r2maeh2/kosmos
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

working pwm input capture

Browse Source
This commit is contained in:
Thomas Klaehn 2016-08-29 11:49:04 +02:00
parent 2df23ab567
commit 48f60f0f73
1 changed files with 28 additions and 66 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

94
source/test/pwm/main.c
View File

@ -30,7 +30,8 @@ static TIM_HandleTypeDef timer_handle = {
static TIM_IC_InitTypeDef input_capture_init = { static TIM_IC_InitTypeDef input_capture_init = {
.ICPrescaler = TIM_ICPSC_DIV1, .ICPrescaler = TIM_ICPSC_DIV1,
.ICFilter = 0, .ICFilter = 0,
.ICPolarity = TIM_ICPOLARITY_FALLING, // .ICPolarity = TIM_ICPOLARITY_FALLING,
.ICPolarity = TIM_ICPOLARITY_BOTHEDGE,
.ICSelection = TIM_ICSELECTION_INDIRECTTI, .ICSelection = TIM_ICSELECTION_INDIRECTTI,
}; };
@ -64,9 +65,7 @@ static const struct driver gpio_b10 = {
&__gpio_b10, &__gpio_b10,
}; };
static uint32_t ch3 = 0, ch4 = 0; static int period = 0, period_start = 0, pulse = 0, pulse_start = 0;
static int period = 0, pulse = 0;
void config_input(void) void config_input(void)
{ {
@ -77,13 +76,8 @@ void config_input(void)
/* cfg timer */ /* cfg timer */
HAL_TIM_IC_Init(&timer_handle); HAL_TIM_IC_Init(&timer_handle);
HAL_TIM_IC_ConfigChannel(&timer_handle, &input_capture_init, TIM_CHANNEL_4); 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_SlaveConfigSynchronization(&timer_handle, &slave_config);
HAL_TIM_IC_Start_IT(&timer_handle, TIM_CHANNEL_4); 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); HAL_NVIC_EnableIRQ(TIM2_IRQn);
} }
@ -109,18 +103,14 @@ int main(void)
drv_ioctl(&pwm_3, 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); drv_ioctl(&pwm_4, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
sleep_ms(100); 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; float dist = 84000.0 / pulse;
dist = 343.0 / dist; dist = 343.0 / dist;
dist /= 2.0; dist /= 2.0;
dist *= 100; // m -> cm dist *= 100; // m -> cm
int d = (int)dist; int d = (int)dist;
sprintf(print_buffer, "distance: %d cm\r\n", d); sprintf(print_buffer, "distance: %d cm\r\n", d);
drv_write(&uart_1, print_buffer, strlen(print_buffer)); drv_write(&uart_1, print_buffer, strlen(print_buffer));
}
} }
for(unsigned int duty = 98; duty > 0; duty--) { for(unsigned int duty = 98; duty > 0; duty--) {
drv_ioctl(&pwm_1, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty); drv_ioctl(&pwm_1, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
@ -128,18 +118,14 @@ int main(void)
drv_ioctl(&pwm_3, 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); drv_ioctl(&pwm_4, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
sleep_ms(100); 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; float dist = 84000.0 / pulse;
dist = 343.0 / dist; dist = 343.0 / dist;
dist /= 2.0; dist /= 2.0;
dist *= 100; // m -> cm dist *= 100; // m -> cm
int d = (int)dist; int d = (int)dist;
sprintf(print_buffer, "distance: %d cm\r\n", d); sprintf(print_buffer, "distance: %d cm\r\n", d);
drv_write(&uart_1, print_buffer, strlen(print_buffer)); drv_write(&uart_1, print_buffer, strlen(print_buffer));
}
} }
} }
@ -151,51 +137,27 @@ void TIM2_IRQHandler(void)
{ {
enter_isr(); enter_isr();
TIM_HandleTypeDef *htim = &timer_handle; 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 */ /* Capture compare 4 event */
if(__HAL_TIM_GET_FLAG(htim, TIM_FLAG_CC4) != RESET) { if(__HAL_TIM_GET_FLAG(htim, TIM_FLAG_CC4) != RESET) {
if(__HAL_TIM_GET_IT_SOURCE(htim, TIM_IT_CC4) !=RESET) { if(__HAL_TIM_GET_IT_SOURCE(htim, TIM_IT_CC4) !=RESET) {
__HAL_TIM_CLEAR_IT(htim, TIM_IT_CC4); __HAL_TIM_CLEAR_IT(htim, TIM_IT_CC4);
/* Input capture event */ /* Input capture event */
if((htim->Instance->CCMR2 & TIM_CCMR2_CC4S) != 0x00U) { if((htim->Instance->CCMR2 & TIM_CCMR2_CC4S) != 0x00U) {
uint32_t ch4_old = ch4; uint32_t ch4 = htim->Instance->CCR4;
ch4 = htim->Instance->CCR4; if(GPIO_PIN_SET == HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_10)) {
period = ch4 - ch4_old; if(ch4 > period_start)
pulse = ch4 - ch3; period = ch4 - period_start;
period_start = ch4;
pulse_start = ch4;
}
else {
if(ch4 > pulse_start)
pulse = ch4 - pulse_start;
}
} }
} }
} }
tmpreg = tmpreg;
exit_isr(); exit_isr();
} }