Merge branch 'develop' into 'master'
release 0.0.2 See merge request !9
This commit is contained in:
tkl
commit
fc65358c68
40
.cproject
40
.cproject
@ -197,6 +197,14 @@
|
|||||||
<useDefaultCommand>false</useDefaultCommand>
|
<useDefaultCommand>false</useDefaultCommand>
|
||||||
<runAllBuilders>true</runAllBuilders>
|
<runAllBuilders>true</runAllBuilders>
|
||||||
</target>
|
</target>
|
||||||
|
<target name="test" path="source" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||||
|
<buildCommand>make</buildCommand>
|
||||||
|
<buildArguments>TEST_APP=shell</buildArguments>
|
||||||
|
<buildTarget>test</buildTarget>
|
||||||
|
<stopOnError>true</stopOnError>
|
||||||
|
<useDefaultCommand>false</useDefaultCommand>
|
||||||
|
<runAllBuilders>true</runAllBuilders>
|
||||||
|
</target>
|
||||||
<target name="all" path="software/test/firmware/kernel/list" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
<target name="all" path="software/test/firmware/kernel/list" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||||
<buildCommand>make</buildCommand>
|
<buildCommand>make</buildCommand>
|
||||||
<buildArguments/>
|
<buildArguments/>
|
||||||
@ -261,6 +269,38 @@
|
|||||||
<useDefaultCommand>false</useDefaultCommand>
|
<useDefaultCommand>false</useDefaultCommand>
|
||||||
<runAllBuilders>true</runAllBuilders>
|
<runAllBuilders>true</runAllBuilders>
|
||||||
</target>
|
</target>
|
||||||
|
<target name="test shell" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||||
|
<buildCommand>make</buildCommand>
|
||||||
|
<buildArguments>TEST_APP=shell BOARD=stm32f4-discovery DEBUG=y</buildArguments>
|
||||||
|
<buildTarget>test</buildTarget>
|
||||||
|
<stopOnError>true</stopOnError>
|
||||||
|
<useDefaultCommand>false</useDefaultCommand>
|
||||||
|
<runAllBuilders>true</runAllBuilders>
|
||||||
|
</target>
|
||||||
|
<target name="test shell install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||||
|
<buildCommand>make</buildCommand>
|
||||||
|
<buildArguments>TEST_APP=shell BOARD=stm32f4-discovery DEBUG=y</buildArguments>
|
||||||
|
<buildTarget>install</buildTarget>
|
||||||
|
<stopOnError>true</stopOnError>
|
||||||
|
<useDefaultCommand>false</useDefaultCommand>
|
||||||
|
<runAllBuilders>true</runAllBuilders>
|
||||||
|
</target>
|
||||||
|
<target name="test pwm" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||||
|
<buildCommand>make</buildCommand>
|
||||||
|
<buildArguments>TEST_APP=pwm BOARD=stm32f4-discovery DEBUG=y</buildArguments>
|
||||||
|
<buildTarget>test</buildTarget>
|
||||||
|
<stopOnError>true</stopOnError>
|
||||||
|
<useDefaultCommand>false</useDefaultCommand>
|
||||||
|
<runAllBuilders>true</runAllBuilders>
|
||||||
|
</target>
|
||||||
|
<target name="test pwm install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||||
|
<buildCommand>make</buildCommand>
|
||||||
|
<buildArguments>TEST_APP=pwm BOARD=stm32f4-discovery DEBUG=y</buildArguments>
|
||||||
|
<buildTarget>install</buildTarget>
|
||||||
|
<stopOnError>true</stopOnError>
|
||||||
|
<useDefaultCommand>false</useDefaultCommand>
|
||||||
|
<runAllBuilders>true</runAllBuilders>
|
||||||
|
</target>
|
||||||
<target name="msp430-ccrf example_radio_rx all" path="software/source/test" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
<target name="msp430-ccrf example_radio_rx all" path="software/source/test" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||||
<buildCommand>make</buildCommand>
|
<buildCommand>make</buildCommand>
|
||||||
<buildArguments>APP=example_radio_rx BOARD=msp430-ccrf DEBUG=y</buildArguments>
|
<buildArguments>APP=example_radio_rx BOARD=msp430-ccrf DEBUG=y</buildArguments>
|
||||||
|
|||||||
@ -1,7 +1,7 @@
|
|||||||
variables:
|
variables:
|
||||||
SW_KERNEL: "0"
|
SW_KERNEL: "0"
|
||||||
SW_MAJOR: "0"
|
SW_MAJOR: "0"
|
||||||
SW_MINOR: "1"
|
SW_MINOR: "2"
|
||||||
|
|
||||||
before_script:
|
before_script:
|
||||||
- "echo $CI_BUILD_ID"
|
- "echo $CI_BUILD_ID"
|
||||||
|
|||||||
25
Makefile
25
Makefile
@ -12,6 +12,11 @@ endif
|
|||||||
MAINFILE = $(EXE_DIR)/lib$(OS_NAME)-$(ARCH)-$(BOARD)$(VERSION)$(DBG_EXT)$(LIB_EXT)
|
MAINFILE = $(EXE_DIR)/lib$(OS_NAME)-$(ARCH)-$(BOARD)$(VERSION)$(DBG_EXT)$(LIB_EXT)
|
||||||
DEPLOY_PACKET = lib$(OS_NAME)-$(ARCH)-$(BOARD)$(VERSION)$(DBG_EXT).tar.xz
|
DEPLOY_PACKET = lib$(OS_NAME)-$(ARCH)-$(BOARD)$(VERSION)$(DBG_EXT).tar.xz
|
||||||
|
|
||||||
|
TEST_FILE = $(EXE_DIR)/$(TEST_APP)$(ELF_EXT)
|
||||||
|
BIN_FILE = $(EXE_DIR)/$(TEST_APP)$(BIN_EXT)
|
||||||
|
HEX_FILE = $(EXE_DIR)/$(TEST_APP)$(HEX_EXT)
|
||||||
|
SIZE_FILE = $(SIZE_DIR)/$(TEST_APP)$(SIZE_EXT)
|
||||||
|
|
||||||
INCLUDES += $(SRC_DIR)
|
INCLUDES += $(SRC_DIR)
|
||||||
|
|
||||||
SUB_FOLDER :=
|
SUB_FOLDER :=
|
||||||
@ -25,6 +30,10 @@ DEPS = $(SOURCES:$(ROOT_DIR)/%.c=$(OBJ_DIR)/%.d)
|
|||||||
|
|
||||||
#include subfolders
|
#include subfolders
|
||||||
include source/firmware/firmware.mk
|
include source/firmware/firmware.mk
