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This commit is contained in:
crinq
2017-07-28 03:47:46 +02:00
parent 4b773c3c92
commit 7dd2861755
4 changed files with 183 additions and 25 deletions
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inc/hw/hw.h
+31 -3
View File
@@ -185,9 +185,17 @@
#define CMD_A_PIN_SOURCE GPIO_PinSource15
#define CMD_A_PORT GPIOA
#define CMD_B_PIN GPIO_Pin_0
#define CMD_B_PIN_SOURCE GPIO_PinSource0
#define CMD_B_PORT GPIOA
#define CMD_B_PIN GPIO_Pin_3
#define CMD_B_PIN_SOURCE GPIO_PinSource3
#define CMD_B_PORT GPIOB
#define CMD_C_PIN GPIO_Pin_5
#define CMD_C_PIN_SOURCE GPIO_PinSource5
#define CMD_C_PORT GPIOB
#define CMD_D_PIN GPIO_Pin_8
#define CMD_D_PIN_SOURCE GPIO_PinSource8
#define CMD_D_PORT GPIOB
#define CMD_A_EN_PIN GPIO_Pin_6
#define CMD_A_EN_PIN_SOURCE GPIO_PinSource6
@@ -197,6 +205,14 @@
#define CMD_B_EN_PIN_SOURCE GPIO_PinSource7
#define CMD_B_EN_PORT GPIOB
#define CMD_C_EN_PIN GPIO_Pin_9
#define CMD_C_EN_PIN_SOURCE GPIO_PinSource9
#define CMD_C_EN_PORT GPIOB
#define CMD_D_EN_PIN GPIO_Pin_2
#define CMD_D_EN_PIN_SOURCE GPIO_PinSource2
#define CMD_D_EN_PORT GPIOB
//FB0 TIM4
#define FB0_A_PIN GPIO_Pin_12
#define FB0_A_PIN_SOURCE GPIO_PinSource12
@@ -210,6 +226,18 @@
#define FB0_Z_PIN_SOURCE GPIO_PinSource14
#define FB0_Z_PORT GPIOD
#define FB0_A_EN_PIN GPIO_Pin_11
#define FB0_A_EN_PIN_SOURCE GPIO_PinSource11
#define FB0_A_EN_PORT GPIOD
#define FB0_B_EN_PIN GPIO_Pin_10
#define FB0_B_EN_PIN_SOURCE GPIO_PinSource10
#define FB0_B_EN_PORT GPIOD
#define FB0_Z_EN_PIN GPIO_Pin_15
#define FB0_Z_EN_PIN_SOURCE GPIO_PinSource15
#define FB0_Z_EN_PORT GPIOD
#define FB0_Z_TXEN_PIN GPIO_Pin_15
#define FB0_Z_TXEN_PORT GPIOD
src/comps/enc_cmd.c
+15 -22
View File
@@ -38,9 +38,10 @@ static void hw_init(volatile void * ctx_ptr, volatile hal_pin_inst_t * pin_ptr){
GPIO_InitTypeDef GPIO_InitStruct;
GPIO_StructInit(&GPIO_InitStruct);
GPIO_InitStruct.GPIO_Pin = CMD_A_PIN;
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStruct.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_InitStruct.GPIO_OType = GPIO_OType_PP;
GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(CMD_A_PORT, &GPIO_InitStruct);
GPIO_InitStruct.GPIO_Pin = CMD_B_PIN;
@@ -50,34 +51,26 @@ static void hw_init(volatile void * ctx_ptr, volatile hal_pin_inst_t * pin_ptr){
GPIO_PinAFConfig(CMD_A_PORT, CMD_A_PIN_SOURCE, CMD_ENC_TIM_AF);
GPIO_PinAFConfig(CMD_B_PORT, CMD_B_PIN_SOURCE, CMD_ENC_TIM_AF);
//Enable Timer clock
RCC_APB2PeriphClockCmd(CMD_ENC_TIM_RCC, ENABLE);
TIM_TimeBaseInitTypeDef TIM_TimeBaseStruct;
TIM_TimeBaseStruct.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStruct.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStruct.TIM_Prescaler = 1;
TIM_TimeBaseStruct.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(CMD_ENC_TIM, &TIM_TimeBaseStruct);
TIM_EncoderInterfaceConfig (CMD_ENC_TIM, TIM_EncoderMode_TI1, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
RCC_APB1PeriphClockCmd(CMD_ENC_TIM_RCC, ENABLE);
TIM_SetAutoreload(CMD_ENC_TIM, ctx->e_res - 1);
// quad
TIM_Cmd(CMD_ENC_TIM, DISABLE);
TIM_EncoderInterfaceConfig(CMD_ENC_TIM, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
TIM_ICInitTypeDef TIM_ICInitStruct;
TIM_ICInitStruct.TIM_Channel = TIM_Channel_1;
TIM_ICInitStruct.TIM_ICFilter = 0x0f; //Digital filtering @ 1/32 fDTS
