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drv driver port compiles

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This commit is contained in:
Oskar Weigl
2016-06-03 22:21:10 +02:00
parent f2875a726b
commit b6ba25c4e7
5 changed files with 94 additions and 91 deletions
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Drivers/DRV8301/drv8301.c
+61 -75
View File
@@ -38,20 +38,14 @@
// **************************************************************************
// the includes
#include "assert.h"
#include <math.h>
#include "cmsis_os.h"
// drivers
#include "drv8301.h"
// modules
// platforms
// **************************************************************************
// the defines
@@ -65,27 +59,18 @@
void DRV8301_enable(DRV8301_Handle handle)
{
DRV8301_Obj *obj = (DRV8301_Obj *)handle;
static volatile uint16_t enableWaitTimeOut;
uint16_t n = 0;
// Enable the drv8301
GPIO_setHigh(obj->gpioHandle,obj->gpioNumber);
//Enable driver
HAL_GPIO_WritePin(handle->EngpioHandle, handle->EngpioNumber, GPIO_PIN_SET);
enableWaitTimeOut = 0;
//Wait for driver to come online
osDelay(20);
// Make sure the Fault bit is not set during startup
while(((DRV8301_readSpi(handle,DRV8301_RegName_Status_1) & DRV8301_STATUS1_FAULT_BITS) != 0) && (enableWaitTimeOut < 1000))
{
if(++enableWaitTimeOut > 999)
{
obj->enableTimeOut = true;
}
}
while((DRV8301_readSpi(handle,DRV8301_RegName_Status_1) & DRV8301_STATUS1_FAULT_BITS) != 0);
// Wait for the DRV8301 registers to update
for(n=0;n<0xffff;n++)
asm(" NOP");
osDelay(1);
return;
}
@@ -281,23 +266,45 @@ DRV8301_Handle DRV8301_init(void *pMemory,const size_t numBytes)
} // end of DRV8301_init() function
void DRV8301_setGpioHandle(DRV8301_Handle handle,GPIO_Handle gpioHandle)
void DRV8301_setEnGpioHandle(DRV8301_Handle handle,GPIO_Handle gpioHandle)
{
DRV8301_Obj *obj = (DRV8301_Obj *)handle;
// initialize the gpio interface object
obj->gpioHandle = gpioHandle;
obj->EngpioHandle = gpioHandle;
return;
} // end of DRV8301_setGpioHandle() function
void DRV8301_setGpioNumber(DRV8301_Handle handle,GPIO_Number_e gpioNumber)
void DRV8301_setEnGpioNumber(DRV8301_Handle handle,GPIO_Number_e gpioNumber)
{
DRV8301_Obj *obj = (DRV8301_Obj *)handle;
// initialize the gpio interface object
obj->gpioNumber = gpioNumber;
obj->EngpioNumber = gpioNumber;
return;
} // end of DRV8301_setGpioNumber() function
void DRV8301_setnCSGpioHandle(DRV8301_Handle handle,GPIO_Handle gpioHandle)
{
DRV8301_Obj *obj = (DRV8301_Obj *)handle;
// initialize the gpio interface object
obj->nCSgpioHandle = gpioHandle;
return;
} // end of DRV8301_setGpioHandle() function
void DRV8301_setnCSGpioNumber(DRV8301_Handle handle,GPIO_Number_e gpioNumber)
{
DRV8301_Obj *obj = (DRV8301_Obj *)handle;
// initialize the gpio interface object
obj->nCSgpioNumber = gpioNumber;
return;
} // end of DRV8301_setGpioNumber() function
@@ -350,45 +357,28 @@ bool DRV8301_isReset(DRV8301_Handle handle)
} // end of DRV8301_isReset() function
uint16_t DRV8301_readSpi(DRV8301_Handle handle,const DRV8301_RegName_e regName)
uint16_t DRV8301_readSpi(DRV8301_Handle handle, const DRV8301_RegName_e regName)
{
DRV8301_Obj *obj = (DRV8301_Obj *)handle;
uint16_t ctrlWord;
const uint16_t data = 0;
volatile uint16_t readWord;
static volatile uint16_t WaitTimeOut = 0;
