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wip

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This commit is contained in:
Thomas Klaehn 2016-08-28 15:01:44 +02:00
parent fdc493fcef
commit 2df23ab567
4 changed files with 164 additions and 7 deletions
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2
Makefile
View File

@ -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)

6
config/make/stm32f4xx.mk
View File

@ -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

4
source/firmware/kernel/include/isr.h
View File

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

159
source/test/pwm/main.c
View File

@ -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();
}