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try to make 1-wire on timers

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This commit is contained in:
eddyem 2014-10-30 11:17:48 +03:00
parent 6af145db1c
commit 7455c600b0
33 changed files with 1393 additions and 500 deletions
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1
schematic/ALL.lst
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@ -1,4 +1,3 @@
eeschema (2013-feb-26)-stable >> Creation date: Пн 21 июл 2014 08:49:29
#Cmp ( order = Reference ) #Cmp ( order = Reference )
| C4 2200u, 40V | C4 2200u, 40V
| C5 10u | C5 10u

4
schematic/ALL.sch
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@ -1,4 +1,4 @@
EESchema Schematic File Version 2 date Пн 29 сен 2014 14:40:29 EESchema Schematic File Version 2 date Вт 07 окт 2014 17:18:47
LIBS:power LIBS:power
LIBS:device LIBS:device
LIBS:transistors LIBS:transistors
@ -41,7 +41,7 @@ $Descr A3 16535 11693
encoding utf-8 encoding utf-8
Sheet 1 12 Sheet 1 12
Title "IR-spectrometer Control System" Title "IR-spectrometer Control System"
Date "29 sep 2014" Date "7 oct 2014"
Rev "" Rev ""
Comp "SAO RAS" Comp "SAO RAS"
Comment1 "" Comment1 ""

4
schematic/MCU_module.sch
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@ -1,4 +1,4 @@
EESchema Schematic File Version 2 date Пн 29 сен 2014 14:40:29 EESchema Schematic File Version 2 date Вт 07 окт 2014 17:18:47
LIBS:power LIBS:power
LIBS:device LIBS:device
LIBS:transistors LIBS:transistors
@ -41,7 +41,7 @@ $Descr A3 16535 11693
encoding utf-8 encoding utf-8
Sheet 3 12 Sheet 3 12
Title "MCU module on STM32F103" Title "MCU module on STM32F103"
Date "29 sep 2014" Date "7 oct 2014"
Rev "" Rev ""
Comp "SAO RAS" Comp "SAO RAS"
Comment1 "" Comment1 ""

4
schematic/ST3232.sch
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@ -1,4 +1,4 @@
EESchema Schematic File Version 2 date Пн 29 сен 2014 14:40:29 EESchema Schematic File Version 2 date Вт 07 окт 2014 17:18:47
LIBS:power LIBS:power
LIBS:device LIBS:device
LIBS:transistors LIBS:transistors
@ -41,7 +41,7 @@ $Descr A4 11693 8268
encoding utf-8 encoding utf-8
Sheet 5 12 Sheet 5 12
Title "RS-232 level converter" Title "RS-232 level converter"
Date "29 sep 2014" Date "7 oct 2014"
Rev "" Rev ""
Comp "SAO RAS" Comp "SAO RAS"
Comment1 "" Comment1 ""

