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Merge branch 'test/engine_ctrl' into 'develop'

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Test/engine ctrl



See merge request !7
This commit is contained in:
tkl 2016-08-10 10:21:23 +00:00
commit 1951906d31
2 changed files with 299 additions and 166 deletions
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374
source/firmware/arch/stm32f4xx/board/stm32f4-discovery/include/stm32f4-discovery.h
View File

@ -62,7 +62,7 @@ static const TIM_OCInitTypeDef t4_output_compare_cfg = {
.TIM_Pulse = 0, .TIM_Pulse = 0,
}; };
static const GPIO_InitTypeDef port_cfg = { static const GPIO_InitTypeDef port_cfg_D15 = {
.GPIO_Pin = GPIO_Pin_15, .GPIO_Pin = GPIO_Pin_15,
.GPIO_Mode = GPIO_Mode_AF, .GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP, .GPIO_OType = GPIO_OType_PP,
@ -70,18 +70,18 @@ static const GPIO_InitTypeDef port_cfg = {
.GPIO_Speed = GPIO_Speed_100MHz, .GPIO_Speed = GPIO_Speed_100MHz,
}; };
static struct stm32f4_pwm str32f4_pwm = { static struct stm32f4_pwm str32f4_pwm_4 = {
.timer = TIM4, .timer = TIM4,
.timer_cfg = &timer_4_cfg, .timer_cfg = &timer_4_cfg,
.output_compare_cfg = &t4_output_compare_cfg, .output_compare_cfg = &t4_output_compare_cfg,
.port = GPIOD, .port = GPIOD,
.pin_src = GPIO_PinSource15, .pin_src = GPIO_PinSource15,
.port_cfg = &port_cfg, .port_cfg = &port_cfg_D15,
.channel = channel_4, .channel = channel_4,
}; };
static const struct pwm pwm_ch4 = { static const struct pwm pwm_ch4 = {
.arch_dep_device = &str32f4_pwm, .arch_dep_device = &str32f4_pwm_4,
.fp = &stm32f4_pwm_fp, .fp = &stm32f4_pwm_fp,
}; };
@ -94,6 +94,105 @@ const struct driver pwm_4 = {
&pwm_ch4, &pwm_ch4,
}; };
// PWM Channel 3
static const GPIO_InitTypeDef port_cfg_D14 = {
.GPIO_Pin = GPIO_Pin_14,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP,
.GPIO_Speed = GPIO_Speed_100MHz,
};
static struct stm32f4_pwm str32f4_pwm_3 = {
.timer = TIM4,
.timer_cfg = &timer_4_cfg,
.output_compare_cfg = &t4_output_compare_cfg,
.port = GPIOD,
.pin_src = GPIO_PinSource14,
.port_cfg = &port_cfg_D14,
.channel = channel_3,
};
static const struct pwm pwm_ch3 = {
.arch_dep_device = &str32f4_pwm_3,
.fp = &stm32f4_pwm_fp,
};
#ifdef TEST_APP
static const struct driver pwm_3 = {
#else
const struct driver pwm_3 = {
#endif
DRIVER_TYPE_PWM,
&pwm_ch3,
};
// PWM Channel 2
static const GPIO_InitTypeDef port_cfg_D13 = {
.GPIO_Pin = GPIO_Pin_13,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP,
.GPIO_Speed = GPIO_Speed_100MHz,
};
static struct stm32f4_pwm str32f4_pwm_2 = {
.timer = TIM4,
.timer_cfg = &timer_4_cfg,
.output_compare_cfg = &t4_output_compare_cfg,
.port = GPIOD,
.pin_src = GPIO_PinSource13,
.port_cfg = &port_cfg_D13,
.channel = channel_2,
};
static const struct pwm pwm_ch2 = {
.arch_dep_device = &str32f4_pwm_2,
