Mirrors_Framework/stmbl
1
0
Fork 0
mirror of https://github.com/rene-dev/stmbl.git synced 2026-02-06 02:02:34 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

sync f3 f4

Browse Source
This commit is contained in:
crinq
2018-02-12 02:09:46 +01:00
parent a6eb547b85
commit 11ced00128
1 changed files with 29 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files

38
stm32f303/src/comps/ls.c
View File

@@ -5,6 +5,7 @@
#include "angle.h" #include "angle.h"
#include "stm32f3xx_hal.h" #include "stm32f3xx_hal.h"
#include "common.h" #include "common.h"
#include "f3hw.h"
extern CRC_HandleTypeDef hcrc; extern CRC_HandleTypeDef hcrc;
@@ -53,6 +54,11 @@ HAL_PIN(timeout);
HAL_PIN(dma_pos); HAL_PIN(dma_pos);
HAL_PIN(idle); HAL_PIN(idle);
HAL_PIN(dma_pos2);
HAL_PIN(arr);
HAL_PIN(dma_pos_cmd);
HAL_PIN(inc);
HAL_PIN(window);
struct ls_ctx_t { struct ls_ctx_t {
uint32_t timeout; uint32_t timeout;
@@ -132,7 +138,7 @@ static void hw_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
config.pins.max_y = 0.0; config.pins.max_y = 0.0;
config.pins.max_cur = 0.0; config.pins.max_cur = 0.0;
USART3->RTOR = 16; // 16 bits timeout USART3->RTOR = 16; // 16 bits timeout
USART3->CR2 |= USART_CR2_RTOEN; // timeout en USART3->CR2 |= USART_CR2_RTOEN; // timeout en
USART3->ICR |= USART_ICR_RTOCF; // timeout clear flag USART3->ICR |= USART_ICR_RTOCF; // timeout clear flag
} }
@@ -141,13 +147,16 @@ static void rt_start(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
struct ls_ctx_t *ctx = (struct ls_ctx_t *)ctx_ptr; struct ls_ctx_t *ctx = (struct ls_ctx_t *)ctx_ptr;
struct ls_pin_ctx_t *pins = (struct ls_pin_ctx_t *)pin_ptr; struct ls_pin_ctx_t *pins = (struct ls_pin_ctx_t *)pin_ptr;
ctx->timeout = 0; ctx->timeout = 0;
ctx->tx_addr = 0; ctx->tx_addr = 0;
ctx->send = 0; ctx->send = 0;
PIN(crc_error) = 0.0; PIN(crc_error) = 0.0;
PIN(crc_ok) = 0.0; PIN(crc_ok) = 0.0;
PIN(timeout) = 0.0; PIN(timeout) = 0.0;
PIN(idle) = 0.0; PIN(idle) = 0.0;
PIN(dma_pos_cmd) = 4;
PIN(inc) = 10;
PIN(window) = 1;
} }
static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) { static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
@@ -156,6 +165,17 @@ static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_
uint32_t dma_pos = sizeof(packet_to_hv_t) - DMA1_Channel3->CNDTR; uint32_t dma_pos = sizeof(packet_to_hv_t) - DMA1_Channel3->CNDTR;
PIN(dma_pos2) = dma_pos;
PIN(arr) = PWM_RES;
if(dma_pos > PIN(window) && dma_pos < sizeof(packet_to_hv_t) - PIN(window)) {
if(PIN(dma_pos_cmd) < dma_pos) {
PIN(arr) = PWM_RES - PIN(inc);
} else if(PIN(dma_pos_cmd) > dma_pos) {
PIN(arr) = PWM_RES + PIN(inc);
}
}
if(dma_pos == sizeof(packet_to_hv_t)) { if(dma_pos == sizeof(packet_to_hv_t)) {
uint32_t crc = HAL_CRC_Calculate(&hcrc, (uint32_t *)&(ctx->packet_to_hv), sizeof(packet_to_hv_t) / 4 - 1); uint32_t crc = HAL_CRC_Calculate(&hcrc, (uint32_t *)&(ctx->packet_to_hv), sizeof(packet_to_hv_t) / 4 - 1);
if(crc == ctx->packet_to_hv.crc) { if(crc == ctx->packet_to_hv.crc) {
@@ -191,7 +211,7 @@ static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_
} }
} }
if(USART3->ISR & USART_ISR_RTOF) { // idle line if(USART3->ISR & USART_ISR_RTOF) { // idle line
USART3->ICR |= USART_ICR_RTOCF | USART_ICR_FECF | USART_ICR_ORECF; // timeout clear flag USART3->ICR |= USART_ICR_RTOCF | USART_ICR_FECF | USART_ICR_ORECF; // timeout clear flag
GPIOA->BSRR |= GPIO_PIN_10; GPIOA->BSRR |= GPIO_PIN_10;