144
schematic/STM32_PINS
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@ -1,102 +1,102 @@
嬲嗡蒙衔撂匚吓 瘟谖赁盼膳 邢以献 蜕艘纤衔砸咸膛伊 Functional map of MCU pins
# 瘟谧廖膳 瘟谖赁盼膳 # name functionality
001 PE2 DIR_3 direction of steppers' rotation 001 PE2 DIR_3 direction of steppers' rotation
002 PE3 DIR_4 002 PE3 DIR_4
003 PE4 DIR_5 003 PE4 DIR_5
004 004 PE6 DG_FEEDBACK feedback from power switch POW_LOAD (+10..12V)
005 005 -
006 006 -
007 007 -
008 008 -
009 009 -
010 VSS 010 VSS GND
011 VDD 011 VDD +3.3V
012 OSC_IN 012 OSC_IN 8MHz in
013 OSC_OUT 013 OSC_OUT 8MHz out
014 NRST RST 014 NRST Reset
015 PC0 \ 015 PC0 SHTR Shutter on pulse
016 PC1 | ADG506 address 016 PC1 SHTR_FB Error signal from shutter H-bridge
017 PC2 | selection 017 PC2 POW0 Shutter polarity (open/close)
018 PC3 / 018 -
019 VSSA 0v analog 019 VSSA 0v analog
020 VREF- ref (0v) 020 VREF- ref (0v)
021 VREF+ ref (+3.3v) 021 VREF+ ref (+3.3v)
022 VDDA +3.3V analog 022 VDDA +3.3V analog
023 023 -
024 PA1 TIM2 timer for motors 4&5 024 -
025 PA2 UART_TX RS-232 025 PA2 1WIRE_TX 1-wire interface
026 PA3 UART_RX 026 PA3 1WIRE_RX
027 VSS 027 VSS GND
028 VDD 028 VDD +3.3V
029 PA4 7\ 029 PA4 ADC7\
030 PA5 6 | 030 PA5 ADC6 |
031 PA6 5 | 031 PA6 ADC5 |
032 PA7 4 | ADC 12bit input channels (TRD) 032 PA7 ADC4 | ADC 12bit input channels (TRD)
033 PC4 3 | 033 PC4 ADC3 |
034 PC5 2 | 034 PC5 ADC2 |
035 PB0 1 | 035 PB0 ADC1 |
036 PB1 0/ 036 PB1 ADC0/
037 BOOT1 BOOT 100k resistor to GND 037 BOOT1 BOOT 100k resistor to GND
038 PE7 EN1 \ 038 PE7 EN1 \
039 PE8 EN2 | 039 PE8 EN2 |
040 PE9 EN3 | enable Xth stepper motor 040 PE9 EN3 | enable Xth stepper motor
041 PE10 EN4 | 041 PE10 EN4 |
042 PE11 EN5 / 042 PE11 EN5 /
043 PE12 POW0\ 043 PE12 POW2\
044 PE13 POW1 | Power load (12V, up to 17A on single channel) 044 PE13 POW1/ Power load (10..12V, pull-down)
045 PE14 POW2 | 045 -
046 PE15 POW3/ 046 -
047 PB10 USART3_TX 1-wire data tx/rx 047 PB10 USART3_TX RS-232 (master)
048 PB11 USART3_RX 048 PB11 USART3_RX
049 VSS 049 VSS GND
050 VDD 050 VDD +3.3V
051 051 -
052 SPI2_SCK \ 052 SPI2_SCK \
053 SPI2_MISO | External SPI connection 053 SPI2_MISO | External SPI connection (at edge of the board)
054 SPI2_MOSI / 054 SPI2_MOSI /
055 PD8 \ Tur3[1..2] Upper filters turret Hall 1 & 2 055 -
056 PD9 / 056 -
057 PD10 \ LS1 Linear stage 1 (long) DOWN end-switch 057 PD10 EXT0\
058 PD11 / Linear stage 1 (long) UP end-switch 058 PD11 EXT1 | ADG506 address selection
059 PD12 \ LS2 Linear stage 2 (short) DOWN end-switch 059 PD12 EXT2 | or custom external ports
060 PD13 / Linear stage 2 (short) UP end-switch 060 PD13 EXT3/
061 061 -
062 062 PD15 TIM2 timer for motors 4&5
063 PC6 TIM1 timer for stepper motors 1..3 063 PC6 TIM1 timer for stepper motors 1..3
064 PC7 \ 064 PC7 \ LS1 Linear stage 1 (long) DOWN end-switch
065 PC8 | 065 PC8 / Linear stage 1 (long) UP end-switch
066 PC9 | EXT External ports + 066 PC9 \ LS2 Linear stage 2 (short) DOWN end-switch
067 PA8 | 067 PA8 / Linear stage 2 (short) UP end-switch
068 PA9 | TX External UART (+ boot UART) 068 PA9 BOOT_TX \ UART1 (slave): boot + ext UART
069 PA10 / RX 069 PA10 BOOT_RX /
070 PA11 USB_DM USB data- 070 PA11 USB_DM USB data-
071 PA12 USB_DP USB data+ 071 PA12 USB_DP USB data+
072 072 -
073 073 -
074 VSS 074 VSS GND
075 VDD 075 VDD +3.3V
076 076 -
077 077 -
078 078 PC10 USB_POWER +3V when USB connected
079 PC11 USB_DISC disconnect USB) 079 PC11 USB_DISC software USB disconnection (low lewel for bipolar VT1, high level for p-channel MOSFET)
080 080 -
081 PD0 \ 081 PD0 \
082 PD1 | Tur1 Slits turret Hall sensors 082 PD1 | Tur1 Slits turret Hall sensors
083 PD2 | 083 PD2 |
084 PD3 / 084 PD3 /
085 PD4 \ 085 PD4 \
086 PD5 | Tur2 Middle filters turret Hall sensors 086 PD5 | Tur2 Middle filters turret Hall sensors
087 PD6 / Upper filters turret Hall 0 087 PD6 /
088 PD7 Tur3_0 088 PD7 Tur3_0 Upper filters turret Hall 0
089 SPI1_SCK 089 SPI1_SCK \
090 SPI1_MISO 090 SPI1_MISO | SPI connection (near USB connector)
091 SPI1_MOSI/I2C_SMBAI 091 SPI1_MOSI/I2C_SMBAI/
092 092 PB6 Tur3_1 \ Upper filters turret Hall 1,2
093 093 PB7 Tur3_2 /
094 BOOT BOOT Button to boot from bootloader 094 BOOT BOOT Button to boot from bootloader
095 I2C_SCL/CANRX 095 I2C_SCL/CANRX \ External CAN connection (or I2S, etc)
096 I2C_SDA/CANTX 096 I2C_SDA/CANTX /
097 PE0 DIR_1 direction of SM 1,2 097 PE0 DIR_1 direction of SM 1,2
098 PE1 DIR_2 098 PE1 DIR_2
099 VSS 099 VSS