|
||||||
|
ifdef TEST_APP
|
||||||
|
include source/test/test.mk
|
||||||
|
CFLAGS += -DTEST_APP
|
||||||
|
endif
|
||||||
|
|
||||||
SOURCES += $(foreach folder, $(SUB_FOLDER), $(wildcard $(ROOT_DIR)/$(folder)/*.c))
|
SOURCES += $(foreach folder, $(SUB_FOLDER), $(wildcard $(ROOT_DIR)/$(folder)/*.c))
|
||||||
CHECKSOURCES += $(foreach folder, $(CHECK_FOLDER), $(wildcard $(ROOT_DIR)/$(folder)/*.c))
|
CHECKSOURCES += $(foreach folder, $(CHECK_FOLDER), $(wildcard $(ROOT_DIR)/$(folder)/*.c))
|
||||||
@ -74,6 +83,22 @@ doc:
|
|||||||
@$(MKDIR) $(DOC_DIR)
|
@$(MKDIR) $(DOC_DIR)
|
||||||
(cat $(DOXYFILE) ; echo "INPUT=$(DOC_SRC)" ; echo "OUTPUT_DIRECTORY=$(DOC_DIR)") | doxygen -
|
(cat $(DOXYFILE) ; echo "INPUT=$(DOC_SRC)" ; echo "OUTPUT_DIRECTORY=$(DOC_DIR)") | doxygen -
|
||||||
|
|
||||||
|
test: $(OBJECTS) $(ASM_OBJECTS)
|
||||||
|
@$(MKDIR) $(EXE_DIR)
|
||||||
|
@$(MKDIR) $(MAP_DIR)
|
||||||
|
@$(MKDIR) $(SIZE_DIR)
|
||||||
|
$(CC) $(CFLAGS) $(LDFLAGS) $(OBJECTS) $(ASM_OBJECTS) -o $(TEST_FILE)
|
||||||
|
$(OBJCOPY) $(TEST_FILE) -O binary $(BIN_FILE)
|
||||||
|
$(OBJCOPY) $(TEST_FILE) -O ihex $(HEX_FILE)
|
||||||
|
$(NM) --size-sort --print-size $(TEST_FILE) > $(SIZE_FILE)
|
||||||
|
@echo
|
||||||
|
@$(SIZE) --format=berkeley -x $(TEST_FILE)
|
||||||
|
@echo
|
||||||
|
|
||||||
|
install: test
|
||||||
|
$(PRE_PROGRAM)
|
||||||
|
$(PROGRAM)
|
||||||
|
|
||||||
ifneq "$(MAKECMDGOALS)" "clean"
|
ifneq "$(MAKECMDGOALS)" "clean"
|
||||||
-include $(DEPS)
|
-include $(DEPS)
|
||||||
else
|
else
|
||||||
|
|||||||
170
config/linker/stm32_flash.ld
Executable file
170
config/linker/stm32_flash.ld
Executable file
@ -0,0 +1,170 @@
|
|||||||
|
/*
|
||||||
|
*****************************************************************************
|
||||||
|
**
|
||||||
|
** File : stm32_flash.ld
|
||||||
|
**
|
||||||
|
** Abstract : Linker script for STM32F407VG Device with
|
||||||
|
** 1024KByte FLASH, 192KByte RAM
|
||||||
|
**
|
||||||
|
** Set heap size, stack size and stack location according
|
||||||
|
** to application requirements.
|
||||||
|
**
|
||||||
|
** Set memory bank area and size if external memory is used.
|
||||||
|
**
|
||||||
|
** Target : STMicroelectronics STM32
|
||||||
|
**
|
||||||
|
** Environment : Atollic TrueSTUDIO(R)
|
||||||
|
**
|
||||||
|
** Distribution: The file is distributed “as is,” without any warranty
|
||||||
|
** of any kind.
|
||||||
|
**
|
||||||
|
** (c)Copyright Atollic AB.
|
||||||
|
** You may use this file as-is or modify it according to the needs of your
|
||||||
|
** project. Distribution of this file (unmodified or modified) is not
|
||||||
|
** permitted. Atollic AB permit registered Atollic TrueSTUDIO(R) users the
|
||||||
|
** rights to distribute the assembled, compiled & linked contents of this
|
||||||
|
** file as part of an application binary file, provided that it is built
|
||||||
|
** using the Atollic TrueSTUDIO(R) toolchain.
|
||||||
|
**
|
||||||
|
*****************************************************************************
|
||||||
|
*/
|
||||||
|
|
||||||
|
/* Entry Point */
|
||||||
|
ENTRY(Reset_Handler)
|
||||||
|
|
||||||
|
/* Highest address of the user mode stack */
|
||||||
|
_estack = 0x20020000; /* end of 128K RAM on AHB bus*/
|
||||||
|
|
||||||
|
/* Generate a link error if heap and stack don't fit into RAM */
|
||||||
|
_Min_Heap_Size = 0; /* required amount of heap */
|
||||||
|
_Min_Stack_Size = 0x400; /* required amount of stack */
|
||||||
|
|
||||||
|
/* Specify the memory areas */
|
||||||
|
MEMORY
|
||||||
|
{
|
||||||
|
FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 1024K
|
||||||
|
RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 192K
|
||||||
|
MEMORY_B1 (rx) : ORIGIN = 0x60000000, LENGTH = 0K
|
||||||
|
}
|
||||||
|
|
||||||
|
/* Define output sections */
|
||||||
|
SECTIONS
|
||||||
|
{
|
||||||
|
/* The startup code goes first into FLASH */
|
||||||
|
.isr_vector :
|
||||||
|
{
|
||||||
|
. = ALIGN(4);
|
||||||
|
KEEP(*(.isr_vector)) /* Startup code */
|
||||||
|
. = ALIGN(4);
|
||||||
|
} >FLASH
|
||||||
|
|
||||||
|
/* The program code and other data goes into FLASH */
|
||||||
|
.text :
|
||||||
|
{
|
||||||
|
. = ALIGN(4);
|
||||||
|
*(.text) /* .text sections (code) */
|
||||||
|
*(.text*) /* .text* sections (code) */
|
||||||
|
*(.rodata) /* .rodata sections (constants, strings, etc.) */
|
||||||
|
*(.rodata*) /* .rodata* sections (constants, strings, etc.) */
|
||||||
|
*(.glue_7) /* glue arm to thumb code */
|
||||||
|
*(.glue_7t) /* glue thumb to arm code */
|
||||||
|
*(.eh_frame)
|
||||||
|
|
||||||
|
KEEP (*(.init))
|
||||||
|
KEEP (*(.fini))
|
||||||
|
|
||||||
|
. = ALIGN(4);
|
||||||
|
_etext = .; /* define a global symbols at end of code */
|
||||||
|
} >FLASH
|
||||||
|
|
||||||
|
|
||||||
|
.ARM.extab : { *(.ARM.extab* .gnu.linkonce.armextab.*) } >FLASH
|
||||||
|
.ARM : {
|
||||||
|
__exidx_start = .;
|
