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

moved tle to rt, used struct

Browse Source
This commit is contained in:
Rene Hopf
2017-09-25 20:52:53 +02:00
parent 2acef299a2
commit 234b7b59b1
1 changed files with 28 additions and 26 deletions
Download Patch File Download Diff File Expand all files Collapse all files

54
stm32f303/src/comps/tle.c
View File

@@ -9,36 +9,34 @@
HAL_COMP(tle);
HAL_PIN(pos);
HAL_PIN(d1);
HAL_PIN(d2);
HAL_PIN(d3);
HAL_PIN(d4);
HAL_PIN(error);
SPI_HandleTypeDef hspi1;
#pragma pack(1)
typedef union{
struct {
uint8_t rw :1;//Read-write 0:Write 1:Read
uint8_t lock :4;//4-bit lock value 0000B: Default operating access for addresses 0x00:0x04, 1010B: Config-access for addresses 0x05:0x11
uint8_t upd :1;//Update register access 0: Access to current values 1: Access to updated values
uint8_t addr :6;//6-bit Address
uint8_t nd :4;//4-bit Number of data words
uint16_t nd :4;//4-bit Number of data words
uint16_t addr :6;//6-bit Address
uint16_t upd :1;//Update register access 0: Access to current values 1: Access to updated values
uint16_t lock :4;//4-bit lock value 0000B: Default operating access for addresses 0x00:0x04, 1010B: Config-access for addresses 0x05:0x11
uint16_t rw :1;//Read-write 0:Write 1:Read
};
uint16_t word;
} tle_cmd_t;
typedef union{
struct {
uint8_t rst :1;//Indication of chip reset 0: Reset occurred 1: No reset
uint8_t sys_err :1;//system error 1: No error
uint8_t if_err :1;//interface error 1: No error
uint8_t angle_valid :1;//Valid angle value 1: Angle value valid
uint8_t resp :4;//Sensor number response indicator
uint8_t crc :8;//Cyclic Redundancy Check
uint8_t resp :4;//Sensor number response indicator
uint8_t angle_valid :1;//Valid angle value 1: Angle value valid
uint8_t if_err :1;//interface error 1: No error
uint8_t sys_err :1;//system error 1: No error
uint8_t rst :1;//Indication of chip reset 0: Reset occurred 1: No reset
};
uint16_t word;
} tle_safety_t;
//TODO: alles hier drunter drehen
typedef union{
struct {
uint8_t rd_st :1;//Read Status
@@ -142,7 +140,7 @@ static void hw_init(volatile void * ctx_ptr, volatile hal_pin_inst_t * pin_ptr){
hspi1.Init.CLKPolarity = SPI_POLARITY_LOW;
hspi1.Init.CLKPhase = SPI_PHASE_1EDGE;
hspi1.Init.NSS = SPI_NSS_SOFT;
hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_4;//SPI_BAUDRATEPRESCALER_64;//1.125 Mhz
hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_8;//SPI_BAUDRATEPRESCALER_64;//1.125 Mhz
hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
@@ -152,25 +150,29 @@ static void hw_init(volatile void * ctx_ptr, volatile hal_pin_inst_t * pin_ptr){
HAL_SPI_Init(&hspi1);
}
static void nrt_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){
// struct tle_ctx_t * ctx = (struct tle_ctx_t *)ctx_ptr;
struct tle_pin_ctx_t * pins = (struct tle_pin_ctx_t *)pin_ptr;
uint16_t buf[10];
buf[0] = 0x8004;
tle_cmd_t tle_cmd;
tle_safety_t tle_safety;
tle_cmd.word = 0x0000;
tle_cmd.rw = 1;
tle_cmd.addr = 2;
tle_cmd.nd = 1;
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_15, GPIO_PIN_RESET);
HAL_SPI_Transmit(&hspi1, buf, 1, 100);
HAL_SPI_Receive(&hspi1, buf, 5, 100);
HAL_SPI_Transmit(&hspi1, &tle_cmd.word, 1, 100);
HAL_SPI_Receive(&hspi1, buf, tle_cmd.nd + 1, 100);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_15, GPIO_PIN_SET);
PIN(d1) = buf[0];
PIN(d2) = buf[1];
PIN(d3) = (float)(buf[2] & 0x7fff - 0x4000) / 16384.0 * 2 * M_PI - M_PI;
PIN(d4) = buf[3];
PIN(pos) = (float)(buf[0] & 0x7fff - 0x4000) / 16384.0 * 2 * M_PI - M_PI;
tle_safety.word = buf[1];
PIN(error) = !tle_safety.angle_valid;
}
hal_comp_t tle_comp_struct = {
.name = "tle",
.nrt = nrt_func,
.rt = 0,
.nrt = 0,
.rt = rt_func,
.frt = 0,
.hw_init = hw_init,
.rt_start = 0,