.fp = &stm32f4_pwm_fp,
};
#ifdef TEST_APP
static const struct driver pwm_2 = {
#else
const struct driver pwm_2 = {
#endif
DRIVER_TYPE_PWM,
&pwm_ch2,
};
// PWM Channel 2
static const GPIO_InitTypeDef port_cfg_D12 = {
.GPIO_Pin = GPIO_Pin_12,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP,
.GPIO_Speed = GPIO_Speed_100MHz,
};
static struct stm32f4_pwm str32f4_pwm_1 = {
.timer = TIM4,
.timer_cfg = &timer_4_cfg,
.output_compare_cfg = &t4_output_compare_cfg,
.port = GPIOD,
.pin_src = GPIO_PinSource12,
.port_cfg = &port_cfg_D12,
.channel = channel_1,
};
static const struct pwm pwm_ch1 = {
.arch_dep_device = &str32f4_pwm_1,
.fp = &stm32f4_pwm_fp,
};
#ifdef TEST_APP
static const struct driver pwm_1 = {
#else
const struct driver pwm_1 = {
#endif
DRIVER_TYPE_PWM,
&pwm_ch3,
};
// UART 1 // UART 1
static char console_linear_buffer[80]; static char console_linear_buffer[80];
static struct ringbuffer console_buffer = { static struct ringbuffer console_buffer = {
@ -154,171 +253,134 @@ const struct driver uart_1 = {
&__uart_1, &__uart_1,
}; };
// LED 3 // GPIOC0
static const GPIO_InitTypeDef stm32_f4_discovery_led_3_gpio = { static const GPIO_InitTypeDef port_cfg_C0 = {
GPIO_Pin_12,
GPIO_Mode_OUT,
GPIO_Speed_100MHz,
GPIO_OType_PP,
GPIO_PuPd_NOPULL
};
static const struct stm32f4_gpio stm32_f4_discovery_led_3 = {
GPIOD,
&stm32_f4_discovery_led_3_gpio,
NULL,
NULL,
NULL,
NULL
};
static const struct gpio __led_3 = {
(void*)&stm32_f4_discovery_led_3,
&gpio_fp
};
#ifdef TEST_APP
static const struct driver led_3 = {
#else
const struct driver led_3 = {
#endif
DRIVER_TYPE_GPIO,
&__led_3,
};
// LED 4
static const GPIO_InitTypeDef stm32_f4_discovery_led_4_gpio = {
GPIO_Pin_13,
GPIO_Mode_OUT,
GPIO_Speed_100MHz,
GPIO_OType_PP,
GPIO_PuPd_NOPULL
};
static const struct stm32f4_gpio stm32_f4_discovery_led_4 = {
GPIOD,
&stm32_f4_discovery_led_4_gpio,
NULL,
NULL,
NULL,
NULL
};
static const struct gpio __led_4 = {
(void*)&stm32_f4_discovery_led_4,
&gpio_fp
};
#ifdef TEST_APP
static const struct driver led_4 = {
#else
const struct driver led_4 = {
#endif
DRIVER_TYPE_GPIO,
&__led_4,
};
// LED 5
static const GPIO_InitTypeDef stm32_f4_discovery_led_5_gpio = {
GPIO_Pin_14,
GPIO_Mode_OUT,
GPIO_Speed_100MHz,
GPIO_OType_PP,
GPIO_PuPd_NOPULL
};
static const struct stm32f4_gpio stm32_f4_discovery_led_5 = {
GPIOD,
&stm32_f4_discovery_led_5_gpio,
NULL,
NULL,
NULL,
NULL
};
static const struct gpio __led_5 = {
(void*)&stm32_f4_discovery_led_5,
&gpio_fp
};
#ifdef TEST_APP
static const struct driver led_5 = {
#else
const struct driver led_5 = {
#endif
DRIVER_TYPE_GPIO,
&__led_5,
};
// LED 6
static const GPIO_InitTypeDef stm32_f4_discovery_led_6_gpio = {
GPIO_Pin_15,
GPIO_Mode_OUT,
GPIO_Speed_100MHz,
GPIO_OType_PP,
GPIO_PuPd_NOPULL
};
static const struct stm32f4_gpio stm32_f4_discovery_led_6 = {
GPIOD,
&stm32_f4_discovery_led_6_gpio,
