wip

Makefile

@@ -26,7 +26,7 @@ endif
 
 C_SOURCES := $(foreach folder, $(SRC_DIR), $(wildcard $(folder)/*.c))
 C_OBJECTS := $(C_SOURCES:%.c=$(OBJ_DIR)/%.o)
-C_DEPS := $(SOURCES:%.c=$(OBJ_DIR)/%.d)
+C_DEPS := $(C_SOURCES:%.c=$(OBJ_DIR)/%.d)
 
 all: $(MAIN_FILE)
 

config/make/stm32f4xx.mk

@@ -57,7 +57,8 @@ C_FLAGS += \
 	-Wno-unused-parameter \
 	-Wno-sign-compare \
 	-Wno-missing-prototypes \
-	-Wno-missing-declarations
+	-Wno-missing-declarations \
+	-Wno-missing-field-initializers
 
 L_FLAGS := \
 	-T mem.ld \
@@ -66,7 +67,8 @@ L_FLAGS := \
 	-nostartfiles \
 	-Xlinker --gc-sections \
 	-L"config/linker" \
-	--specs=nano.specs
+	--specs=nano.specs \
+	-u _printf_float
 
 ifeq ($(DEBUG),y)
 OPTIM = g

source/firmware/kernel/include/isr.h

@@ -8,8 +8,8 @@
 #ifndef ISR_H_
 #define ISR_H_
 
-#ifdef ARCH_MSP430
+#ifdef ARCH_STM32F4XX
-#include "msp430_isr.h"
+#include "stm32f4xx_isr.h"
 #endif
 
 #endif /* ISR_H_ */

source/test/pwm/main.c

@@ -6,6 +6,8 @@
  */
 
 #include <stdbool.h>
+#include <string.h>
+#include <stdio.h>
 
 #include "driver.h"
 #include "board.h"
@@ -16,8 +18,79 @@
 #include "list.h"
 #include "shell.h"
 
+static TIM_HandleTypeDef timer_handle = {
+		.Instance = TIM2,
+		.Init.Prescaler = 1000,
+		.Init.CounterMode = TIM_COUNTERMODE_UP,
+		.Init.Period = 0xffff,
+		.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1,
+		.Init.RepetitionCounter = 0,
+};
+
+static TIM_IC_InitTypeDef input_capture_init = {
+		.ICPrescaler = TIM_ICPSC_DIV1,
+		.ICFilter = 0,
+		.ICPolarity = TIM_ICPOLARITY_FALLING,
+		.ICSelection = TIM_ICSELECTION_INDIRECTTI,
+};
+
+static TIM_SlaveConfigTypeDef   slave_config = {
+		.SlaveMode = TIM_SLAVEMODE_RESET,
+		.InputTrigger = TIM_TS_TI1FP1,
+		.TriggerPolarity = TIM_INPUTCHANNELPOLARITY_BOTHEDGE,
+		.TriggerFilter = 0,
+};
+
+static GPIO_InitTypeDef port_cfg_b10 = {
+		.Pin = GPIO_PIN_10,
+		.Mode = GPIO_MODE_AF_OD,
+		.Speed = GPIO_SPEED_FREQ_HIGH,
+		.Pull = GPIO_NOPULL,
+		.Alternate = GPIO_AF1_TIM2,
+};
+
+static const struct stm32f4_gpio b10_gpio = {
+		.port = GPIOB,
+		.pin = &port_cfg_b10,
+};
+
+static const struct gpio __gpio_b10 = {
+		(void*)&b10_gpio,
+		&gpio_fp
+};
+
+static const struct driver gpio_b10 = {
+		DRIVER_TYPE_GPIO,
+		&__gpio_b10,
+};
+
+static uint32_t ch3 = 0, ch4 = 0;
+static int period = 0, pulse = 0;
+
+
+void config_input(void)
+{
+	__HAL_RCC_TIM2_CLK_ENABLE();
+	drv_open(&gpio_b10);
+	HAL_NVIC_SetPriority(TIM2_IRQn, 0, 1);
+
+	/* cfg timer */
+	HAL_TIM_IC_Init(&timer_handle);
+	HAL_TIM_IC_ConfigChannel(&timer_handle, &input_capture_init, TIM_CHANNEL_4);
+	input_capture_init.ICPolarity = TIM_ICPOLARITY_RISING;
+	input_capture_init.ICSelection = TIM_ICSELECTION_DIRECTTI;
+	HAL_TIM_IC_ConfigChannel(&timer_handle, &input_capture_init, TIM_CHANNEL_3);
+
+	HAL_TIM_SlaveConfigSynchronization(&timer_handle, &slave_config);
+	HAL_TIM_IC_Start_IT(&timer_handle, TIM_CHANNEL_4);
+	HAL_TIM_IC_Start_IT(&timer_handle, TIM_CHANNEL_3);
+
+	HAL_NVIC_EnableIRQ(TIM2_IRQn);
+}
+
 int main(void)
 {
+	char print_buffer[80];
 	drv_open(&pwm_1);
 	drv_open(&pwm_2);
 	drv_open(&pwm_3);
@@ -25,22 +98,104 @@ int main(void)
 
 	drv_open(&pwm5_c2);
 