||||||
|
*(.ARM.exidx*)
|
||||||
|
__exidx_end = .;
|
||||||
|
} >FLASH
|
||||||
|
|
||||||
|
.preinit_array :
|
||||||
|
{
|
||||||
|
PROVIDE_HIDDEN (__preinit_array_start = .);
|
||||||
|
KEEP (*(.preinit_array*))
|
||||||
|
PROVIDE_HIDDEN (__preinit_array_end = .);
|
||||||
|
} >FLASH
|
||||||
|
.init_array :
|
||||||
|
{
|
||||||
|
PROVIDE_HIDDEN (__init_array_start = .);
|
||||||
|
KEEP (*(SORT(.init_array.*)))
|
||||||
|
KEEP (*(.init_array*))
|
||||||
|
PROVIDE_HIDDEN (__init_array_end = .);
|
||||||
|
} >FLASH
|
||||||
|
.fini_array :
|
||||||
|
{
|
||||||
|
PROVIDE_HIDDEN (__fini_array_start = .);
|
||||||
|
KEEP (*(.fini_array*))
|
||||||
|
KEEP (*(SORT(.fini_array.*)))
|
||||||
|
PROVIDE_HIDDEN (__fini_array_end = .);
|
||||||
|
} >FLASH
|
||||||
|
|
||||||
|
/* used by the startup to initialize data */
|
||||||
|
_sidata = .;
|
||||||
|
|
||||||
|
/* Initialized data sections goes into RAM, load LMA copy after code */
|
||||||
|
.data : AT ( _sidata )
|
||||||
|
{
|
||||||
|
. = ALIGN(4);
|
||||||
|
_sdata = .; /* create a global symbol at data start */
|
||||||
|
*(.data) /* .data sections */
|
||||||
|
*(.data*) /* .data* sections */
|
||||||
|
|
||||||
|
. = ALIGN(4);
|
||||||
|
_edata = .; /* define a global symbol at data end */
|
||||||
|
} >RAM
|
||||||
|
|
||||||
|
/* Uninitialized data section */
|
||||||
|
. = ALIGN(4);
|
||||||
|
.bss :
|
||||||
|
{
|
||||||
|
/* This is used by the startup in order to initialize the .bss secion */
|
||||||
|
_sbss = .; /* define a global symbol at bss start */
|
||||||
|
__bss_start__ = _sbss;
|
||||||
|
*(.bss)
|
||||||
|
*(.bss*)
|
||||||
|
*(COMMON)
|
||||||
|
|
||||||
|
. = ALIGN(4);
|
||||||
|
_ebss = .; /* define a global symbol at bss end */
|
||||||
|
__bss_end__ = _ebss;
|
||||||
|
} >RAM
|
||||||
|
|
||||||
|
/* User_heap_stack section, used to check that there is enough RAM left */
|
||||||
|
._user_heap_stack :
|
||||||
|
{
|
||||||
|
. = ALIGN(4);
|
||||||
|
PROVIDE ( end = . );
|
||||||
|
PROVIDE ( _end = . );
|
||||||
|
. = . + _Min_Heap_Size;
|
||||||
|
. = . + _Min_Stack_Size;
|
||||||
|
. = ALIGN(4);
|
||||||
|
} >RAM
|
||||||
|
|
||||||
|
/* MEMORY_bank1 section, code must be located here explicitly */
|
||||||
|
/* Example: extern int foo(void) __attribute__ ((section (".mb1text"))); */
|
||||||
|
.memory_b1_text :
|
||||||
|
{
|
||||||
|
*(.mb1text) /* .mb1text sections (code) */
|
||||||
|
*(.mb1text*) /* .mb1text* sections (code) */
|
||||||
|
*(.mb1rodata) /* read-only data (constants) */
|
||||||
|
*(.mb1rodata*)
|
||||||
|
} >MEMORY_B1
|
||||||
|
|
||||||
|
/* Remove information from the standard libraries */
|
||||||
|
/DISCARD/ :
|
||||||
|
{
|
||||||
|
libc.a ( * )
|
||||||
|
libm.a ( * )
|
||||||
|
libgcc.a ( * )
|
||||||
|
}
|
||||||
|
|
||||||
|
.ARM.attributes 0 : { *(.ARM.attributes) }
|
||||||
|
}
|
||||||
@ -1,14 +1,14 @@
|
|||||||
.PHONY: clean distclean doc
|
.PHONY: clean distclean doc test
|
||||||
|
|
||||||
ROOT_DIR := $(shell pwd | sed "s/\/source//g")
|
ROOT_DIR := $(shell pwd | sed "s/\/source//g")
|
||||||
|
|
||||||
ifeq ($(BOARD), msp430-ccrf)
|
|
||||||
include $(ROOT_DIR)/config/make/msp430.mk
|
|
||||||
endif
|
|
||||||
ifeq ($(BOARD), stm32f4-discovery)
|
ifeq ($(BOARD), stm32f4-discovery)
|
||||||
include $(ROOT_DIR)/config/make/stm32f4xx.mk
|
include $(ROOT_DIR)/config/make/stm32f4xx.mk
|
||||||
endif
|
endif
|
||||||
|
|
||||||
|
OS_LIB = kosmos-$(ARCH)-$(BOARD)$(DBG_EXT)
|
||||||
|
LIBS += $(OS_LIB)
|
||||||
|
|
||||||
CFLAGS += \
|
CFLAGS += \
|
||||||
-Wno-unused-function \
|
-Wno-unused-function \
|
||||||
-O$(OPTIM) \
|
-O$(OPTIM) \
|
||||||
|
|||||||
@ -9,8 +9,8 @@ endif
|
|||||||
CROSS_COMPILE=arm-none-eabi-
|
CROSS_COMPILE=arm-none-eabi-
|
||||||
|
|
||||||
INCLUDES += \
|
INCLUDES += \
|
||||||
/usr/lib/arm-none-eabi/include \
|
/opt/arm-2011.09/arm-none-eabi/include \
|
||||||
/usr/lib/gcc/arm-none-eabi/4.8/include
|
/opt/arm-2011.09/lib/gcc/arm-none-eabi/4.6.1/include
|
||||||
|
|
||||||
ifeq ($(DEBUG),y)
|
ifeq ($(DEBUG),y)
|
||||||
OPTIM = 0
|
OPTIM = 0
|
||||||
@ -23,7 +23,7 @@ endif
|
|||||||
|
|
||||||
CFLAGS += \
|
CFLAGS += \
|
||||||
-mthumb \
|
-mthumb \
|
||||||
-T $(ROOT_DIR)/source/firmware/arch/stm32f4xx/linker/stm32_flash.ld \
|
-T $(ROOT_DIR)/config/linker/stm32_flash.ld \
|
||||||
-D USE_STDPERIPH_DRIVER\
|
-D USE_STDPERIPH_DRIVER\
|
||||||
-D VECT_TAB_FLASH\
|
-D VECT_TAB_FLASH\
|
||||||
-D GCC_ARMCM4\
|
-D GCC_ARMCM4\
|
||||||
@ -35,7 +35,6 @@ CFLAGS += \
|
|||||||
-mfloat-abi=softfp \
|
-mfloat-abi=softfp \
|
||||||
-fdata-sections \
|
-fdata-sections \
|
||||||
-ffunction-sections
|
-ffunction-sections
|
||||||
# -D inline= -mthumb\
|
|
||||||
|
|
||||||
CPPCHECK_FLAGS += \
|
CPPCHECK_FLAGS += \
|
||||||
-D USE_STDPERIPH_DRIVER\
|
-D USE_STDPERIPH_DRIVER\
|
||||||
@ -54,7 +53,7 @@ LDFLAGS=\
|
|||||||
ASFLAGS=-mapcs-32 -g
|
ASFLAGS=-mapcs-32 -g
|
||||||
ARFLAGS=rcs
|
ARFLAGS=rcs
|
||||||