NULL,
NULL,
NULL,
NULL
};
static const struct gpio __led_6 = {
(void*)&stm32_f4_discovery_led_6,
&gpio_fp
};
#ifdef TEST_APP
static const struct driver led_6 = {
#else
const struct driver led_6 = {
#endif
DRIVER_TYPE_GPIO,
&__led_6,
};
// BUTTON
static const GPIO_InitTypeDef stm32_f4_discovery_user_button_gpio = {
GPIO_Pin_0, GPIO_Pin_0,
GPIO_Mode_IN, GPIO_Mode_OUT,
GPIO_Speed_100MHz, GPIO_Speed_100MHz,
GPIO_OType_PP, GPIO_OType_PP,
GPIO_PuPd_NOPULL GPIO_PuPd_NOPULL
}; };
static const EXTI_InitTypeDef stm32_f4_discovery_user_button_exti = { static const struct stm32f4_gpio stm32_f4_gpio_C0 = {
EXTI_Line0, GPIOC,
EXTI_Mode_Interrupt, &port_cfg_C0,
EXTI_Trigger_Rising_Falling, NULL,
ENABLE NULL,
};
static const NVIC_InitTypeDef stm32_f4_discovery_user_button_nvic = {
EXTI0_IRQn,
0x0F,
0x0F,
ENABLE
};
static const struct stm32f4_gpio stm32_f4_discovery_user_button = {
GPIOA,
&stm32_f4_discovery_user_button_gpio,
&stm32_f4_discovery_user_button_exti,
&stm32_f4_discovery_user_button_nvic,
NULL, NULL,
NULL NULL
}; };
static const struct gpio user_button = { static const struct gpio __gpio_c0 = {
(void*)&stm32_f4_discovery_user_button, (void*)&stm32_f4_gpio_C0,
&gpio_fp &gpio_fp
}; };
#ifdef TEST_APP
static const struct driver gpio_c0 = {
#else
const struct driver gpio_c0 = {
#endif
DRIVER_TYPE_GPIO,
&__gpio_c0,
};
// GPIO_C1
static const GPIO_InitTypeDef port_cfg_C1 = {
GPIO_Pin_1,
GPIO_Mode_OUT,
GPIO_Speed_100MHz,
GPIO_OType_PP,
GPIO_PuPd_NOPULL
};
static const struct stm32f4_gpio stm32_f4_gpio_C1 = {
GPIOC,
&port_cfg_C1,
NULL,
NULL,
NULL,
NULL
};
static const struct gpio __gpio_c1 = {
(void*)&stm32_f4_gpio_C1,
&gpio_fp
};
#ifdef TEST_APP
static const struct driver gpio_c1 = {
#else
const struct driver gpio_c1 = {
#endif
DRIVER_TYPE_GPIO,
&__gpio_c1,
};
// GPIO_C2
static const GPIO_InitTypeDef port_cfg_C2 = {
GPIO_Pin_2,
GPIO_Mode_OUT,
GPIO_Speed_100MHz,
GPIO_OType_PP,
GPIO_PuPd_NOPULL
};
static const struct stm32f4_gpio stm32_f4_gpio_C2 = {
GPIOC,
&port_cfg_C2,
NULL,
NULL,
NULL,
NULL
};
static const struct gpio __gpio_c2 = {
(void*)&stm32_f4_gpio_C2,
&gpio_fp
};
#ifdef TEST_APP
static const struct driver gpio_c2 = {
#else
const struct driver gpio_c2 = {
#endif
DRIVER_TYPE_GPIO,
&__gpio_c2,
};
// GPIO_C3
static const GPIO_InitTypeDef port_cfg_C3 = {
GPIO_Pin_1,
GPIO_Mode_OUT,
GPIO_Speed_100MHz,
GPIO_OType_PP,
GPIO_PuPd_NOPULL
};
static const struct stm32f4_gpio stm32_f4_gpio_C3 = {
GPIOC,
&port_cfg_C3,
NULL,
NULL,
NULL,
NULL
};
static const struct gpio __gpio_c3 = {
(void*)&stm32_f4_gpio_C3,
&gpio_fp
};
#ifdef TEST_APP
static const struct driver gpio_c3 = {
#else
const struct driver gpio_c3 = {
#endif
DRIVER_TYPE_GPIO,
&__gpio_c3,
};
//! \brief Setup the hardware of the stm32f4-discovery board. //! \brief Setup the hardware of the stm32f4-discovery board.
