endat test

2026-09-26 10:13:59 +08:00 · 2018-10-05 18:16:36 +02:00
parent 9d0d33fd16
commit 92d630e665
1 changed files with 97 additions and 0 deletions
@@ -0,0 +1,97 @@
+#include "commands.h"
+#include "hal.h"
+#include "math.h"
+#include "defines.h"
+#include "angle.h"
+#include "stm32f4xx_conf.h"
+#include "hw/hw.h"
+#include <string.h>
+
+HAL_COMP(endat);
+
+HAL_PINA(byte, 6);
+
+static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+  // struct endat_ctx_t *ctx = (struct endat_ctx_t *)ctx_ptr;
+  struct endat_pin_ctx_t *pins = (struct endat_pin_ctx_t *)pin_ptr;
+  GPIO_InitTypeDef GPIO_InitStruct;
+
+  //TX enable for mosi
+  GPIO_InitStruct.GPIO_Pin   = GPIO_Pin_15;
+  GPIO_InitStruct.GPIO_Mode  = GPIO_Mode_OUT;
+  GPIO_InitStruct.GPIO_OType = GPIO_OType_PP;
+  GPIO_InitStruct.GPIO_Speed = GPIO_Speed_2MHz;
+  GPIO_InitStruct.GPIO_PuPd  = GPIO_PuPd_NOPULL;
+  GPIO_Init(GPIOD, &GPIO_InitStruct);
+
+  //tx enable for clock
+  GPIO_InitStruct.GPIO_Pin   = GPIO_Pin_10;
+  GPIO_InitStruct.GPIO_Mode  = GPIO_Mode_OUT;
+  GPIO_InitStruct.GPIO_OType = GPIO_OType_PP;
+  GPIO_InitStruct.GPIO_Speed = GPIO_Speed_2MHz;
+  GPIO_InitStruct.GPIO_PuPd  = GPIO_PuPd_NOPULL;
+  GPIO_Init(GPIOD, &GPIO_InitStruct);
+
+  //SPI3
+  RCC_APB1PeriphClockCmd(RCC_APB1Periph_SPI3, ENABLE);
+  
+  SPI3->CR1 |= SPI_CR1_MSTR | SPI_CR1_CPOL | SPI_CR1_CPHA | SPI_CR1_SSI | SPI_CR1_SSM | SPI_CR1_BIDIMODE | SPI_BaudRatePrescaler_32;
+
+  //PC12 spi3 mosi
+  //PC10 spi3 clock
+  GPIO_PinAFConfig(GPIOC, GPIO_PinSource12, GPIO_AF_SPI3);
+  GPIO_InitStruct.GPIO_Pin   = GPIO_Pin_12;
+  GPIO_InitStruct.GPIO_Mode  = GPIO_Mode_AF;
+  GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;
+  GPIO_InitStruct.GPIO_OType = GPIO_OType_PP;
+  GPIO_InitStruct.GPIO_PuPd  = GPIO_PuPd_UP;
+  GPIO_Init(GPIOC, &GPIO_InitStruct);
+
+  GPIO_PinAFConfig(GPIOC, GPIO_PinSource10, GPIO_AF_SPI3);
+  GPIO_InitStruct.GPIO_Pin   = GPIO_Pin_10;
+  GPIO_InitStruct.GPIO_Mode  = GPIO_Mode_AF;
+  GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;
+  GPIO_InitStruct.GPIO_OType = GPIO_OType_PP;
+  GPIO_InitStruct.GPIO_PuPd  = GPIO_PuPd_UP;
+  GPIO_Init(GPIOC, &GPIO_InitStruct);
+
+  GPIO_SetBits(GPIOD, GPIO_Pin_10);  //clock tx enable
+
+}
+
+static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+  // struct endat_ctx_t *ctx      = (struct endat_ctx_t *)ctx_ptr;
+  struct endat_pin_ctx_t *pins = (struct endat_pin_ctx_t *)pin_ptr;
+
+  GPIO_SetBits(GPIOD, GPIO_Pin_15);//tx enable
+  SPI3->CR1 |= SPI_CR1_BIDIOE;//enable output
+  SPI3->CR1 |= SPI_CR1_SPE;//enable spi
+
+  SPI3->DR = 0x07;
+  while(!(SPI3->SR & SPI_SR_TXE));
+  while(SPI3->SR & SPI_SR_BSY);
+  SPI3->CR1 &= ~SPI_CR1_BIDIOE;//disable output, this activates the clock
+  GPIO_ResetBits(GPIOD, GPIO_Pin_15);//tx disable
+  
+  volatile uint32_t foo = SPI3->DR;//dummy read to clear flags
+  for(int i = 0;i<6;i++){
+    while(!(SPI3->SR & SPI_SR_RXNE));
+    PINA(byte,i) = SPI3->DR;
+  }
+  //TODO: wait for busy flag?
+  SPI3->CR1 &= ~SPI_CR1_SPE;//disable spi
+}
+
+hal_comp_t endat_comp_struct = {
+    .name      = "endat",
+    .nrt       = 0,
+    .rt        = rt_func,
+    .frt       = 0,
+    .nrt_init  = nrt_init,
+    .rt_start  = 0,
+    .frt_start = 0,
+    .rt_stop   = 0,
+    .frt_stop  = 0,
+    .ctx_size  = 0,
+    .pin_count = sizeof(struct endat_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
+};