|
|
||||||
OOCD_IMAGE=$(BINFILE)
|
OOCD_IMAGE=$(BIN_FILE)
|
||||||
OOCD_CFG_FILE=$(EXE_DIR)/openocd.cfg
|
OOCD_CFG_FILE=$(EXE_DIR)/openocd.cfg
|
||||||
|
|
||||||
PRE_PROGRAM = echo "telnet_port 4444\ninit\nreset halt\nflash write_image erase $(OOCD_IMAGE) 0x08000000 bin\nreset run\n shutdown\n" > $(OOCD_CFG_FILE)
|
PRE_PROGRAM = echo "telnet_port 4444\ninit\nreset halt\nflash write_image erase $(OOCD_IMAGE) 0x08000000 bin\nreset run\n shutdown\n" > $(OOCD_CFG_FILE)
|
||||||
|
|||||||
@ -13,15 +13,18 @@
|
|||||||
|
|
||||||
#include "driver.h"
|
#include "driver.h"
|
||||||
#include "gpio.h"
|
#include "gpio.h"
|
||||||
|
#include "pwm.h"
|
||||||
#include "timer.h"
|
#include "timer.h"
|
||||||
#include "uart.h"
|
#include "uart.h"
|
||||||
#include "ringbuffer.h"
|
#include "ringbuffer.h"
|
||||||
#include "sys_tick.h"
|
#include "sys_tick.h"
|
||||||
#include "stm32f4xx.h"
|
#include "stm32f4xx.h"
|
||||||
#include "stm32f4_gpio.h"
|
#include "stm32f4_gpio.h"
|
||||||
|
#include "stm32f4_pwm.h"
|
||||||
#include "stm32f4_uart.h"
|
#include "stm32f4_uart.h"
|
||||||
#include "stm32_sys_tick.h"
|
#include "stm32_sys_tick.h"
|
||||||
|
|
||||||
|
|
||||||
// SYSTEM TICK
|
// SYSTEM TICK
|
||||||
static const enum stm32_sys_tick_time_base stm23_sys_tick_time_base =
|
static const enum stm32_sys_tick_time_base stm23_sys_tick_time_base =
|
||||||
STM32_SYS_TICK_TIME_BASE_MS;
|
STM32_SYS_TICK_TIME_BASE_MS;
|
||||||
@ -36,6 +39,161 @@ static const struct loki_timer timer_1 = {
|
|||||||
&timer_fp
|
&timer_fp
|
||||||
};
|
};
|
||||||
|
|
||||||
|
// PWM CHANNEL 4
|
||||||
|
/* apb1 clock = 84MHz */
|
||||||
|
/* period_reg = src_clk / presc / cnt_clk */
|
||||||
|
/* 4199 = 84MHZ / (0 + 1) / 20kHz - 1 */
|
||||||
|
static const TIM_TimeBaseInitTypeDef timer_4_cfg = {
|
||||||
|
.TIM_RepetitionCounter = 0x0000,
|
||||||
|
.TIM_Prescaler = 0,
|
||||||
|
.TIM_ClockDivision = TIM_CKD_DIV1,
|
||||||
|
.TIM_CounterMode = TIM_CounterMode_Up,
|
||||||
|
.TIM_Period = 4199
|
||||||
|
};
|
||||||
|
|
||||||
|
static const TIM_OCInitTypeDef t4_output_compare_cfg = {
|
||||||
|
.TIM_OutputNState = TIM_OutputNState_Disable,
|
||||||
|
.TIM_OCNPolarity = TIM_OCPolarity_High,
|
||||||
|
.TIM_OCIdleState = TIM_OCIdleState_Reset,
|
||||||
|
.TIM_OCNIdleState = TIM_OCNIdleState_Set,
|
||||||
|
.TIM_OCMode = TIM_OCMode_PWM1,
|
||||||
|
.TIM_OCPolarity = TIM_OCPolarity_High,
|
||||||
|
.TIM_OutputState = TIM_OutputState_Enable,
|
||||||
|
.TIM_Pulse = 0,
|
||||||
|
};
|
||||||
|
|
||||||
|
static const GPIO_InitTypeDef port_cfg_D15 = {
|
||||||
|
.GPIO_Pin = GPIO_Pin_15,
|
||||||
|
.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_4 = {
|
||||||
|
.timer = TIM4,
|
||||||
|
.timer_cfg = &timer_4_cfg,
|
||||||
|
.output_compare_cfg = &t4_output_compare_cfg,
|
||||||
|
.port = GPIOD,
|
||||||
|
.pin_src = GPIO_PinSource15,
|
||||||
|
.port_cfg = &port_cfg_D15,
|
||||||
|
.channel = channel_4,
|
||||||
|
};
|
||||||
|
|
||||||
|
static const struct pwm pwm_ch4 = {
|
||||||
|
.arch_dep_device = &str32f4_pwm_4,
|
||||||
|
.fp = &stm32f4_pwm_fp,
|
||||||
|
};
|
||||||
|
|
||||||
|
#ifdef TEST_APP
|
||||||
|
static const struct driver pwm_4 = {
|
||||||
|
#else
|
||||||
|
const struct driver pwm_4 = {
|
||||||
|
#endif
|
||||||
|
DRIVER_TYPE_PWM,
|
||||||
|
&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
|
||||||
static char console_linear_buffer[80];
|
static char console_linear_buffer[80];
|
||||||
static struct ringbuffer console_buffer = {
|
static struct ringbuffer console_buffer = {
|
||||||
console_linear_buffer,
|
console_linear_buffer,
|
||||||
@ -86,160 +244,143 @@ static const struct uart __uart_1 = {
|
|||||||
&console_buffer,
|
&console_buffer,
|
||||||
};
|
};
|
||||||
|
|
||||||
|
#ifdef TEST_APP
|
||||||
|
static const struct driver uart_1 = {
|
||||||
|
#else
|
||||||
const struct driver uart_1 = {
|
const struct driver uart_1 = {
|
||||||
|
#endif
|
||||||
DRIVER_TYPE_UART,
|
DRIVER_TYPE_UART,
|
||||||
&__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
|
|
||||||
};
|
|
||||||
|
|
||||||
const struct driver led_3 = {
|
|
||||||
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
|
|
||||||
};
|
|
||||||
|
|
||||||
const struct driver led_4 = {
|
|
||||||
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
|
|
||||||
};
|
|
||||||
|
|
||||||
const struct driver led_5 = {
|
|
||||||
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
|
|
||||||
};
|
|
||||||
|
|
||||||
const struct driver led_6 = {
|
|
||||||
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);
|
||||||
|
|
||||||
|
|||||||
40
source/firmware/arch/stm32f4xx/driver/include/stm32f4_pwm.h
Normal file
40
source/firmware/arch/stm32f4xx/driver/include/stm32f4_pwm.h
Normal file
@ -0,0 +1,40 @@
|
|||||||
|
/*
|
||||||
|
* stm32f4_pwm.h
|
||||||
|
*
|
||||||
|
* Created on: Aug 9, 2016
|
||||||
|
* Author: tkl