TIM_ICInitStruct.TIM_ICPolarity = TIM_ICPolarity_Falling; //Just trigger at the rising edge, because its the clock
TIM_ICInitStruct.TIM_ICPolarity = TIM_ICPolarity_Rising; //Just trigger at the rising edge, because its the clock
TIM_ICInitStruct.TIM_ICPrescaler = 1; //no prescaler, capture is done each time an edge is detected on the capture input
TIM_ICInitStruct.TIM_ICSelection = TIM_ICSelection_DirectTI; //IC1 mapped to TI1
TIM_ICInit(CMD_ENC_TIM, &TIM_ICInitStruct);
TIM_ICInitStruct.TIM_Channel = TIM_Channel_2;
TIM_ICInitStruct.TIM_ICFilter = 0x0f; //Digital filtering @ 1/32 fDTS
TIM_ICInitStruct.TIM_ICPolarity = TIM_ICPolarity_BothEdge; //Trigger at every edge, because its the direction
TIM_ICInitStruct.TIM_ICPrescaler = 1; //no prescaler, capture is done each time an edge is detected on the capture input
TIM_ICInitStruct.TIM_ICSelection = TIM_ICSelection_IndirectTI; //IC2 mapped to TI1
TIM_ICInit(CMD_ENC_TIM, &TIM_ICInitStruct);
TIM_SetAutoreload(CMD_ENC_TIM, ctx->e_res - 1);
TIM_Cmd(CMD_ENC_TIM, ENABLE);
}
@@ -85,10 +78,10 @@ static void rt_func(float period, volatile void * ctx_ptr, volatile hal_pin_inst
struct enc_cmd_ctx_t * ctx = (struct enc_cmd_ctx_t *)ctx_ptr;
struct enc_cmd_pin_ctx_t * pins = (struct enc_cmd_pin_ctx_t *)pin_ptr;
int32_t tim = TIM_GetCounter(CMD_ENC_TIM);//TODO: interrupt here?
int32_t tim = TIM_GetCounter(CMD_ENC_TIM);
PIN(a) = CMD_A_PORT->IDR & CMD_A_PIN > 0;
PIN(b) = CMD_B_PORT->IDR & CMD_B_PIN > 0;
PIN(a) = (CMD_A_PORT->IDR & CMD_A_PIN) > 0;
PIN(b) = (CMD_B_PORT->IDR & CMD_B_PIN) > 0;
float p = 0.0;
p = mod(tim * 2.0f * M_PI / (float)ctx->e_res);
@@ -100,7 +93,7 @@ static void rt_func(float period, volatile void * ctx_ptr, volatile hal_pin_inst
if(ctx->e_res != r){
ctx->e_res = r;
TIM_SetAutoreload(FB0_ENC_TIM, ctx->e_res - 1);
TIM_SetAutoreload(CMD_ENC_TIM, ctx->e_res - 1);
}
}
src/comps/hw/io4.c
+63
View File
@@ -48,6 +48,10 @@ HAL_PIN(fb0y);
HAL_PIN(fb1g);
HAL_PIN(fb1y);
HAL_PIN(cmdc);
HAL_PIN(cmdc_en);
HAL_PIN(cmdd);
HAL_PIN(cmdd_en);
HAL_PIN(cmdg);
HAL_PIN(cmdy);
@@ -166,6 +170,13 @@ static void nrt_init(volatile void * ctx_ptr, volatile hal_pin_inst_t * pin_ptr)
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
GPIO_Init(GPIOE, &GPIO_InitStructure);
//cmd
// GPIO_InitStructure.GPIO_Pin = CMD_C_EN_PIN;
// GPIO_Init(CMD_C_EN_PORT, &GPIO_InitStructure);
//
// GPIO_InitStructure.GPIO_Pin = CMD_D_EN_PIN;
// GPIO_Init(CMD_D_EN_PORT, &GPIO_InitStructure);
//cmd yellow
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
GPIO_Init(GPIOD, &GPIO_InitStructure);
@@ -222,6 +233,7 @@ static void rt_func(float period, volatile void * ctx_ptr, volatile hal_pin_inst
static void nrt_func(volatile void * ctx_ptr, volatile hal_pin_inst_t * pin_ptr){
// struct io_ctx_t * ctx = (struct io_ctx_t *)ctx_ptr;
struct io_pin_ctx_t * pins = (struct io_pin_ctx_t *)pin_ptr;
GPIO_InitTypeDef GPIO_InitStructure;
uint32_t red = 0;
uint32_t green = 0;
@@ -315,6 +327,57 @@ static void nrt_func(volatile void * ctx_ptr, volatile hal_pin_inst_t * pin_ptr)
else
GPIO_ResetBits(GPIOE, GPIO_Pin_8);
// if(PIN(cmdc_en) > 0){
// GPIO_SetBits(CMD_C_EN_PORT, CMD_C_EN_PIN);
// GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
// GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
// GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
// GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
// GPIO_InitStructure.GPIO_Pin = CMD_C_PIN;
// GPIO_Init(CMD_C_PORT, &GPIO_InitStructure);
// if(PIN(cmdc) > 0){
// GPIO_SetBits(CMD_C_PORT, CMD_C_PIN);
// }
// else{
// GPIO_ResetBits(CMD_C_PORT, CMD_C_PIN);
// }
// }
// else{
// GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
// GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
// GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
// GPIO_InitStructure.GPIO_Pin = CMD_C_PIN;
// GPIO_Init(CMD_C_PORT, &GPIO_InitStructure);
// GPIO_ResetBits(CMD_C_EN_PORT, CMD_C_EN_PIN);
// PIN(cmdc) = (CMD_C_PORT->IDR & CMD_C_PIN) > 0;
// }
//
// if(PIN(cmdd_en) > 0){
// GPIO_SetBits(CMD_D_EN_PORT, CMD_D_EN_PIN);
// GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
// GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
// GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
// GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
// GPIO_InitStructure.GPIO_Pin = CMD_C_PIN;
// GPIO_Init(CMD_D_PORT, &GPIO_InitStructure);
// if(PIN(cmdd) > 0){
// GPIO_SetBits(CMD_D_PORT, CMD_D_PIN);
// }
// else{
// GPIO_ResetBits(CMD_D_PORT, CMD_D_PIN);
// }
// }
// else{
// GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
// GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
// GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
// GPIO_InitStructure.GPIO_Pin = CMD_D_PIN;
// GPIO_Init(CMD_D_PORT, &GPIO_InitStructure);
// GPIO_ResetBits(CMD_D_EN_PORT, CMD_D_EN_PIN);
// PIN(cmdd) = (CMD_D_PORT->IDR & CMD_D_PIN) > 0;
// }
if(PIN(cmdy) > 0)
GPIO_SetBits(GPIOD, GPIO_Pin_6);
else
src/comps/o_fb.c
+74
View File
@@ -0,0 +1,74 @@
#include "commands.h"
#include "hal.h"
#include "math.h"
#include "defines.h"
#include "angle.h"
#include "stm32f4xx_conf.h"
#include "hw/hw.h"
HAL_COMP(o_fb);
HAL_PIN(a);
HAL_PIN(b);
static void hw_init(volatile void * ctx_ptr, volatile hal_pin_inst_t * pin_ptr){
// struct o_fb_ctx_t * ctx = (struct o_fb_ctx_t *)ctx_ptr;
struct o_fb_pin_ctx_t * pins = (struct o_fb_pin_ctx_t *)pin_ptr;
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_InitStructure.GPIO_Pin = FB0_A_EN_PIN;
GPIO_Init(FB0_A_EN_PORT, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = FB0_B_EN_PIN;
GPIO_Init(FB0_B_EN_PORT, &GPIO_InitStructure);
GPIO_SetBits(FB0_A_EN_PORT, FB0_A_EN_PIN);
GPIO_SetBits(FB0_B_EN_PORT, FB0_B_EN_PIN);
GPIO_InitStructure.GPIO_Pin = FB0_A_PIN;
GPIO_Init(FB0_A_PORT, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = FB0_B_PIN;
GPIO_Init(FB0_B_PORT, &GPIO_InitStructure);
}
static void rt_func(float period, volatile void * ctx_ptr, volatile hal_pin_inst_t * pin_ptr){
// struct o_fb_ctx_t * ctx = (struct o_fb_ctx_t *)ctx_ptr;
struct o_fb_pin_ctx_t * pins = (struct o_fb_pin_ctx_t *)pin_ptr;
if(PIN(a) > 0){
GPIO_SetBits(FB0_A_PORT, FB0_A_PIN);
}
else{
GPIO_ResetBits(FB0_A_PORT, FB0_A_PIN);
}
if(PIN(b) > 0){
GPIO_SetBits(FB0_B_PORT, FB0_B_PIN);
}
else{
GPIO_ResetBits(FB0_B_PORT, FB0_B_PIN);
}
}
const hal_comp_t o_fb_comp_struct = {
.name = "o_fb",
.nrt = 0,
.rt = rt_func,
.frt = 0,
.nrt_init = 0,
.hw_init = hw_init,
.rt_start = 0,
.frt_start = 0,
.rt_stop = 0,
.frt_stop = 0,
.ctx_size = 0,
.pin_count = sizeof(struct o_fb_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
};