volatile SPI_FifoStatus_e RxFifoCnt = SPI_FifoStatus_Empty;
// Actuate chipselect
HAL_GPIO_WritePin(handle->nCSgpioHandle, handle->nCSgpioNumber, GPIO_PIN_RESET);
osDelay(1);
// build the control word
ctrlWord = (uint16_t)DRV8301_buildCtrlWord(DRV8301_CtrlMode_Read,regName,data);
// Do blocking read
uint16_t zerobuff = 0;
uint16_t controlword = (uint16_t)DRV8301_buildCtrlWord(DRV8301_CtrlMode_Read, regName, 0);
uint16_t recbuff = 0xbeef;
HAL_SPI_Transmit(handle->spiHandle, (uint8_t*)(&controlword), 1, 1000);
HAL_SPI_TransmitReceive(handle->spiHandle, (uint8_t*)(&zerobuff), (uint8_t*)(&recbuff), 1, 1000);
osDelay(1);
// reset the Rx fifo pointer to zero
SPI_resetRxFifo(obj->spiHandle);
SPI_enableRxFifo(obj->spiHandle);
// Actuate chipselect
HAL_GPIO_WritePin(handle->nCSgpioHandle, handle->nCSgpioNumber, GPIO_PIN_SET);
osDelay(1);
assert(recbuff != 0xbeef);
// write the command
SPI_write(obj->spiHandle,ctrlWord);
// dummy write to return the reply from the 8301
SPI_write(obj->spiHandle,0x0000);
// wait for two words to populate the RX fifo, or a wait timeout will occur
while((RxFifoCnt < SPI_FifoStatus_2_Words) && (WaitTimeOut < 0xffff))
{
RxFifoCnt = SPI_getRxFifoStatus(obj->spiHandle);
if(++WaitTimeOut > 0xfffe)
{
obj->RxTimeOut = true;
}
}
// Read two words, the dummy word and the data
readWord = SPI_readEmu(obj->spiHandle);
readWord = SPI_readEmu(obj->spiHandle);
return(readWord & DRV8301_DATA_MASK);
return(recbuff & DRV8301_DATA_MASK);
} // end of DRV8301_readSpi() function
@@ -588,20 +578,18 @@ void DRV8301_setShuntAmpGain(DRV8301_Handle handle,const DRV8301_ShuntAmpGain_e
void DRV8301_writeSpi(DRV8301_Handle handle, const DRV8301_RegName_e regName,const uint16_t data)
{
DRV8301_Obj *obj = (DRV8301_Obj *)handle;
uint16_t ctrlWord;
// Actuate chipselect
HAL_GPIO_WritePin(handle->nCSgpioHandle, handle->nCSgpioNumber, GPIO_PIN_RESET);
osDelay(1);
// Do blocking write
uint16_t controlword = (uint16_t)DRV8301_buildCtrlWord(DRV8301_CtrlMode_Write, regName, 0);
HAL_SPI_Transmit(handle->spiHandle, (uint8_t*)(&controlword), 1, 1000);
osDelay(1);
// build the command
ctrlWord = (uint16_t)DRV8301_buildCtrlWord(DRV8301_CtrlMode_Write,regName,data);
// reset the Rx fifo pointer to zero
SPI_resetRxFifo(obj->spiHandle);
SPI_enableRxFifo(obj->spiHandle);
// write the command (time N)
SPI_write(obj->spiHandle,ctrlWord);
// Actuate chipselect
HAL_GPIO_WritePin(handle->nCSgpioHandle, handle->nCSgpioNumber, GPIO_PIN_SET);
osDelay(1);
return;
} // end of DRV8301_writeSpi() function
@@ -696,7 +684,6 @@ void DRV8301_setupSpi(DRV8301_Handle handle, DRV_SPI_8301_Vars_t *Spi_8301_Vars)
{
DRV8301_RegName_e drvRegName;
uint16_t drvDataNew;
uint16_t n;
// Update Control Register 1
@@ -723,8 +710,7 @@ void DRV8301_setupSpi(DRV8301_Handle handle, DRV_SPI_8301_Vars_t *Spi_8301_Vars)
// Wait for the DRV8301 registers to update
for(n=0;n<100;n++)
asm(" NOP");
osDelay(1);
// Update Status Register 1
Drivers/DRV8301/drv8301.h
+12 -6
View File
@@ -42,13 +42,17 @@
// **************************************************************************
// the includes
#include "stdbool.h"
#include "stdint.h"
// drivers
#include "spi.h"
#include "gpio.h"
// modules
#include "stm32f4xx_hal.h"
// solutions
// Port
typedef SPI_HandleTypeDef* SPI_Handle;
typedef GPIO_TypeDef* GPIO_Handle;
typedef uint16_t GPIO_Number_e;
//!