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef SOURCE_FIRMWARE_ARCH_STM32F4XX_DRIVER_INCLUDE_STM32F4_PWM_H_
|
||||||
|
#define SOURCE_FIRMWARE_ARCH_STM32F4XX_DRIVER_INCLUDE_STM32F4_PWM_H_
|
||||||
|
|
||||||
|
enum stm32f4_pwm_channel {
|
||||||
|
channel_1 = 1,
|
||||||
|
channel_2,
|
||||||
|
channel_3,
|
||||||
|
channel_4
|
||||||
|
};
|
||||||
|
|
||||||
|
struct stm32f4_pwm {
|
||||||
|
TIM_TypeDef *timer;
|
||||||
|
const TIM_TimeBaseInitTypeDef *timer_cfg;
|
||||||
|
const TIM_OCInitTypeDef *output_compare_cfg;
|
||||||
|
const TIM_BDTRInitTypeDef *bdtr_cfg;
|
||||||
|
GPIO_TypeDef *port;
|
||||||
|
uint8_t pin_src;
|
||||||
|
const GPIO_InitTypeDef *port_cfg;
|
||||||
|
enum stm32f4_pwm_channel channel;
|
||||||
|
};
|
||||||
|
|
||||||
|
|
||||||
|
int stm32f4_pwm_open(const void *pwm);
|
||||||
|
int stm32f4_pwm_close(const void *pwm);
|
||||||
|
int stm32f4_pwm_set_duty_cycle(const void *pwm, unsigned int duty_cycle_percent);
|
||||||
|
|
||||||
|
static const struct pwm_fp stm32f4_pwm_fp = {
|
||||||
|
.open = stm32f4_pwm_open,
|
||||||
|
.close = stm32f4_pwm_close,
|
||||||
|
.set_duty_cycle = stm32f4_pwm_set_duty_cycle,
|
||||||
|
};
|
||||||
|
|
||||||
|
#endif /* SOURCE_FIRMWARE_ARCH_STM32F4XX_DRIVER_INCLUDE_STM32F4_PWM_H_ */
|
||||||
113
source/firmware/arch/stm32f4xx/driver/stm32f4_pwm.c
Normal file
113
source/firmware/arch/stm32f4xx/driver/stm32f4_pwm.c
Normal file
@ -0,0 +1,113 @@
|
|||||||
|
/*
|
||||||
|
* stm32f4_pwm.c
|
||||||
|
*
|
||||||
|
* Created on: Aug 9, 2016
|
||||||
|
* Author: tkl
|
||||||
|
*/
|
||||||
|
#include <stdint.h>
|
||||||
|
#include <stddef.h>
|
||||||
|
|
||||||
|
#include "stm32f4xx.h"
|
||||||
|
|
||||||
|
#include "pwm.h"
|
||||||
|
#include "stm32f4_pwm.h"
|
||||||
|
|
||||||
|
struct stm32f4_pwm_object {
|
||||||
|
uint8_t used_channels;
|
||||||
|
uint32_t channel_1_max_period;
|
||||||
|
uint32_t channel_2_max_period;
|
||||||
|
uint32_t channel_3_max_period;
|
||||||
|
uint32_t channel_4_max_period;
|
||||||
|
};
|
||||||
|
|
||||||
|
static struct stm32f4_pwm_object stm32f4_pwm_object = {
|
||||||
|
.used_channels = 0,
|
||||||
|
.channel_1_max_period = 0,
|
||||||
|
.channel_2_max_period = 0,
|
||||||
|
.channel_3_max_period = 0,
|
||||||
|
.channel_4_max_period = 0,
|
||||||
|
};
|
||||||
|
|
||||||
|
int stm32f4_pwm_open(const void *pwm)
|
||||||
|
{
|
||||||
|
if(NULL == pwm)
|
||||||
|
return -1;
|
||||||
|
struct stm32f4_pwm *this = (struct stm32f4_pwm *)pwm;
|
||||||
|
uint32_t clk_ahb_timer = 0, clk_ahb_gpio = 0;
|
||||||
|
uint8_t gpio_af_timer = 0;
|
||||||
|
if(this->timer == TIM4) {
|
||||||
|
clk_ahb_timer = RCC_APB1Periph_TIM4;
|
||||||
|
gpio_af_timer = GPIO_AF_TIM4;
|
||||||
|
}
|
||||||
|
RCC_APB1PeriphClockCmd(clk_ahb_timer, ENABLE);
|
||||||
|
if(this->port == GPIOD) {
|
||||||
|
clk_ahb_gpio = RCC_AHB1Periph_GPIOD;
|
||||||
|
}
|
||||||
|
RCC_AHB1PeriphClockCmd(clk_ahb_gpio, ENABLE);
|
||||||
|
GPIO_Init(this->port, (GPIO_InitTypeDef *)this->port_cfg);
|
||||||
|
GPIO_PinAFConfig(this->port, this->pin_src, gpio_af_timer);
|
||||||
|
|
||||||
|
TIM_TimeBaseInit(this->timer, (TIM_TimeBaseInitTypeDef *)this->timer_cfg);
|
||||||
|
|
||||||
|
switch(this->channel) {
|
||||||
|
case channel_1:
|
||||||
|
TIM_OC1Init(this->timer, (TIM_OCInitTypeDef *)this->output_compare_cfg);
|
||||||
|
TIM_OC1PreloadConfig(this->timer, TIM_OCPreload_Enable);
|
||||||
|
stm32f4_pwm_object.channel_1_max_period = this->timer_cfg->TIM_Period + 1;
|
||||||
|
break;
|
||||||
|
case channel_2:
|
||||||
|
TIM_OC2Init(this->timer, (TIM_OCInitTypeDef *)this->output_compare_cfg);
|
||||||
|
TIM_OC2PreloadConfig(this->timer, TIM_OCPreload_Enable);
|
||||||
|
stm32f4_pwm_object.channel_2_max_period = this->timer_cfg->TIM_Period + 1;
|
||||||
|
break;
|
||||||
|
case channel_3:
|
||||||
|
TIM_OC3Init(this->timer, (TIM_OCInitTypeDef *)this->output_compare_cfg);
|
||||||
|
TIM_OC3PreloadConfig(this->timer, TIM_OCPreload_Enable);
|
||||||
|
stm32f4_pwm_object.channel_3_max_period = this->timer_cfg->TIM_Period + 1;
|
||||||
|
break;
|
||||||
|
case channel_4:
|
||||||
|
TIM_OC4Init(this->timer, (TIM_OCInitTypeDef *)this->output_compare_cfg);
|
||||||
|
TIM_OC4PreloadConfig(this->timer, TIM_OCPreload_Enable);
|
||||||
|
stm32f4_pwm_object.channel_4_max_period = this->timer_cfg->TIM_Period + 1;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
TIM_ARRPreloadConfig(this->timer, ENABLE);
|
||||||
|
TIM_Cmd(this->timer, ENABLE);
|
||||||
|
stm32f4_pwm_object.used_channels++;
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
int stm32f4_pwm_close(const void *pwm)
|
||||||
|
{
|
||||||
|
if(NULL == pwm)
|
||||||
|
return -1;
|
||||||
|
struct stm32f4_pwm *this = (struct stm32f4_pwm *)pwm;
|
||||||
|
stm32f4_pwm_set_duty_cycle(pwm, 0);
|
||||||
|
stm32f4_pwm_object.used_channels--;
|
||||||
|
if(stm32f4_pwm_object.used_channels == 0) {
|
||||||
|
TIM_Cmd(this->timer, DISABLE);
|
||||||
|
}
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
