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4240d211a592d83709672a6c5da91525d16ef698
modular-kbd/firmware/67percent/Core/Src/main.c
Soothsayerrr 4240d211a5 SQUIRT
2025-12-03 13:36:59 -08:00

618 lines
18 KiB
C
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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2025 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "dma.h"
#include "i2c.h"
#include "tim.h"
#include "usart.h"
#include "usb_device.h"
#include "gpio.h"
#include <stdbool.h>
#include "pwm.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "usbd_hid.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
typedef struct {
uint8_t MODIFIER; // Modifier keys (Ctrl, Shift, Alt, Win)
uint8_t RESERVED; // Always 0
uint8_t KEYPRESS[12]; // Up to 12 keycodes
} __attribute__((packed)) HIDReport;
// Switch pin mapping structure
typedef struct {
GPIO_TypeDef* GPIOx; // Pointer to GPIO port (e.g., GPIOA, GPIOB)
uint16_t PIN; // Pin number on the GPIO port
} SwitchPins;
// UART message structure for sending/receiving key events
typedef struct {
uint16_t DEPTH; // Custom field: could represent queue depth, layer, or message size
uint16_t TYPE; // Message type identifier (defines what kind of message this is)
uint8_t KEYPRESS[12]; // Keypress data (similar to HIDReport, but for UART transmission)
} __attribute__((packed)) UARTMessage;
#define PACKET_SIZE 12
#define QUEUE_CAPACITY 32
typedef struct {
uint8_t data[QUEUE_CAPACITY][PACKET_SIZE];
volatile uint8_t head; // accessed in main
volatile uint8_t tail; // accessed in ISR
volatile uint8_t count; // optional, only if needed
} PacketQueue;
// Initialize
void pq_init(PacketQueue *q){
q->head = 0;
q->tail = 0;
q->count = 0;
}
// Called from ISR
bool pq_push(PacketQueue *q, const uint8_t packet[PACKET_SIZE]){
uint8_t nextTail = (q->tail + 1) % QUEUE_CAPACITY;
if(nextTail == q->head) return false; // queue full
memcpy(q->data[q->tail], packet, PACKET_SIZE);
q->tail = nextTail;
return true;
}
// Called from main
bool pq_pop(PacketQueue *q, uint8_t out_packet[PACKET_SIZE]){
if(q->head == q->tail) return false; // queue empty
memcpy(out_packet, q->data[q->head], PACKET_SIZE);
q->head = (q->head + 1) % QUEUE_CAPACITY;
return true;
}
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
#define ROW 5
#define COL 15
#define MAXQUEUE 256
#define MODE_INACTIVE 0
#define MODE_MAINBOARD 1
#define MODE_ACTIVE 2
#define MODE_DEBUG 3
#define UART_RX_BUFF_SIZE 64
#define QUEUE_SIZ 8
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
// Initialize HID report properly
HIDReport REPORT = {0, 0, {0}};
UARTMessage RX5Msg; //Buffer for messages on uart5
UARTMessage RX1Msg; //Buffer for messages on uart5
UARTMessage RX2Msg; //Buffer for messages on uart5
UARTMessage RX4Msg; //Buffer for messages on uart5
SwitchPins ROW_PINS[ROW] = {
{GPIOB, GPIO_PIN_10},
{GPIOB, GPIO_PIN_2},
{GPIOB, GPIO_PIN_1},
{GPIOB, GPIO_PIN_0},
{GPIOC, GPIO_PIN_5},
};
SwitchPins COLUMN_PINS[COL] = {
{GPIOB, GPIO_PIN_13},
{GPIOB, GPIO_PIN_14},
{GPIOB, GPIO_PIN_15},
{GPIOC, GPIO_PIN_6},
{GPIOC, GPIO_PIN_7},
{GPIOC, GPIO_PIN_8},
{GPIOC, GPIO_PIN_9},
{GPIOA, GPIO_PIN_8}
};
// Initialize keycodes array
uint8_t KEYCODES[ROW][COL] = {
{ KEY_ESC, KEY_1, KEY_2, KEY_3, KEY_4, KEY_5, KEY_6, KEY_7, KEY_8, KEY_9, KEY_0, KEY_MINUS, KEY_EQUAL, KEY_BACKSPACE, KEY_HOME },
