velometer/main.c

#include "config.h"

#include <boot/picobin.h>
#include <hardware/adc.h>
#include <hardware/dma.h>
#include <hardware/flash.h>
#include <hardware/gpio.h>
#include <hardware/irq.h>
#include <hardware/psram.h>
#include <hardware/pwm.h>
#include <hardware/regs/intctrl.h>
#include <pico/bootrom.h>
#include <pico/critical_section.h>
#include <pico/stdlib.h>
#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>

#include "ds1302.h"
#include "graphics.h"
#include "gui.h"
#include "pins.h"
#include "ss49e.h"
#include "st7789.h"
#include "units.h"

void on_gpio_interrupt(uint pin, uint32_t eventMask);
static void __not_in_flash_func(dma_irq_handler)();
int64_t button_debounce_callback(alarm_id_t alarmId, void *userData);
int64_t button_hold_callback(alarm_id_t alarmId, void *userData);
void on_button_short_press(uint button);
void on_button_long_press(uint button);
void on_wheel_hall_sensor_tick();

void init_button_states();
void save_to_rtc();
bool load_from_rtc();
void reset();

const uint8_t FRONT_BUTTON_PINS[4] = {PIN_BUTTON_0, PIN_BUTTON_1, PIN_BUTTON_2, PIN_BUTTON_3};

const uint16_t BRIGHTNESS_CONVERT_TABLE_X[] = {0, 10, 20, 30, 40, 50, 60, 70, 80, 90, 100};
const uint16_t BRIGHTNESS_CONVERT_TABLE_Y[] = {0, 7, 12, 21, 37, 64, 111, 194, 338, 588, 1024};
const size_t BRIGHTNESS_CONVERT_LABLE_LEN = 11;

int16_t convert_brightness(int16_t input) {
  for (int i = 0; i < BRIGHTNESS_CONVERT_LABLE_LEN - 1; ++i) {
    if (input < BRIGHTNESS_CONVERT_TABLE_X[i + 1]) {
      int16_t x0 = BRIGHTNESS_CONVERT_TABLE_X[i];
      int16_t x1 = BRIGHTNESS_CONVERT_TABLE_X[i + 1];
      int16_t y0 = BRIGHTNESS_CONVERT_TABLE_Y[i];
      int16_t y1 = BRIGHTNESS_CONVERT_TABLE_Y[i + 1];
      return y0 + (y1 - y0) * (input - x0) / (x1 - x0);
    }
  }
  return -1;
}

struct PushButtonState {
  alarm_id_t debounceAlarm, holdAlarm;
  bool currentState, prevState;
};

static struct PushButtonState buttonStates[4];
static uint heldButtons;

// for debug (and for the future)
absolute_time_t lastWheelTickTime = 0;

// for hall sensors
int adcDmaChannelA, adcDmaChannelB;
uint16_t adcBufferA[1600];
uint16_t adcBufferB[1600];
SS49E_State wheelSensorState;

// for speed measurement
uint8_t intervalWheelTicks[SPEED_MEASUREMENT_WINDOW_SIZE];
uint8_t currentInterval = 0;
uint16_t ticksPerWindow = 0;

// odometer counters
uint totalWheelTicks = 0;
uint wheelTicksFromPowerOn = 0;

DateTime currentDatetime;

// unused currently
// repeating_timer_t audioPlaybackTimer;

int main() {
#ifdef LOGGING
  stdio_usb_init();
#endif

  // display init
  const struct st7789_config displayConfig = {
      .spi = PICO_DEFAULT_SPI_INSTANCE(),
      .gpio_din = PIN_LCD_SDA,
      .gpio_clk = PIN_LCD_SCL,
      .gpio_cs = PIN_LCD_CS,
      .gpio_dc = PIN_LCD_DATA_COMMAND,
      .gpio_rst = PIN_LCD_RESET,
      .gpio_bl = PIN_LCD_BACKLIGHT,
  };
  st7789_init(&displayConfig, LCD_WIDTH + LCD_OFFSET_X, LCD_HEIGHT + LCD_OFFSET_Y);

  // splash image (just for fun)
  const uint16_t *splashImage = (const uint16_t *)(XIP_NOCACHE_NOALLOC_NOTRANSLATE_BASE + 1581056);
  if (splashImage) {
    st7789_caset(LCD_OFFSET_X, LCD_OFFSET_X + 317);
    st7789_raset(LCD_OFFSET_Y, LCD_OFFSET_Y + 171);
    st7789_write(splashImage, 318 * 172 * sizeof(uint16_t));
  } else {
    rom_reset_usb_boot(0, 0);
  }
  sleep_ms(1000);