+	drv_open(&uart_1);
+
+	config_input();
+
 	while(1) {
 		for(unsigned int duty = 0; duty < 100; duty++) {
 			drv_ioctl(&pwm_1, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
 			drv_ioctl(&pwm_2, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
 			drv_ioctl(&pwm_3, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
 			drv_ioctl(&pwm_4, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
-			sleep_ms(10);
+			sleep_ms(100);
+			if((period >= 0) && (pulse >= 0)) {
+//				sprintf(print_buffer, "period: %u,\tpulse: %u\r\n", period, pulse);
+//				drv_write(&uart_1, print_buffer, strlen(print_buffer));
+
+				float dist = 84000.0 / pulse;
+				dist = 343.0 / dist;
+				dist /= 2.0;
+				dist *= 100; // m -> cm
+				int d = (int)dist;
+				sprintf(print_buffer, "distance: %d cm\r\n", d);
+				drv_write(&uart_1, print_buffer, strlen(print_buffer));
+			}
 		}
 		for(unsigned int duty = 98; duty > 0; duty--) {
 			drv_ioctl(&pwm_1, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
 			drv_ioctl(&pwm_2, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
 			drv_ioctl(&pwm_3, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
 			drv_ioctl(&pwm_4, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
-			sleep_ms(10);
+			sleep_ms(100);
+			if((period >= 0) && (pulse >= 0)) {
+//				sprintf(print_buffer, "period: %u,\tpulse: %u\r\n", period, pulse);
+//				drv_write(&uart_1, print_buffer, strlen(print_buffer));
+
+				float dist = 84000.0 / pulse;
+				dist = 343.0 / dist;
+				dist /= 2.0;
+				dist *= 100; // m -> cm
+				int d = (int)dist;
+				sprintf(print_buffer, "distance: %d cm\r\n", d);
+				drv_write(&uart_1, print_buffer, strlen(print_buffer));
+			}
 		}
 	}
 
 	return 0;
 }
+
+#include "isr.h"
+void TIM2_IRQHandler(void)
+{
+	enter_isr();
+	TIM_HandleTypeDef *htim = &timer_handle;
+	uint32_t tmpreg = 0U;
+
+	if(__HAL_TIM_GET_FLAG(htim, TIM_FLAG_CC1) != RESET) {
+		if(__HAL_TIM_GET_IT_SOURCE(htim, TIM_IT_CC1) !=RESET) {
+			__HAL_TIM_CLEAR_IT(htim, TIM_IT_CC1);
+			/* Input capture event */
+			if((htim->Instance->CCMR1 & TIM_CCMR1_CC1S) != 0x00U) {
+				tmpreg = htim->Instance->CCR1;
+			}
+		}
+	}
+	/* Capture compare 2 event */
+	if(__HAL_TIM_GET_FLAG(htim, TIM_FLAG_CC2) != RESET) {
+		if(__HAL_TIM_GET_IT_SOURCE(htim, TIM_IT_CC2) !=RESET) {
+			__HAL_TIM_CLEAR_IT(htim, TIM_IT_CC2);
+			/* Input capture event */
+			if((htim->Instance->CCMR1 & TIM_CCMR1_CC2S) != 0x00U) {
+				tmpreg = htim->Instance->CCR2;
+			}
+		}
+	}
+	/* Capture compare 3 event */
+	if(__HAL_TIM_GET_FLAG(htim, TIM_FLAG_CC3) != RESET) {
+		if(__HAL_TIM_GET_IT_SOURCE(htim, TIM_IT_CC3) !=RESET) {
+			__HAL_TIM_CLEAR_IT(htim, TIM_IT_CC3);
+			/* Input capture event */
+			if((htim->Instance->CCMR2 & TIM_CCMR2_CC3S) != 0x00U) {
+				ch3 = htim->Instance->CCR3;
+			}
+		}
+	}
+	/* Capture compare 4 event */
+	if(__HAL_TIM_GET_FLAG(htim, TIM_FLAG_CC4) != RESET) {
+		if(__HAL_TIM_GET_IT_SOURCE(htim, TIM_IT_CC4) !=RESET) {
+			__HAL_TIM_CLEAR_IT(htim, TIM_IT_CC4);
+			/* Input capture event */
+			if((htim->Instance->CCMR2 & TIM_CCMR2_CC4S) != 0x00U) {
+				uint32_t ch4_old = ch4;
+				ch4 = htim->Instance->CCR4;
+				period = ch4 - ch4_old;
+				pulse = ch4 - ch3;
+			}
+		}
+	}
+	tmpreg = tmpreg;
+
+	exit_isr();
+}