void board_init(void); void board_init(void);

91
source/test/pwm/main.c
View File

@ -16,6 +16,45 @@
#include "list.h" #include "list.h"
#include "shell.h" #include "shell.h"
struct engine_ctrl {
const struct driver *pwm;
const struct driver *enable;
};
struct drive_ctrl {
struct engine_ctrl *left_forward;
struct engine_ctrl *left_backward;
struct engine_ctrl *right_forward;
struct engine_ctrl *right_backward;
};
static struct engine_ctrl right_forward = {
.pwm = &pwm_1,
.enable = &gpio_c1,
};
static struct engine_ctrl right_backward = {
.pwm = &pwm_2,
.enable = &gpio_c0,
};
static struct engine_ctrl left_forward = {
.pwm = &pwm_3,
.enable = &gpio_c3,
};
static struct engine_ctrl left_backward = {
.pwm = &pwm_4,
.enable = &gpio_c2,
};
static struct drive_ctrl drive_ctrl = {
.left_forward = &left_forward,
.left_backward = &left_backward,
.right_forward = &right_forward,
.right_backward = &right_backward,
};
#define TH_STACK_SIZE 256 #define TH_STACK_SIZE 256
stack_t th_stack[TH_STACK_SIZE]; stack_t th_stack[TH_STACK_SIZE];
@ -23,19 +62,51 @@ struct thread_context th_ctx;
static void th_func(void *arg) static void th_func(void *arg)
{ {
unsigned int duty = 0; unsigned int duty = 0;
open(&pwm_4);
/* open enable pins */
open(drive_ctrl.left_forward->enable);
write(drive_ctrl.left_forward->enable, "0", 1);
open(drive_ctrl.left_backward->enable);
write(drive_ctrl.left_backward->enable, "0", 1);
open(drive_ctrl.right_forward->enable);
write(drive_ctrl.right_forward->enable, "0", 1);
open(drive_ctrl.right_backward->enable);
write(drive_ctrl.right_backward->enable, "0", 1);
/* open pwm's*/
open(drive_ctrl.left_backward->pwm);
ioctl(drive_ctrl.left_backward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
open(drive_ctrl.left_forward->pwm);
ioctl(drive_ctrl.left_forward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
open(drive_ctrl.right_backward->pwm);
ioctl(drive_ctrl.right_backward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
open(drive_ctrl.right_forward->pwm);
ioctl(drive_ctrl.right_forward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
/* enable enable pins */
write(drive_ctrl.left_forward->enable, "1", 1);
write(drive_ctrl.left_backward->enable, "1", 1);
write(drive_ctrl.right_forward->enable, "1", 1);
write(drive_ctrl.right_backward->enable, "1", 1);
while(1) { while(1) {
while(duty < 100) { duty = 0;
ioctl(&pwm_4, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty); ioctl(drive_ctrl.left_backward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
pwm_set_duty_cycle(&pwm_ch4, duty); ioctl(drive_ctrl.right_backward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
sleep_ms(10); for(duty = 0; duty < 100; duty++) {
duty++; ioctl(drive_ctrl.left_forward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
ioctl(drive_ctrl.right_forward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
sleep_ms(100);
} }
while(duty > 0) { duty = 0;
ioctl(&pwm_4, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty); ioctl(drive_ctrl.left_forward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
sleep_ms(10); ioctl(drive_ctrl.right_forward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
duty--; sleep_ms(100);
for(duty = 0; duty < 100; duty++) {
ioctl(drive_ctrl.left_backward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
ioctl(drive_ctrl.right_backward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
sleep_ms(100);
} }
sleep_ms(100);
} }
} }