#ifdef LOGGING
  if (psram_is_available()) {
    printf("PSRAM available. detecting size... ");
    size_t psramSize = psram_detect_size();
    printf("%u\n", psramSize);
  }
#endif

  gpio_set_irq_callback(on_gpio_interrupt);

  // hall sensor (wheel only for now)
  adc_init();
  adc_gpio_init(42);
  adc_select_input(2);
  adc_set_round_robin(1 << 2);
  adc_set_clkdiv(3000.0f / 1.0f); // 16kHz for 1 sensor
  adc_fifo_setup(true, true, 1, false, false);

  // wheel sensor (with N-S alternating magnet arrangement)
  ss49e_init(&wheelSensorState, MAGNET_POLTYPE_BIPOLAR, on_wheel_hall_sensor_tick);

  // DMA for hall sensor
  adcDmaChannelA = dma_claim_unused_channel(true);
  adcDmaChannelB = dma_claim_unused_channel(true);

  dma_channel_config dmaCfg = dma_channel_get_default_config(adcDmaChannelA);
  channel_config_set_transfer_data_size(&dmaCfg, DMA_SIZE_16);
  channel_config_set_read_increment(&dmaCfg, false);
  channel_config_set_write_increment(&dmaCfg, true);
  channel_config_set_dreq(&dmaCfg, DREQ_ADC);
  channel_config_set_chain_to(&dmaCfg, adcDmaChannelB);
  dma_channel_configure(adcDmaChannelA, &dmaCfg, adcBufferA, &adc_hw->fifo, 1600, false);

  dmaCfg = dma_channel_get_default_config(adcDmaChannelB);
  channel_config_set_transfer_data_size(&dmaCfg, DMA_SIZE_16);
  channel_config_set_read_increment(&dmaCfg, false);
  channel_config_set_write_increment(&dmaCfg, true);
  channel_config_set_dreq(&dmaCfg, DREQ_ADC);
  channel_config_set_chain_to(&dmaCfg, adcDmaChannelA);
  dma_channel_configure(adcDmaChannelB, &dmaCfg, adcBufferB, &adc_hw->fifo, 1600, false);

  dma_channel_set_irq0_enabled(adcDmaChannelA, true);
  dma_channel_set_irq0_enabled(adcDmaChannelB, true);
  irq_set_exclusive_handler(DMA_IRQ_0, dma_irq_handler);
  irq_set_enabled(DMA_IRQ_0, true);

  adc_run(true);
  dma_channel_start(adcDmaChannelA);

  // on-board LED
  gpio_init(25);
  gpio_set_dir(25, true);

  // front buttons
  init_button_states();
  gpio_init_mask(0b1111 << 15);
  for (int pin = 15; pin <= 18; ++pin) {
    gpio_pull_up(pin);
    gpio_set_irq_enabled(pin, GPIO_IRQ_EDGE_RISE | GPIO_IRQ_EDGE_FALL, true);
  }

  irq_set_enabled(IO_IRQ_BANK0, 1);

  ds1302_init();

  // DateTime tmp = {26, 9, 9, 15, 10, 0, DOW_WED};
  // ds1302_set_datetime(&tmp);

  load_from_rtc();

  gpio_set_function(PIN_LCD_BACKLIGHT, GPIO_FUNC_PWM);
  pwm_set_wrap(BACKLIGHT_PWM_SLICE, 1024);
  pwm_set_chan_level(BACKLIGHT_PWM_SLICE, BACKLIGHT_PWM_CHANNEL, 1024);
  pwm_set_enabled(BACKLIGHT_PWM_SLICE, true);

  gpio_set_function(7, GPIO_FUNC_PWM);
  pwm_set_wrap(3, 256);
  pwm_set_chan_level(3, PWM_CHAN_B, 0);
  pwm_set_enabled(3, true);

  gui_init();

  absolute_time_t nextLcdUpdateTime = delayed_by_ms(get_absolute_time(), 50);
  absolute_time_t nextClockUpdateTime = get_absolute_time();
  absolute_time_t nextSaveToRtcTime = delayed_by_ms(get_absolute_time(), 10000);