int stm32f4_pwm_set_duty_cycle(const void *pwm, unsigned int duty_cycle_percent)
|
||||||
|
{
|
||||||
|
if(NULL == pwm)
|
||||||
|
return -1;
|
||||||
|
struct stm32f4_pwm *this = (struct stm32f4_pwm *)pwm;
|
||||||
|
switch(this->channel) {
|
||||||
|
case channel_1:
|
||||||
|
TIM_SetCompare1(this->timer, stm32f4_pwm_object.channel_1_max_period * duty_cycle_percent / 100);
|
||||||
|
break;
|
||||||
|
case channel_2:
|
||||||
|
TIM_SetCompare2(this->timer, stm32f4_pwm_object.channel_2_max_period * duty_cycle_percent / 100);
|
||||||
|
break;
|
||||||
|
case channel_3:
|
||||||
|
TIM_SetCompare3(this->timer, stm32f4_pwm_object.channel_3_max_period * duty_cycle_percent / 100);
|
||||||
|
break;
|
||||||
|
case channel_4:
|
||||||
|
TIM_SetCompare4(this->timer, stm32f4_pwm_object.channel_4_max_period * duty_cycle_percent / 100);
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
@ -11,6 +11,7 @@
|
|||||||
#include "adc.h"
|
#include "adc.h"
|
||||||
#include "gpio.h"
|
#include "gpio.h"
|
||||||
#include "i2c.h"
|
#include "i2c.h"
|
||||||
|
#include "pwm.h"
|
||||||
#include "rtc.h"
|
#include "rtc.h"
|
||||||
#include "spi.h"
|
#include "spi.h"
|
||||||
#include "uart.h"
|
#include "uart.h"
|
||||||
@ -30,6 +31,9 @@ int open(const struct driver *driver)
|
|||||||
case DRIVER_TYPE_I2C:
|
case DRIVER_TYPE_I2C:
|
||||||
ret = i2c_open((struct i2c *)(driver->device_driver));
|
ret = i2c_open((struct i2c *)(driver->device_driver));
|
||||||
break;
|
break;
|
||||||
|
case DRIVER_TYPE_PWM:
|
||||||
|
ret = pwm_open((const struct pwm *)(driver->device_driver));
|
||||||
|
break;
|
||||||
case DRIVER_TYPE_RTC:
|
case DRIVER_TYPE_RTC:
|
||||||
ret = rtc_open((const struct rtc *)(driver->device_driver));
|
ret = rtc_open((const struct rtc *)(driver->device_driver));
|
||||||
break;
|
break;
|
||||||
@ -58,6 +62,9 @@ int close(const struct driver *driver)
|
|||||||
case DRIVER_TYPE_I2C:
|
case DRIVER_TYPE_I2C:
|
||||||
ret = i2c_close((struct i2c *)(driver->device_driver));
|
ret = i2c_close((struct i2c *)(driver->device_driver));
|
||||||
break;
|
break;
|
||||||
|
case DRIVER_TYPE_PWM:
|
||||||
|
ret = pwm_close((const struct pwm *)(driver->device_driver));
|
||||||
|
break;
|
||||||
case DRIVER_TYPE_RTC:
|
case DRIVER_TYPE_RTC:
|
||||||
ret = rtc_close((const struct rtc *)(driver->device_driver));
|
ret = rtc_close((const struct rtc *)(driver->device_driver));
|
||||||
break;
|
break;
|
||||||
@ -88,6 +95,9 @@ int read(const struct driver *driver, char *buffer, int len)
|
|||||||
break;
|
break;
|
||||||
case DRIVER_TYPE_I2C:
|
case DRIVER_TYPE_I2C:
|
||||||
break;
|
break;
|
||||||
|
case DRIVER_TYPE_PWM:
|
||||||
|
ret = -1;
|
||||||
|
break;
|
||||||
case DRIVER_TYPE_RTC:
|
case DRIVER_TYPE_RTC:
|
||||||
break;
|
break;
|
||||||
case DRIVER_TYPE_SPI:
|
case DRIVER_TYPE_SPI:
|
||||||
@ -118,6 +128,9 @@ int write(const struct driver *driver, const char *buffer, int len)
|
|||||||
break;
|
break;
|
||||||
case DRIVER_TYPE_I2C:
|
case DRIVER_TYPE_I2C:
|
||||||
break;
|
break;
|
||||||
|
case DRIVER_TYPE_PWM:
|
||||||
|
ret = -1;
|
||||||
|
break;
|
||||||
case DRIVER_TYPE_RTC:
|
case DRIVER_TYPE_RTC:
|
||||||
break;
|
break;
|
||||||
case DRIVER_TYPE_SPI:
|
case DRIVER_TYPE_SPI:
|
||||||
@ -128,3 +141,31 @@ int write(const struct driver *driver, const char *buffer, int len)
|
|||||||
}
|
}
|
||||||
return ret;
|
return ret;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
int ioctl(const struct driver *driver, unsigned int cmd, const void *data)
|
||||||
|
{
|
||||||
|
int ret = -1;
|
||||||
|
if(NULL == driver)
|
||||||
|
return ret;
|
||||||
|
switch(driver->driver_type) {
|
||||||
|
case DRIVER_TYPE_ADC:
|
||||||
|
break;
|
||||||
|
case DRIVER_TYPE_GPIO:
|
||||||
|
break;
|
||||||
|
case DRIVER_TYPE_I2C:
|
||||||
|
break;
|
||||||
|
case DRIVER_TYPE_PWM:
|
||||||
|
if(cmd == IOCTL_PWM_SET_DUTY_CYCLE) {
|
||||||
|
unsigned int *duty = (unsigned int *)data;
|
||||||
|
pwm_set_duty_cycle((const struct pwm *)(driver->device_driver), *duty);
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
case DRIVER_TYPE_RTC:
|
||||||
|
break;
|
||||||
|
case DRIVER_TYPE_SPI:
|
||||||
|
break;
|
||||||
|
case DRIVER_TYPE_UART:
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
return ret;
|
||||||
|
}
|
||||||
|
|||||||
35
source/firmware/kernel/driver/include/pwm.h
Normal file
35
source/firmware/kernel/driver/include/pwm.h
Normal file
@ -0,0 +1,35 @@
|
|||||||
|
/*
|
||||||
|
* pwm.h
|
||||||
|
*
|
||||||
|
* Created on: Aug 9, 2016
|
||||||
|
* Author: tkl
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef SOURCE_FIRMWARE_KERNEL_DRIVER_INCLUDE_PWM_H_
|
||||||
|
#define SOURCE_FIRMWARE_KERNEL_DRIVER_INCLUDE_PWM_H_
|
||||||
|
|
||||||
|
//! \brief Function pointer to the open function.
|
||||||
|
typedef int (*pwm_fp_open_t)(const void*);
|
||||||
|
|
||||||
|
//! \brief Function pointer to the close function.