@@ -418,8 +422,10 @@ typedef struct _DRV_SPI_8301_Vars_t_
typedef struct _DRV8301_Obj_
{
SPI_Handle spiHandle; //!< the handle for the serial peripheral interface
GPIO_Handle gpioHandle; //!< the gpio handle that is connected to the drv8301 enable pin
GPIO_Number_e gpioNumber; //!< the gpio number that is connected to the drv8301 enable pin
GPIO_Handle EngpioHandle; //!< the gpio handle that is connected to the drv8301 enable pin
GPIO_Number_e EngpioNumber; //!< the gpio number that is connected to the drv8301 enable pin
GPIO_Handle nCSgpioHandle; //!< the gpio handle that is connected to the drv8301 nCS pin
GPIO_Number_e nCSgpioNumber; //!< the gpio number that is connected to the drv8301 nCS pin
bool RxTimeOut; //!< the timeout flag for the RX fifo
bool enableTimeOut; //!< the timeout flag for drv8301 enable
} DRV8301_Obj;
Inc/tim.h
+2
View File
@@ -64,6 +64,8 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
/* USER CODE BEGIN Prototypes */
void OC4_PWM_Override(TIM_HandleTypeDef* htim);
/* USER CODE END Prototypes */
#ifdef __cplusplus
Makefile
+2 -2
View File
@@ -47,7 +47,6 @@ C_SOURCES = \
Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c \
Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_usb.c \
Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c \
Drivers/DRV8301/drv8301.c \
Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.c \
Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.c \
Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_core.c \
@@ -74,7 +73,8 @@ C_SOURCES = \
Src/test.c \
Src/stm32f4xx_it.c \
Src/adc.c \
Src/usbd_conf.c
Src/usbd_conf.c \
Drivers/DRV8301/drv8301.c
ASM_SOURCES = \
Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/gcc/startup_stm32f405xx.s
Src/test.c
+17 -8
View File
@@ -1,18 +1,18 @@
#include "test.h"
#include "cmsis_os.h"
#include "stm32f4xx_hal.h"
#include "stm32f405xx.h"
#include "stm32f4xx.h"
#include "stm32f4xx_hal_adc.h"
#include "stm32f4xx_hal_adc_ex.h"
#include "assert.h"
#include "cmsis_os.h"
#include "adc.h"
#include "tim.h"
#include "spi.h"
#include "drv8301.h"
#include "math.h"
#include "stdint.h"
static void test_read_ADC(void);
@@ -41,8 +41,13 @@ void start_DRV8301() {
HAL_GPIO_WritePin(M0_nCS_GPIO_Port, M0_nCS_Pin, GPIO_PIN_RESET);
osDelay(1);
uint16_t zerobuff = 0;
uint16_t controlword = (uint16_t)DRV8301_buildCtrlWord(DRV8301_CtrlMode_Read, DRV8301_RegName_Status_2, 0);
uint16_t recbuff = 0xbeef;
HAL_SPI_Transmit(&hspi3, &controlword, 1, 1000);
HAL_SPI_TransmitReceive(&hspi3, &zerobuff, &recbuff, 1, 1000);
osDelay(1);
HAL_GPIO_WritePin(M0_nCS_GPIO_Port, M0_nCS_Pin, GPIO_PIN_SET);
osDelay(1);
@@ -60,10 +65,14 @@ void test_adc_trigger() {
__HAL_ADC_ENABLE_IT(&hadc2, ADC_IT_JEOC);
}
void DRV8301_setup() {
}
void test_main(void) {
start_DRV8301();
//start_DRV8301();
DRV8301_setup();
}
// Simple loop to read ADC1