "Esp32Manager.hpp"
 #include "MotorController.hpp"
 #include "Power.hpp"
+#include "RtcController.hpp"
 #include "StupidServoController.hpp"
 #include "UltrasoundController.hpp"
 #include "queue.h"
@@ -97,6 +98,9 @@ static void dispatcherProcessReq(const CoprocReq& request) {
     case CoprocReq_motorReq_tag:
         motorDispatch(request.payload.motorReq);
         break;
+    case CoprocReq_rtcReq_tag:
+        rtcDispatch(request.payload.rtcReq);
+        break;
     }
 }