{ KEY_TAB, KEY_Q, KEY_W, KEY_E, KEY_R, KEY_T, KEY_Y, KEY_U, KEY_I, KEY_O, KEY_P, KEY_LEFT_BRACKET, KEY_RIGHT_BRACKET, KEY_BACKSLASH, KEY_INSERT },
{ KEY_CAPS_LOCK, KEY_A, KEY_S, KEY_D, KEY_F, KEY_G, KEY_H, KEY_J, KEY_K, KEY_L, KEY_SEMICOLON, KEY_APOSTROPHE, KEY_ENTER, KEY_PAGE_UP, 0X00 },
{ KEY_LEFT_SHIFT, KEY_Z, KEY_X, KEY_C, KEY_V, KEY_B, KEY_N, KEY_M, KEY_COMMA, KEY_PERIOD, KEY_SLASH, KEY_RIGHT_SHIFT, KEY_UP_ARROW, KEY_END, 0x00 },
{KEY_LEFT_CTRL, 0X00, KEY_LEFT_ALT, KEY_SPACE, KEY_RIGHT_ALT, 0X00, KEY_RIGHT_CTRL, KEY_LEFT_ARROW, KEY_DOWN_ARROW, KEY_RIGHT_ARROW, 0x00, 0x00, 0x00, 0x00, 0x00}
};
uint16_t DEPTH = 0;
uint16_t PORT_DEPTH[] = {0xFF, 0xFF, 0xFF, 0xFF};
UART_HandleTypeDef* PARENT;
UART_HandleTypeDef* PORTS[] = {&huart5, &huart1, &huart2, &huart4};
uint8_t KEYSTATE_CHANGED_FLAG = 0;
uint8_t KEYSTATE[ROW][COL];
//North East South West
UARTMessage reportBuff;
extern USBD_HandleTypeDef hUsbDeviceFS;
volatile uint8_t MODE = MODE_INACTIVE;
UARTMessage uartBuffer;
volatile int uartUpdateFlag = 0;
// Encoder state (TIM3 in encoder mode on PA6/PA7)
volatile int32_t LAST_ENCODER_COUNT = 0;
uint8_t UART_KEYSTATE[4][12];
PacketQueue huart1q;
PacketQueue huart2q;
PacketQueue huart4q;
PacketQueue huart5q;
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
void handleUARTMessages(uint8_t *data, UART_HandleTypeDef *huart);
void UART_DMA_SendReport(UART_HandleTypeDef *huart);
void addUSBReport(uint8_t usageID);
void handleUARTMessages(uint8_t *data, UART_HandleTypeDef *sender);
void matrixScan(void);
void encoderProcess(void);
void resetReport(void);
void sendMessage(void);
void findBestParent();
void mergeChild();
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();MX_PWM_Init();
MX_TIM2_Init();
MX_TIM3_Init();
MX_UART4_Init();
MX_UART5_Init();
MX_USART1_UART_Init();
MX_USART2_UART_Init();
MX_I2C1_Init();
MX_USB_DEVICE_Init();
MX_PWM_Init();
/* USER CODE BEGIN 2 */
//Enable UART RX DMA for all ports
HAL_UART_Receive_DMA(&huart1, (uint8_t*)&RX1Msg, sizeof(UARTMessage));
HAL_UART_Receive_DMA(&huart2, (uint8_t*)&RX2Msg, sizeof(UARTMessage));
HAL_UART_Receive_DMA(&huart4, (uint8_t*)&RX4Msg, sizeof(UARTMessage));
HAL_UART_Receive_DMA(&huart5, (uint8_t*)&RX5Msg, sizeof(UARTMessage));
// Start TIM3 encoder (PA6/PA7) so we can read encoder delta
HAL_TIM_Encoder_Start(&htim3, TIM_CHANNEL_ALL);
LAST_ENCODER_COUNT = __HAL_TIM_GET_COUNTER(&htim3);
//Prealloc Kestate matrix
memset(KEYSTATE, 0, sizeof(KEYSTATE));
pq_init(&huart1q);
pq_init(&huart2q);
pq_init(&huart4q);
pq_init(&huart5q);
PWM_Start();
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
__HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_1, 67);
switch (MODE){
case MODE_ACTIVE:
KEYSTATE_CHANGED_FLAG = 1;
resetReport();
matrixScan();
mergeChild();
encoderProcess();
if(KEYSTATE_CHANGED_FLAG == 1){
UARTMessage UARTREPORT;
UARTREPORT.DEPTH = DEPTH;
UARTREPORT.TYPE = 0xEE;
memcpy(UARTREPORT.KEYPRESS, REPORT.KEYPRESS, sizeof(UARTREPORT.KEYPRESS));
HAL_UART_Transmit_DMA(PARENT, (uint8_t*)&UARTREPORT, sizeof(UARTREPORT));
}
break;
case MODE_INACTIVE:
//If the module is connected through the USB then mode is mainboard
if(hUsbDeviceFS.dev_state == USBD_STATE_CONFIGURED){
MODE = MODE_MAINBOARD;
DEPTH = 0;
}else{
//TODO: Look for a parent module...