  while (true) {
    absolute_time_t t = get_absolute_time();
    if (t >= nextClockUpdateTime) {
      nextClockUpdateTime = delayed_by_ms(t, 1000);
      ds1302_get_datetime(&currentDatetime);
      printf("time is %i %i %i %i %i %i %i\n", currentDatetime.year, currentDatetime.month, currentDatetime.day,
             currentDatetime.dow, currentDatetime.hour, currentDatetime.minute, currentDatetime.second);
    }
    if (t >= nextLcdUpdateTime) {
      nextLcdUpdateTime = delayed_by_ms(t, 50);
      update_lcd();
      if (gpio_get(PIN_BUTTON_0) == 0 && gpio_get(PIN_BUTTON_3) == 0) {
        rom_reset_usb_boot(0, 0);
      }
    }
    if (t >= nextSaveToRtcTime) {
      nextSaveToRtcTime = delayed_by_ms(t, 10000);
      save_to_rtc();
    }
    sleep_until(nextLcdUpdateTime);
  }

  return 0;
}

void on_gpio_interrupt(uint pin, uint32_t eventMask) {
  if (pin == PIN_BUTTON_0 || pin == PIN_BUTTON_1 || pin == PIN_BUTTON_2 || pin == PIN_BUTTON_3) {
    uint buttonIndex;
    switch (pin) {
    case PIN_BUTTON_0:
      buttonIndex = 0;
      break;
    case PIN_BUTTON_1:
      buttonIndex = 1;
      break;
    case PIN_BUTTON_2:
      buttonIndex = 2;
      break;
    case PIN_BUTTON_3:
      buttonIndex = 3;
    }
    struct PushButtonState *buttonState = &buttonStates[buttonIndex];
    if (buttonState->debounceAlarm != -1)
      cancel_alarm(buttonState->debounceAlarm);
    buttonState->debounceAlarm =
        add_alarm_in_us(BUTTON_DEBOUNCE_DELAY_us, button_debounce_callback, (void *)buttonIndex, false);
    gpio_acknowledge_irq(pin, eventMask);
  }
}

static void __not_in_flash_func(dma_irq_handler)() {
  if (dma_hw->ints0 & (1u << adcDmaChannelA)) {
    dma_hw->ints0 = 1u << adcDmaChannelA;
    for (uint i = 0; i < 1600; ++i)
      ss49e_process_sample(&wheelSensorState, adcBufferA[i]);
    float sum = 0.0f, max = 0.0f, min = 9999.0f;
    for (uint i = 0; i < 1600; ++i) {
      sum += adcBufferA[i];
      if (adcBufferA[i] > max)
        max = adcBufferA[i];
      if (adcBufferA[i] < min)
        min = adcBufferA[i];
    }
    sum /= 1600;
    printf("%f ~ %f ~ %f\n", min, sum, max);
    dma_channel_set_write_addr(adcDmaChannelA, adcBufferA, false);
    dma_channel_set_trans_count(adcDmaChannelA, 1600, false);

    sum = 0;
    for (int i = 0; i < 16; ++i) {
      sum += intervalWheelTicks[i];
    }
    currentInterval = (currentInterval + 1) % 16;
    intervalWheelTicks[currentInterval] = 0;
    ticksPerWindow = sum;
  }
  if (dma_hw->ints0 & (1u << adcDmaChannelB)) {
    dma_hw->ints0 = 1u << adcDmaChannelB;
    for (uint i = 0; i < 1600; ++i)
      ss49e_process_sample(&wheelSensorState, adcBufferB[i]);
    float sum = 0.0f, max = 0.0f, min = 9999.0f;
    for (uint i = 0; i < 1600; ++i) {
      sum += adcBufferB[i];
      if (adcBufferB[i] > max)
        max = adcBufferB[i];
      if (adcBufferB[i] < min)
        min = adcBufferB[i];
    }
    sum /= 1600;
    printf("%f ~ %f ~ %f\n", min, sum, max);
    dma_channel_set_write_addr(adcDmaChannelB, adcBufferB, false);
    dma_channel_set_trans_count(adcDmaChannelB, 1600, false);

    sum = 0;
    for (int i = 0; i < 16; ++i) {
      sum += intervalWheelTicks[i];
    }
    currentInterval = (currentInterval + 1) % 16;
    intervalWheelTicks[currentInterval] = 0;
    ticksPerWindow = sum;
  }
}

