*

Embedded/F7Usb/main.cpp

@@ -0,0 +1,196 @@
+#include <Device/UsbDBulkInterface.h>
+#include <FreeRTOS.h>
+#include <task.h>
+#include <stm32f7xx_hal.h>
+#include <main.h>
+
+#include <LFramework/Debug.h>
+#include <LFramework/IO/Terminal/TerminalAnsi.h>
+#include <LFramework/Threading/Thread.h>
+#include <cstring>
+#include <usart.h>
+#include <tim.h>
+
+#include <Usb/Usb.h>
+
+#include <LFramework/DeviceNetwork/Node.h>
+#include <LFramework/DeviceNetwork/Device/UsbTransmitter.h>
+#include <LFramework/DeviceNetwork/TaskManager.h>
+
+using namespace LFramework;
+using namespace LFramework::DeviceNetwork;
+
+
+class TestTask : public LFramework::DeviceNetwork::Task {
+public:
+	bool packet(PacketHeader header, const void* data) override {
+		lfDebug() << "Task packet receive: " << header.id << ":" << header.size;
+		return true;
+	}
+
+	void run(ITaskContext* context) override {
+		lfDebug() << "Task started";
+		MaxPacket packet;
+		packet.header.id = 7;
+		packet.header.size = 3;
+		packet.payload[0] = 0;
+		packet.payload[1] = 0;
+		packet.payload[2] = 0;
+		while(!context->isExitRequested()){
+			context->readPackets();
+			bool writeResult = context->packet(packet.header, packet.payload.data());
+			//lfDebug() << "Task packet write: " << (writeResult ? "OK" : "FAIL");
+			Threading::ThisThread::sleepForMs(10);
+		}
+		lfDebug() << "Task stopped";
+	}
+};
+
+
+class TestTaskManager : public LFramework::DeviceNetwork::TaskManager {
+public:
+	Task* createTask() {
+		return new TestTask();
+	}
+	void deleteTask(Task* task) {
+		delete task;
+	}
+};
+
+#define MOTOR_DSHOT1200_MHZ 24
+#define MOTOR_DSHOT600_MHZ 12
+#define MOTOR_DSHOT300_MHZ 6
+#define MOTOR_DSHOT150_MHZ 3
+#define MOTOR_BIT_0     7
+#define MOTOR_BIT_1     14
+#define MOTOR_BITLENGTH 20
+
+#define MOTOR_DMA_BUFFER_SIZE 17
+
+uint32_t dmaBuffer[MOTOR_DMA_BUFFER_SIZE];
+
+static bool dmaRunning = false;
+
+void motorSetSpeed(std::uint16_t value, bool requestTelemetry = false){
+	//cap value
+	if(value > 2047){
+		value = 2047;
+	}
+
+	//add request telemetry bit
+	value = (value << 1) | (requestTelemetry ? 1 : 0);
+
+
+	bool useDshotTelemetry = false;  //WTF?
+
+	// compute checksum
+	uint16_t csum = 0;
+	uint16_t csum_data = value;
+	for (int i = 0; i < 3; i++) {
+		csum ^=  csum_data;
+		csum_data >>= 4;
+	}
+
+	if (useDshotTelemetry) {
+		csum = ~csum;
+	}
+
+	//append checksum
+	value = (value << 4) | (csum & 0x0f);
+
+	//fill PWM DMA buffer
+	for(int i = 0; i < 16; ++i){
+		dmaBuffer[i] = (value & (0x8000 >> i)) ? MOTOR_BIT_1 : MOTOR_BIT_0;
+	}
+
+	//Set additional (tail) value to zero to make sure that gap between packets is at zero level
+	dmaBuffer[16] = 0;
+
+	//Start timer DMA
+    dmaRunning = true;
+    if(HAL_TIM_PWM_Start_DMA(&htim5, TIM_CHANNEL_2, dmaBuffer, MOTOR_DMA_BUFFER_SIZE) != HAL_OK){
+    	lfDebug() << "Failed to start timer DMA";
+    }
+
+    //Wait DMA complete
+    while(dmaRunning){
+		asm("nop");
+	}
+}
+
+
+
+extern "C" void HAL_TIM_PWM_PulseFinishedCallback(TIM_HandleTypeDef *htim) {
+	//HAL_TIM_PWM_Stop_DMA(&htim5, TIM_CHANNEL_2);
+	  __HAL_TIM_DISABLE_DMA(htim, TIM_DMA_CC2);
+	  (void)HAL_DMA_Abort_IT(htim->hdma[TIM_DMA_ID_CC2]);
+
+	//lfDebug() << "S";
+	dmaRunning = false;
+}
+
+
+
+
+std::uint16_t speedValues[] {
+	48,
+	100,
+	300
+};
+
+
+int speedsCount = std::extent_v<decltype(speedValues)>;
+int currentSpeedId =0;
+
+
+
+extern"C" void StartDefaultTask(void const * argument){
+	Terminal::out << Terminal::Ansi::Cursor::MoveHome() << Terminal::Ansi::Viewport::ClearScreen();
+	Debug::Log() << "Hello!";
+
+
+	bool buttonState = false;
+
+	int id = 0;
+
+
+	for(int i = 0; i < 2500; ++i){
+		motorSetSpeed(0);
+		Threading::ThisThread::sleepForMs(1);
+	}
+	//lfDebug() << "Armed";
+
+
+	lfDebug() << "Cycle running...";
+	for(;;){
+
+		motorSetSpeed(speedValues[currentSpeedId]);
+		Threading::ThisThread::sleepForMs(1);
+		HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin);
+
+		if(id % 100 == 0){
+			bool newButtonState = HAL_GPIO_ReadPin(Button_GPIO_Port, Button_Pin) == GPIO_PIN_SET;
+
+			if(!buttonState && newButtonState){
+				//lfDebug() << "Button pressed";
+
+				currentSpeedId = (currentSpeedId + 1) % speedsCount;
+
+				auto speed = speedValues[currentSpeedId];
+				lfDebug() << "New speed: " << speed;
+
+			}
+			buttonState = newButtonState;
+
+		}
+	}
+}
+
+extern "C" void vApplicationStackOverflowHook(xTaskHandle xTask, signed char *pcTaskName){
+	Debug::Log() << "Stack overflow in task " << (const char*)pcTaskName;
+	for(;;);
+}
+extern "C" void vApplicationMallocFailedHook(void){
+	Debug::Log() << "Malloc failed";
+	for(;;);
+}