UARTMessage REQ;
REQ.DEPTH = 0;
REQ.TYPE = 0xFF; //Message code for request is 0xFF
memset(REQ.KEYPRESS, 0, sizeof(REQ.KEYPRESS));
//Send query' for parent module
HAL_UART_Transmit_DMA(&huart1, (uint8_t*)&REQ, sizeof(REQ));
HAL_UART_Transmit_DMA(&huart2, (uint8_t*)&REQ, sizeof(REQ));
HAL_UART_Transmit_DMA(&huart4, (uint8_t*)&REQ, sizeof(REQ));
HAL_UART_Transmit_DMA(&huart5, (uint8_t*)&REQ, sizeof(REQ));
HAL_Delay(500);
findBestParent(); //So true...
}
break;
case MODE_MAINBOARD:
resetReport();
matrixScan();//Something related to this making the key stick. Likely due to race conditions
mergeChild();
encoderProcess();
USBD_HID_SendReport(&hUsbDeviceFS, (uint8_t*)&REPORT, sizeof(REPORT));
break;
default:
break;
}
HAL_Delay(20);
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
void mergeChild(){
uint8_t packet[12];
if (pq_pop(&huart1q, packet)) {
memcpy(UART_KEYSTATE[1], packet, 12);
KEYSTATE_CHANGED_FLAG = 1;
}
if (pq_pop(&huart2q, packet)) {
memcpy(UART_KEYSTATE[2], packet, 12);
KEYSTATE_CHANGED_FLAG = 1;
}
if (pq_pop(&huart4q, packet)) {
memcpy(UART_KEYSTATE[3], packet, 12);
KEYSTATE_CHANGED_FLAG = 1;
}
if (pq_pop(&huart5q, packet)) {
memcpy(UART_KEYSTATE[0], packet, 12);
KEYSTATE_CHANGED_FLAG = 1;
}
for(int i = 0; i < 4; i++){
for(int j = 0; j < 12; j++){
REPORT.KEYPRESS[j] |= UART_KEYSTATE[i][j];
}
}
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/** Configure the main internal regulator out put voltage
*/
__HAL_RCC_PWR_CLK_ENABLE();
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE3);
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLM = 4;
RCC_OscInitStruct.PLL.PLLN = 96;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
RCC_OscInitStruct.PLL.PLLQ = 4;
RCC_OscInitStruct.PLL.PLLR = 2;
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_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV2;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1) != HAL_OK)
{
Error_Handler();
}
}
/* USER CODE BEGIN 4 */
// UART Message Requests Goes Here
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) {
if (huart->Instance == USART1) {
handleUARTMessages((uint8_t*)&RX1Msg, &huart1);
HAL_UART_Receive_DMA(&huart1, (uint8_t*)&RX1Msg, sizeof(UARTMessage));
}
else if (huart->Instance == USART2) {
handleUARTMessages((uint8_t*)&RX2Msg, &huart2);
HAL_UART_Receive_DMA(&huart2, (uint8_t*)&RX2Msg, sizeof(UARTMessage));
}
else if (huart->Instance == UART4) {
handleUARTMessages((uint8_t*)&RX4Msg, &huart4);
HAL_UART_Receive_DMA(&huart4, (uint8_t*)&RX4Msg, sizeof(UARTMessage));
}
else if (huart->Instance == UART5) {
handleUARTMessages((uint8_t*)&RX5Msg, &huart5);
HAL_UART_Receive_DMA(&huart5, (uint8_t*)&RX5Msg, sizeof(UARTMessage));
}
}
void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart) {
// Restart DMA on error
if (huart->Instance == USART1) {
HAL_UART_Receive_DMA(&huart1, (uint8_t*)&RX1Msg, sizeof(UARTMessage));
}
else if (huart->Instance == USART2) {
HAL_UART_Receive_DMA(&huart2, (uint8_t*)&RX2Msg, sizeof(UARTMessage));
}
else if (huart->Instance == UART4) {
HAL_UART_Receive_DMA(&huart4, (uint8_t*)&RX4Msg, sizeof(UARTMessage));
}
else if (huart->Instance == UART5) {
HAL_UART_Receive_DMA(&huart5, (uint8_t*)&RX5Msg, sizeof(UARTMessage));
}
}
void findBestParent(){
//Find least depth parent
uint16_t least_val = 0xFF;
UART_HandleTypeDef* least_port = NULL;
for(uint8_t i = 0; i < 4; i++){
if(PORT_DEPTH[i]<least_val){
least_port = PORTS[i];
least_val = PORT_DEPTH[i];
}
}
//Assign if valid
if(least_val < 0xFF){
PARENT = least_port;
DEPTH = least_val + 1;
MODE = MODE_ACTIVE;
HAL_Delay(500);
}
}
// Called when UART RX interrupt completes
