spi branch

Author: RobertJN64

src/main.cpp

@@ -8,30 +8,138 @@
 #include "gimbal_servos.h"
 #include <Arduino.h>
 
+// TODO - this should be included - don't know why I had to write it manually
+void SystemClock_Config(void) {
+  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
+  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
+
+  /** Supply configuration update enable
+   */
+  HAL_PWREx_ConfigSupply(PWR_DIRECT_SMPS_SUPPLY);
+
+  /** Configure the main internal regulator output voltage
+   */
+  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE3);
+
+  while (!__HAL_PWR_GET_FLAG(PWR_FLAG_VOSRDY)) {
+  }
+
+  /** Initializes the RCC Oscillators according to the specified parameters
+   * in the RCC_OscInitTypeDef structure.
+   */
+  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
+  RCC_OscInitStruct.HSIState = RCC_HSI_DIV1;
+  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
+  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
+  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
+  RCC_OscInitStruct.PLL.PLLM = 4;
+  RCC_OscInitStruct.PLL.PLLN = 24;
+  RCC_OscInitStruct.PLL.PLLP = 2;
+  RCC_OscInitStruct.PLL.PLLQ = 15;
+  RCC_OscInitStruct.PLL.PLLR = 2;
+  RCC_OscInitStruct.PLL.PLLRGE = RCC_PLL1VCIRANGE_3;
+  RCC_OscInitStruct.PLL.PLLVCOSEL = RCC_PLL1VCOWIDE;
+  RCC_OscInitStruct.PLL.PLLFRACN = 0;
+  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
+    Error_Handler();
+  }
+
+  /** Initializes the CPU, AHB and APB buses clocks
+   */
+  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2 | RCC_CLOCKTYPE_D3PCLK1 | RCC_CLOCKTYPE_D1PCLK1;
+  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
+  RCC_ClkInitStruct.SYSCLKDivider = RCC_SYSCLK_DIV1;
+  RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV2;
+  RCC_ClkInitStruct.APB3CLKDivider = RCC_APB3_DIV2;
+  RCC_ClkInitStruct.APB1CLKDivider = RCC_APB1_DIV2;
+  RCC_ClkInitStruct.APB2CLKDivider = RCC_APB2_DIV2;
+  RCC_ClkInitStruct.APB4CLKDivider = RCC_APB4_DIV2;
+
+  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK) {
+    Error_Handler();
+  }
+
+  RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
+
+  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_SPI123;
+  PeriphClkInit.Spi123ClockSelection = RCC_SPI123CLKSOURCE_PLL;
+
+  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) {
+    Error_Handler();
+  }
+}
+
 void ping(const char *args) {
   Router::println("pong");
   Router::print("args: ");
   Router::println(args == nullptr ? "null" : args);
 }
 
 void setup() {
+  // pulse the debug LED at boot
+  pinMode(PA7, OUTPUT);
+  digitalWrite(PA7, HIGH);
+  delay(1000);
+  digitalWrite(PA7, LOW);
+  delay(1000);
+
+  pinMode(PC3_C, OUTPUT);
+  digitalWrite(PC3_C, HIGH);
+  delay(1);
+  digitalWrite(PC3_C, LOW);
+  delay(1);
+
   delay(3000);
   SPI.begin(); // spi is a shared interface, so we always begin here
-  Router::begin();
-  Router::println("Controller started.");
-
-  Prop::begin();
-  Mag::begin();
-  GPS::begin();
-  IMU::begin();
-  GimbalServos::begin();
-  TrajectoryLoader::begin();
-  TrajectoryFollower::begin();
-
-  Router::add({ping, "ping"}); // example registration
-  Router::add({Router::print_all_cmds, "help"});
+
+#define SCK PB10
+#define MOSI PC3_C
+#define MISO PC2_C
+#define CS PB6 // Replace with your actual CS pin
+
+  SPIClass my_spi(MOSI, MISO, SCK);
+  pinMode(CS, OUTPUT);
+  digitalWrite(CS, HIGH); // Idle high
+
+  my_spi.begin();
+  // my_spi.setHwCs(false);         // Software CS
+  // my_spi.setClockDivider(SPI_CLOCK_DIV64); // Adjust divider for your device
+  // my_spi.setDataMode(SPI_MODE0);           // CPOL=1, CPHA=1
+
+  uint8_t tx[2];
+  uint8_t rx[2];
+
+  /* WHO_AM_I register read */
+  tx[0] = 0x75 | 0x80; // Read bit set
+  tx[1] = 0x00;        // Dummy byte
+
+  digitalWrite(CS, LOW); // Start transaction
+  SPISettings ss = SPISettings();
+  my_spi.beginTransaction(ss);
+  my_spi.transfer(tx, rx, 2);
+  my_spi.endTransaction();
+  digitalWrite(CS, HIGH); // End transaction
+
+  volatile uint8_t who_am_id = rx[1];
+
+  delay(10);
+  delay(10);
+
+  // Router::begin();
+  // Router::println("Controller started.");
+
+  // Prop::begin();
+  // Mag::begin();
+  // GPS::begin();
+  // IMU::begin();
+  // GimbalServos::begin();
+  // TrajectoryLoader::begin();
+  // TrajectoryFollower::begin();
+
+  // Router::add({ping, "ping"}); // example registration
+  // Router::add({Router::print_all_cmds, "help"});
 }
 
 void loop() {
-  Router::run(); // loop only runs once, since there is an internal loop in Router::run()
+  // Router::run(); // loop only runs once, since there is an internal loop in Router::run()
 }