File content as of revision 8:f0455a1d4709:

/**
 * Harware setup is implemented in this file
 */

#include "telescope_hardware.h"
#include "AMIS30543StepperDriver.h"
#include "AdaptiveAxis.h"
#include "EquatorialMount.h"
#include "RTCClockHR.h"
#include "SDBlockDevice.h"
#include "FATFileSystem.h"
#include "TelescopeConfiguration.h"
#include "EqMountServer.h"
#include "MCULoadMeasurement.h"
#include "USBSerial.h"

/**
 * Right-Ascenstion Axis
 */
SPI ra_spi(PC_12, PC_11, PB_3_ALT0);
AMIS30543StepperDriver *ra_stepper;

/**
 * Declination Axis
 */
SPI dec_spi(PE_6, PE_5, PE_2);
AMIS30543StepperDriver *dec_stepper;

/**
 * Clock & Location object
 */
RTCClockHR clk;
LocationProvider location;



/**
 * SD card reader hardware configuration
 */
SDBlockDevice sd(PA_7, PB_4, PA_5, PC_13);
FATFileSystem fs("sdcard");

const char *config_file_path = "/sdcard/telescope.cfg";
const char *config_saved_file_path = "/sdcard/telescope_saved.cfg";
AdaptiveAxis *ra_axis = NULL;
AdaptiveAxis *dec_axis = NULL;
EquatorialMount *eq_mount = NULL;

static void add_sys_commands();

EquatorialMount &telescopeHardwareInit()
{
	// Read configuration
	printf("Mounting SD card...\n");
	if (fs.mount(&sd) != 0)
	{
		debug(
				"Error: failed to mount SD card. Falling back to default configuration.\n");
	}
	else
	{
		// First check saved file
		const char *file = config_saved_file_path;
		FILE *fp = fopen(file, "r");
		if (fp == NULL)
		{
			// Then check original file
			file = config_file_path;
			fp = fopen(file, "r");
			if (fp == NULL)
			{
				debug("Error: config file not found.\n", config_file_path);
			}
		}

		if (fp)
		{
			printf("Reading configuration file %s\n", file);
			TelescopeConfiguration::readFromFile(fp);
			fclose(fp);
		}
	}

	// Object re-initialization
	if (ra_axis != NULL)
	{
		delete ra_axis;
	}
	if (dec_axis != NULL)
	{
		delete dec_axis;
	}
	if (eq_mount != NULL)
	{
		delete eq_mount;
	}
	if (ra_stepper != NULL)
	{
		delete ra_stepper;
	}
	if (dec_stepper != NULL)
	{
		delete dec_stepper;
	}

	double stepsPerDeg = TelescopeConfiguration::getDouble("motor_steps")
			* TelescopeConfiguration::getDouble("gear_reduction")
			* TelescopeConfiguration::getDouble("worm_teeth") / 360.0;

	ra_stepper = new AMIS30543StepperDriver(&ra_spi, PE_3, PB_7, NC, NC,
			TelescopeConfiguration::getBool("ra_invert"));
	dec_stepper = new AMIS30543StepperDriver(&dec_spi, PE_4, PC_8, NC, NC,
			TelescopeConfiguration::getBool("dec_invert"));
	ra_axis = new AdaptiveAxis(stepsPerDeg, ra_stepper, "RA_Axis");
	dec_axis = new AdaptiveAxis(stepsPerDeg, dec_stepper, "DEC_Axis");
	eq_mount = new EquatorialMount(*ra_axis, *dec_axis, clk, location);

	printf("Telescope initialized\n");

	return (*eq_mount); // Return reference to eq_mount
}

/* Serial connection */
UARTSerial *console;
EqMountServer *server_serial;

/* USB connection */
EqMountServer *server_usb;

bool serverInitialized = false;

osStatus telescopeServerInit()
{
	if (eq_mount == NULL)
		return osErrorResource;
	if (!serverInitialized)
	{
		// Only run once
		serverInitialized = true;
		add_sys_commands();
	}

	if (!console)
	{
		console = new UARTSerial(USBTX, USBRX,
				TelescopeConfiguration::getInt("serial_baud"));
		server_serial = new EqMountServer(*console, false);
	}
	server_serial->bind(*eq_mount);

	if (!server_usb)
	{
		server_usb = new EqMountServer(USBSerial::getInstance(), false);
	}
	server_usb->bind(*eq_mount);

	return osOK;
}

static int eqmount_sys(EqMountServer *server, const char *cmd, int argn,
		char *argv[])
{
	const int THD_MAX = 32;
	osThreadId thdlist[THD_MAX];
	int nt = osThreadEnumerate(thdlist, THD_MAX);

	stprintf(server->getStream(), "Thread list: \r\n");
	for (int i = 0; i < nt; i++)
	{
		osThreadState_t state = osThreadGetState(thdlist[i]);
		const char *s = "";
		const char *n;
		osPriority_t prio = osThreadGetPriority(thdlist[i]);

		if (prio == osPriorityIdle)
		{
			n = "Idle thread";
		}
		else
		{
			n = osThreadGetName(thdlist[i]);
			if (n == NULL)
				n = "System thread";
		}

		switch (state)
		{
		case osThreadInactive:
			s = "Inactive";
			break;
		case osThreadReady:
			s = "Ready";
			break;
		case osThreadRunning:
			s = "Running";
			break;
		case osThreadBlocked:
			s = "Blocked";
			break;
		case osThreadTerminated:
			s = "Terminated";
			break;
		case osThreadError:
			s = "Error";
			break;
		default:
			s = "Unknown";
			break;
		}
		stprintf(server->getStream(), " - %10s 0x%08x %3d %s \r\n", s,
				(uint32_t) thdlist[i], (int) prio, n);
	}

	stprintf(server->getStream(), "\r\nRecent CPU usage: %.1f%%\r\n",
			MCULoadMeasurement::getInstance().getCPUUsage() * 100);
	return 0;
}

static int eqmount_systime(EqMountServer *server, const char *cmd, int argn,
		char *argv[])
{
	char buf[32];
	time_t t = time(NULL);
	
	core_util_critical_section_enter();
	char *ibuf = ctime(&t);
	strncpy(buf, ibuf, sizeof(buf));
	core_util_critical_section_exit();
	
	stprintf(server->getStream(), "Current UTC time: %s\r\n", buf);

	return 0;
}

static int eqmount_reboot(EqMountServer *server, const char *cmd, int argn,
		char *argv[])
{
	NVIC_SystemReset();
	return 0;
}

static int eqmount_save(EqMountServer *server, const char *cmd, int argn,
		char *argv[])
{
	if (argn == 0)
	{
		FILE *fp = fopen(config_saved_file_path, "w");
		if (fp)
		{
			TelescopeConfiguration::writeToFile(fp);
			fclose(fp);
		}
		else
		{
			debug("Failed to write to file %s\n", config_saved_file_path);
			return -1;
		}
	}
	else if (argn == 1 && strcmp(argv[0], "delete") == 0)
	{
		// Delete save file
		if (remove(config_saved_file_path) != 0)
		{
			debug("Failed to delete file %s\n", config_saved_file_path);
			return -1;
		}
	}
	return 0;
}

static void add_sys_commands()
{
	EqMountServer::addCommand(
			ServerCommand("sys", "Print system information", eqmount_sys));
	EqMountServer::addCommand(
			ServerCommand("systime", "Print system time", eqmount_systime));
	EqMountServer::addCommand(
			ServerCommand("reboot", "Reboot the system", eqmount_reboot));
	EqMountServer::addCommand(
			ServerCommand("save", "Save configuration file", eqmount_save));
}