void handleUARTMessages(uint8_t *data, UART_HandleTypeDef *sender) {
UARTMessage msg;
UARTMessage reply;
// Parse incoming message into struct
memcpy(&msg, data, sizeof(UARTMessage));
switch(msg.TYPE) {
// Parent request reply
case 0xAA:
if(sender == &huart5) {
PORT_DEPTH[0] = msg.DEPTH;
} else if(sender == &huart1) {
PORT_DEPTH[1] = msg.DEPTH;
} else if(sender == &huart2) {
PORT_DEPTH[2] = msg.DEPTH;
} else if(sender == &huart4) {
PORT_DEPTH[3] = msg.DEPTH;
}
break;
// Requested to be a parent
case 0xFF:
if(MODE!=MODE_INACTIVE){
reply.TYPE = 0xAA;
reply.DEPTH = DEPTH; // use your local DEPTH
memset(reply.KEYPRESS, 0, sizeof(reply.KEYPRESS));
HAL_UART_Transmit_DMA(sender, (uint8_t*)&reply, sizeof(reply));
}
break;
case 0xEE:
//TODO: Append message to the thingy
// if (MODE != MODE_INACTIVE) {
// for (int i = 0; i < sizeof(REPORT.KEYPRESS); i++) {
// uartBuffer.KEYPRESS[i] |= msg.KEYPRESS[i];
// }
// uartUpdateFlag = 1;
// }
if(sender == &huart5) {
pq_push(&huart5q, msg.KEYPRESS);
} else if(sender == &huart1) {
pq_push(&huart1q, msg.KEYPRESS);
} else if(sender == &huart2) {
pq_push(&huart2q, msg.KEYPRESS);
} else if(sender == &huart4) {
pq_push(&huart4q, msg.KEYPRESS);
}
break;
default:
break;
}
}
void addUSBReport(uint8_t usageID){
if(usageID < 0x04 || usageID > 0x73) return; //Usage ID is out of bounds
uint16_t bit_index = usageID - 0x04; //Offset, UsageID starts with 0x04. Gives us the actual value of the bit
uint8_t byte_index = bit_index/8; //Calculates which byte in the REPORT array
uint8_t bit_offset = bit_index%8; //Calculates which bits in the REPORT[byte_index] should be set/unset
REPORT.KEYPRESS[byte_index] |= (1 << bit_offset);
}
void matrixScan(void){
for (uint8_t col = 0; col < COL; col++){
HAL_GPIO_WritePin(COLUMN_PINS[col].GPIOx, COLUMN_PINS[col].PIN, GPIO_PIN_SET);
HAL_Delay(1);
for(uint8_t row = 0; row < ROW; row++){
uint8_t new_key = HAL_GPIO_ReadPin(ROW_PINS[row].GPIOx, ROW_PINS[row].PIN);
if(new_key != KEYSTATE[row][col]){
KEYSTATE_CHANGED_FLAG = 1;
KEYSTATE[row][col] = new_key;
}
if(new_key){
addUSBReport(KEYCODES[row][col]);
}
}
HAL_GPIO_WritePin(COLUMN_PINS[col].GPIOx, COLUMN_PINS[col].PIN, GPIO_PIN_RESET);
}
}
// Read TIM3 encoder counter, calculate delta and add corresponding keycodes
void encoderProcess(void){
int32_t cnt = (int32_t)__HAL_TIM_GET_COUNTER(&htim3);
int32_t diff = cnt - LAST_ENCODER_COUNT;
// TIM3 configured as 16-bit counter (period 65535). Fix wrap-around.
if(diff > 32767) diff -= 65536;
if(diff < -32768) diff += 65536;
if(diff > 0){
int steps = diff;
if(steps > 10) steps = 10; // cap bursts
for(int i = 0; i < steps; i++){
// CW -> KEYCODES[0][0]
addUSBReport(KEYCODES[3][3]);
}
}else if(diff < 0){
int steps = -diff;
if(steps > 10) steps = 10;
for(int i = 0; i < steps; i++){
// CCW -> KEYCODES[0][1]
addUSBReport(KEYCODES[2][1]);
}
}
LAST_ENCODER_COUNT = cnt;
}
void resetReport(void){
memset(REPORT.KEYPRESS, 0, sizeof(REPORT.KEYPRESS));
}
/* USER CODE END 4 */
/**
* @brief This function is executed in case of error occurrence.
* @retval None
*/
void Error_Handler(void)
{
/* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL error return state */
__disable_irq();
while (1)
{
}
/* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* @param file: pointer to the source file name
* @param line: assert_param error line source number
* @retval None
*/
void assert_failed(uint8_t *file, uint32_t line)
{
/* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number,
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
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