|
||||||
|
typedef int (*pwm_fp_close_t)(const void*);
|
||||||
|
|
||||||
|
//! \brief Function pointer to the read function.
|
||||||
|
typedef int (*pwm_fp_set_duty_cycle_t)(const void*, unsigned int duty_cycle_percent);
|
||||||
|
|
||||||
|
struct pwm_fp {
|
||||||
|
const pwm_fp_open_t open;
|
||||||
|
const pwm_fp_close_t close;
|
||||||
|
const pwm_fp_set_duty_cycle_t set_duty_cycle;
|
||||||
|
};
|
||||||
|
|
||||||
|
struct pwm {
|
||||||
|
const void *arch_dep_device; //!< Architecture depended pwm device (i.e. stm32f10x_pwm_t).
|
||||||
|
const struct pwm_fp *fp; //!< Function pointer for the pwm driver access.
|
||||||
|
};
|
||||||
|
|
||||||
|
int pwm_open(const struct pwm *device);
|
||||||
|
int pwm_close(const struct pwm *device);
|
||||||
|
int pwm_set_duty_cycle(const struct pwm *device, unsigned int duty_cycle_percent);
|
||||||
|
|
||||||
|
#endif /* SOURCE_FIRMWARE_KERNEL_DRIVER_INCLUDE_PWM_H_ */
|
||||||
33
source/firmware/kernel/driver/pwm.c
Normal file
33
source/firmware/kernel/driver/pwm.c
Normal file
@ -0,0 +1,33 @@
|
|||||||
|
/*
|
||||||
|
* pwm.c
|
||||||
|
*
|
||||||
|
* Created on: Aug 9, 2016
|
||||||
|
* Author: tkl
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include <stddef.h>
|
||||||
|
#include <pwm.h>
|
||||||
|
|
||||||
|
int pwm_open(const struct pwm *device)
|
||||||
|
{
|
||||||
|
if(NULL == device)
|
||||||
|
return -1;
|
||||||
|
pwm_fp_open_t open = device->fp->open;
|
||||||
|
return open(device->arch_dep_device);
|
||||||
|
}
|
||||||
|
|
||||||
|
int pwm_close(const struct pwm *device)
|
||||||
|
{
|
||||||
|
if(NULL == device)
|
||||||
|
return -1;
|
||||||
|
pwm_fp_close_t close = device->fp->close;
|
||||||
|
return close(device->arch_dep_device);
|
||||||
|
}
|
||||||
|
|
||||||
|
int pwm_set_duty_cycle(const struct pwm *device, unsigned int duty_cycle_percent)
|
||||||
|
{
|
||||||
|
if(NULL == device)
|
||||||
|
return -1;
|
||||||
|
pwm_fp_set_duty_cycle_t set = device->fp->set_duty_cycle;
|
||||||
|
return set(device->arch_dep_device, duty_cycle_percent);
|
||||||
|
}
|
||||||
@ -8,10 +8,13 @@
|
|||||||
#ifndef SOURCE_FIRMWARE_KERNEL_DRIVER_INCLUDE_DRIVER_H_
|
#ifndef SOURCE_FIRMWARE_KERNEL_DRIVER_INCLUDE_DRIVER_H_
|
||||||
#define SOURCE_FIRMWARE_KERNEL_DRIVER_INCLUDE_DRIVER_H_
|
#define SOURCE_FIRMWARE_KERNEL_DRIVER_INCLUDE_DRIVER_H_
|
||||||
|
|
||||||
|
#define IOCTL_PWM_SET_DUTY_CYCLE 0
|
||||||
|
|
||||||
enum driver_type {
|
enum driver_type {
|
||||||
DRIVER_TYPE_ADC,
|
DRIVER_TYPE_ADC,
|
||||||
DRIVER_TYPE_GPIO,
|
DRIVER_TYPE_GPIO,
|
||||||
DRIVER_TYPE_I2C,
|
DRIVER_TYPE_I2C,
|
||||||
|
DRIVER_TYPE_PWM,
|
||||||
DRIVER_TYPE_RTC,
|
DRIVER_TYPE_RTC,
|
||||||
DRIVER_TYPE_SPI,
|
DRIVER_TYPE_SPI,
|
||||||
DRIVER_TYPE_UART
|
DRIVER_TYPE_UART
|
||||||
@ -26,5 +29,6 @@ int open(const struct driver *driver);
|
|||||||
int close(const struct driver *driver);
|
int close(const struct driver *driver);
|
||||||
int read(const struct driver *driver, char *buffer, int len);
|
int read(const struct driver *driver, char *buffer, int len);
|
||||||
int write(const struct driver *driver, const char *buffer, int len);
|
int write(const struct driver *driver, const char *buffer, int len);
|
||||||
|
int ioctl(const struct driver *driver, unsigned int cmd, const void *data);
|
||||||
|
|
||||||
#endif /* SOURCE_FIRMWARE_KERNEL_DRIVER_INCLUDE_DRIVER_H_ */
|
#endif /* SOURCE_FIRMWARE_KERNEL_DRIVER_INCLUDE_DRIVER_H_ */
|
||||||
|
|||||||
22
source/firmware/kernel/interface/shell.h
Normal file
22
source/firmware/kernel/interface/shell.h
Normal file
@ -0,0 +1,22 @@
|
|||||||
|
/*
|
||||||
|
* shell.h
|
||||||
|
*
|
||||||
|
* Created on: Aug 1, 2016
|
||||||
|
* Author: tkl
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef SOURCE_FIRMWARE_KERNEL_INTERFACE_SHELL_H_
|
||||||
|
#define SOURCE_FIRMWARE_KERNEL_INTERFACE_SHELL_H_
|
||||||
|
|
||||||
|
typedef void *(*command_callback)(const char*);
|
||||||
|
|
||||||
|
struct command {
|
||||||
|
const char *command;
|
||||||
|
const command_callback command_callback;
|
||||||
|
struct list_node item;
|
||||||
|
};
|
||||||
|
|
||||||
|
int shell_init(const struct driver *shell_device);
|
||||||
|
int shell_add_command(struct command *command);
|
||||||
|
|
||||||
|
#endif /* SOURCE_FIRMWARE_KERNEL_INTERFACE_SHELL_H_ */
|
||||||
85
source/firmware/kernel/shell.c
Normal file
85
source/firmware/kernel/shell.c
Normal file
@ -0,0 +1,85 @@
|
|||||||
|
/*
|
||||||
|
* shell.c
|
||||||
|
*
|
||||||
|
* Created on: Aug 1, 2016
|
||||||
|
* Author: tkl
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include <stddef.h>
|
||||||
|
#include <stdbool.h>
|
||||||
|
#include <string.h>
|
||||||
|
|
||||||
|
#include "stack.h"
|
||||||
|
#include "queue.h"
|
||||||
|
#include "driver.h"
|
||||||
|
#include "kernel.h"
|
||||||
|
#include "list.h"
|
||||||
|
#include "shell.h"
|
||||||
|
|
||||||
|
struct shell_object {
|
||||||
|
struct list command_list;
|
||||||
|
const struct driver *shell_device;
|
||||||
|
};
|
||||||
|
|
||||||
|
struct shell_object shell_object;
|
||||||
|
|
||||||
|
#define TH_STACK_SIZE 256
|
||||||
|
stack_t th_stack[TH_STACK_SIZE];
|
||||||
|
struct thread_context th_ctx;
|
||||||
|
|
||||||
|
static void parse(const char *buffer, unsigned int len)
|
||||||
|
{
|
||||||
|
if(NULL == buffer)
|
||||||
|
return;
|
||||||
|
struct list_node *it = shell_object.command_list.front;
|
||||||
|
while(it != NULL) {
|
||||||
|
struct command *cmd = (struct command *)it->data;