int64_t button_debounce_callback(alarm_id_t alarmId, void *userData) {
  (void)alarmId;
  uint buttonIndex = (uint)userData;
  struct PushButtonState *buttonState = &buttonStates[buttonIndex];
  bool currentState = !gpio_get(FRONT_BUTTON_PINS[buttonIndex]);
  if (currentState != buttonState->prevState) {
    buttonState->prevState = currentState;
    if (buttonState->holdAlarm != -1) {
      cancel_alarm(buttonState->holdAlarm);
    }
    if (currentState == 1) {
      buttonState->holdAlarm = add_alarm_in_ms(BUTTON_HOLD_TIME_ms, button_hold_callback, (void *)buttonIndex, false);
    } else {
      buttonState->holdAlarm = -1;
      if (!(heldButtons & (1 << buttonIndex)))
        on_button_input(buttonIndex, BUTTON_SHORT_PRESS, heldButtons);
      else
        heldButtons &= ~(1 << buttonIndex);
    }
  }
  return 0;
}

int64_t button_hold_callback(alarm_id_t alarmId, void *userData) {
  (void)alarmId;
  uint buttonIndex = (uint)userData;
  struct PushButtonState *buttonState = &buttonStates[buttonIndex];
  buttonState->holdAlarm = -1;
  heldButtons |= 1 << buttonIndex;
  on_button_input(buttonIndex, BUTTON_LONG_PRESS, heldButtons);
  return 0;
}

void on_wheel_hall_sensor_tick() {
  ++intervalWheelTicks[currentInterval];
  ++totalWheelTicks;
  ++wheelTicksFromPowerOn;
  printf("\t\t\tTICK\7\n");
}

void init_button_states() {
  for (int i = 0; i < 4; ++i) {
    buttonStates[i].debounceAlarm = -100;
    buttonStates[i].holdAlarm = -1;
    buttonStates[i].currentState = 0;
    buttonStates[i].prevState = 0;
  }
  heldButtons = 0;
}

void reset() {
  pwm_set_chan_level(BACKLIGHT_PWM_SLICE, BACKLIGHT_PWM_CHANNEL, 0); // turn off the screen
  (*((volatile uint32_t *)(PPB_BASE + 0x0ED0C))) = 0x5FA0004;        // weird trick to actually reset the controller
}

void save_to_rtc() {
  printf("saving distance to RTC... ");
  static bool savedBefore = false;
  static uint savedDistance;
  uint8_t buffer[31];
  memset(buffer, 0, 31);
  uint newDistance = totalWheelTicks * cmPerTick / 10;
  if (savedBefore && newDistance == savedDistance) {
    printf("skipped saving\n");
    return;
  }

  *(uint *)(buffer + 0) = newDistance;

  uint16_t checksum = 0;
  for (int i = 0; i < 29; ++i) {
    checksum += buffer[i];
  }
  *(uint16_t *)(buffer + 29) = checksum;

  uint8_t checkBuffer[31];
  int limit = 10;
  do {
    printf("\nattempting to write...\n");
    ds1302_set_write_protection(0);
    ds1302_write_ram_bulk(buffer, 31);
    for (int i = 0; i < 30; ++i)
      printf("%02x ", buffer[i]);
    printf("%02x\n", buffer[30]);
    ds1302_read_ram_bulk(checkBuffer, 31);
    printf("attempting to read back...\n");
    for (int i = 0; i < 30; ++i)
      printf("%02x ", checkBuffer[i]);
    printf("%02x\n", checkBuffer[30]);
    if (limit-- == 0)
      break;
  } while (memcmp(buffer, checkBuffer, 31) != 0);

#ifdef LOGGING
  for (int i = 0; i < 30; ++i)
    printf("%02x ", buffer[i]);
  printf("%02x\n", buffer[30]);
#endif

  savedDistance = newDistance;
  savedBefore = true;
#ifdef LOGGING
  printf("saved\n");
#endif
}

bool load_from_rtc() {
  uint8_t buffer[31];
  ds1302_read_ram_bulk(buffer, 31);

#ifdef LOGGING
  for (int i = 0; i < 30; ++i)
    printf("%02x ", buffer[i]);
  printf("%02x\n", buffer[30]);
#endif

  uint16_t checksum = *(uint16_t *)(buffer + 29);
  uint16_t actualChecksum = 0;
  for (int i = 0; i < 29; ++i) {
    actualChecksum += buffer[i];
  }
  if (actualChecksum != checksum) {
#ifdef LOGGING
    printf("discarding invalid data in RTC memory\n");
#endif
    return false;
  }

  uint savedDistance = *(uint *)(buffer + 0);
  totalWheelTicks = savedDistance * 10 / cmPerTick;
#ifdef LOGGING
  printf("successfully loaded data from RTC memory\n");
#endif
  return true;
}