|
||||||
|
if(strstr(buffer, cmd->command)) {
|
||||||
|
cmd->command_callback(buffer);
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
it = it->next;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
static void rx_func(void *arg)
|
||||||
|
{
|
||||||
|
char buffer[81];
|
||||||
|
unsigned int index = 0;
|
||||||
|
int ret = 0;
|
||||||
|
open(shell_object.shell_device);
|
||||||
|
while(1) {
|
||||||
|
ret = read(shell_object.shell_device, &buffer[index],
|
||||||
|
sizeof(buffer) / sizeof(buffer[0]) - index - 1);
|
||||||
|
if(ret) {
|
||||||
|
write(shell_object.shell_device, &buffer[index], ret); // echo
|
||||||
|
if((buffer[index + ret - 1] == '\n') || (buffer[index + ret - 1] == '\r')) {
|
||||||
|
buffer[index + ret - 1] = '\n';
|
||||||
|
parse(buffer, index + ret);
|
||||||
|
buffer[index + ret] = '\0';
|
||||||
|
index = 0;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
index += ret;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
int shell_init(const struct driver *shell_device)
|
||||||
|
{
|
||||||
|
if(NULL == shell_device)
|
||||||
|
return -1;
|
||||||
|
list_init(&shell_object.command_list);
|
||||||
|
shell_object.shell_device = shell_device;
|
||||||
|
thread_create(&th_ctx, th_stack, TH_STACK_SIZE, rx_func, NULL, THREAD_PRIO_LOW);
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
int shell_add_command(struct command *command)
|
||||||
|
{
|
||||||
|
if(NULL == command)
|
||||||
|
return -1;
|
||||||
|
command->item.data = (unsigned int) command;
|
||||||
|
list_add(&shell_object.command_list, &command->item);
|
||||||
|
return 1;
|
||||||
|
}
|
||||||
@ -16,6 +16,7 @@ def parse_board_file(boardfile):
|
|||||||
if match("^.*struct driver.*$", line):
|
if match("^.*struct driver.*$", line):
|
||||||
line = sub("^.*struct driver", "", line).strip()
|
line = sub("^.*struct driver", "", line).strip()
|
||||||
line = sub(" .*$","",line).strip()
|
line = sub(" .*$","",line).strip()
|
||||||
|
if not line in ret:
|
||||||
ret.append(line)
|
ret.append(line)
|
||||||
return ret
|
return ret
|
||||||
|
|
||||||
|
|||||||
119
source/test/pwm/main.c
Normal file
119
source/test/pwm/main.c
Normal file
@ -0,0 +1,119 @@
|
|||||||
|
/*
|
||||||
|
* main.c
|
||||||
|
*
|
||||||
|
* Created on: Aug 2, 2016
|
||||||
|
* Author: tkl
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include <stdbool.h>
|
||||||
|
|
||||||
|
#include "driver.h"
|
||||||
|
#include "board.h"
|
||||||
|
#include "stack.h"
|
||||||
|
#include "queue.h"
|
||||||
|
#include "kernel.h"
|
||||||
|
#include "driver.h"
|
||||||
|
#include "list.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
|
||||||
|
stack_t th_stack[TH_STACK_SIZE];
|
||||||
|
struct thread_context th_ctx;
|
||||||
|
static void th_func(void *arg)
|
||||||
|
{
|
||||||
|
unsigned int duty = 0;
|
||||||
|
|
||||||
|
/* 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) {
|
||||||
|
duty = 0;
|
||||||
|
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);
|
||||||
|
for(duty = 0; duty < 100; 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);
|
||||||
|
}
|
||||||
|
duty = 0;
|
||||||
|
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);
|
||||||
|
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);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
int main(void)
|
||||||
|
{
|
||||||
|
thread_create(&th_ctx, th_stack, TH_STACK_SIZE, th_func, NULL, THREAD_PRIO_LOW);
|
||||||
|
schedule_start();
|
||||||
|
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
4
source/test/pwm/pwm.mk
Normal file
4
source/test/pwm/pwm.mk
Normal file
@ -0,0 +1,4 @@
|
|||||||
|
CHECK_FOLDER += source/test/pwm
|
||||||
|
SUB_FOLDER += source/test/pwm
|
||||||
|
INCLUDES += source/test/pwm
|
||||||
|
DOC_SRC += source/test/pwm
|
||||||
39
source/test/shell/main.c
Normal file
39
source/test/shell/main.c
Normal file
@ -0,0 +1,39 @@
|
|||||||
|
/*
|
||||||
|
* main.c
|
||||||
|
*
|
||||||
|
* Created on: Aug 2, 2016
|
||||||
|
* Author: tkl
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include <stdbool.h>
|
||||||
|
|
||||||
|
#include "driver.h"
|
||||||
|
#include "board.h"
|
||||||
|
#include "stack.h"
|
||||||
|
#include "queue.h"
|
||||||
|
#include "kernel.h"
|
||||||
|
#include "driver.h"
|
||||||
|
#include "list.h"
|
||||||
|
#include "shell.h"
|
||||||
|
|
||||||
|
void *uname_fct(const char *line)
|
||||||
|
{
|
||||||
|
if(NULL == line)
|
||||||
|
return NULL;
|
||||||
|
|
||||||
|
return NULL;
|
||||||
|
}
|
||||||
|
|
||||||
|
static struct command cmd = {
|
||||||
|
.command = "uname",
|
||||||
|
.command_callback = uname_fct
|
||||||
|
};
|
||||||
|
|
||||||
|
int main(void)
|
||||||
|
{
|
||||||
|
shell_init(&uart_1);
|
||||||
|
shell_add_command(&cmd);
|
||||||
|
schedule_start();
|
||||||
|
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
4
source/test/shell/shell.mk
Normal file
4
source/test/shell/shell.mk
Normal file
@ -0,0 +1,4 @@
|
|||||||
|
CHECK_FOLDER += source/test/shell
|
||||||
|
SUB_FOLDER += source/test/shell
|
||||||
|
INCLUDES += source/test/shell
|
||||||
|
DOC_SRC += source/test/shell
|
||||||
6
source/test/test.mk
Normal file
6
source/test/test.mk
Normal file
@ -0,0 +1,6 @@
|
|||||||
|
ifeq ($(TEST_APP), shell)
|
||||||
|
include source/test/shell/shell.mk
|
||||||
|
endif
|
||||||
|
ifeq ($(TEST_APP), pwm)
|
||||||
|
include source/test/pwm/pwm.mk
|
||||||
|
endif
|
||||||
Loading…
Reference in New Issue
Block a user