4
schematic/Shutter_MOSFET.sch
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@ -1,4 +1,4 @@
EESchema Schematic File Version 2 date Пн 29 сен 2014 14:40:29 EESchema Schematic File Version 2 date Вт 07 окт 2014 17:18:47
LIBS:power LIBS:power
LIBS:device LIBS:device
LIBS:transistors LIBS:transistors
@ -41,7 +41,7 @@ $Descr A4 11693 8268
encoding utf-8 encoding utf-8
Sheet 12 12 Sheet 12 12
Title "Power load module" Title "Power load module"
Date "29 sep 2014" Date "7 oct 2014"
Rev "" Rev ""
Comp "SAO RAS" Comp "SAO RAS"
Comment1 "" Comment1 ""

24
schematic/USB_inp.sch
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@ -1,4 +1,4 @@
EESchema Schematic File Version 2 date Пн 29 сен 2014 14:40:29 EESchema Schematic File Version 2 date Вт 07 окт 2014 17:18:47
LIBS:power LIBS:power
LIBS:device LIBS:device
LIBS:transistors LIBS:transistors
@ -41,7 +41,7 @@ $Descr A4 11693 8268
encoding utf-8 encoding utf-8
Sheet 4 12 Sheet 4 12
Title "USB input circuit" Title "USB input circuit"
Date "29 sep 2014" Date "7 oct 2014"
Rev "" Rev ""
Comp "SAO RAS" Comp "SAO RAS"
Comment1 "" Comment1 ""
@ -301,10 +301,20 @@ Wire Wire Line
Wire Wire Line Wire Wire Line
3900 2500 2500 2500 3900 2500 2500 2500
Connection ~ 2500 2500 Connection ~ 2500 2500
Connection ~ 3900 2500
Wire Wire Line
5200 2000 3900 2000
Wire Wire Line
3900 2000 3900 3300
Connection ~ 3900 3100 Connection ~ 3900 3100
Wire Wire Line
3900 3300 3900 2500
$Comp
L +3.3V #PWR?
U 1 1 5433F723
P 5200 1900
F 0 "#PWR?" H 5200 1860 30 0001 C CNN
F 1 "+3.3V" H 5200 2010 30 0000 C CNN
F 2 "" H 5200 1900 60 0000 C CNN
F 3 "" H 5200 1900 60 0000 C CNN
1 5200 1900
1 0 0 -1
$EndComp
Wire Wire Line
5200 1900 5200 2000
$EndSCHEMATC $EndSCHEMATC

4
schematic/motors.sch
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@ -1,4 +1,4 @@
EESchema Schematic File Version 2 date Пн 29 сен 2014 14:40:29 EESchema Schematic File Version 2 date Вт 07 окт 2014 17:18:47
LIBS:power LIBS:power
LIBS:device LIBS:device
LIBS:transistors LIBS:transistors
@ -41,7 +41,7 @@ $Descr A4 11693 8268
encoding utf-8 encoding utf-8
Sheet 2 12 Sheet 2 12
Title "Stepper motor module" Title "Stepper motor module"
Date "29 sep 2014" Date "7 oct 2014"
Rev "" Rev ""
Comp "SAO RAS" Comp "SAO RAS"
Comment1 "" Comment1 ""

4
schematic/power_MOSFET.sch
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@ -1,4 +1,4 @@
EESchema Schematic File Version 2 date Пн 29 сен 2014 14:40:29 EESchema Schematic File Version 2 date Вт 07 окт 2014 17:18:47
LIBS:power LIBS:power
LIBS:device LIBS:device
LIBS:transistors LIBS:transistors
@ -41,7 +41,7 @@ $Descr A4 11693 8268
encoding utf-8 encoding utf-8
Sheet 11 12 Sheet 11 12
Title "Power load module" Title "Power load module"
Date "29 sep 2014" Date "7 oct 2014"
Rev "" Rev ""
Comp "SAO RAS" Comp "SAO RAS"
Comment1 "" Comment1 ""

9
with_opencm3/Makefile
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@ -1,9 +1,11 @@
BINARY = ircontroller BINARY = ircontroller
BOOTPORT ?= /dev/ttyUSB0 BOOTPORT ?= /dev/ttyUSB0
BOOTSPEED ?= 115200 BOOTSPEED ?= 115200
LDSCRIPT = stm32-h103.ld # change this linking script depending on particular MCU model,
# for example, if you have STM32F103VBT6, you should write:
LDSCRIPT = ld/stm32f103xB.ld
LIBNAME = opencm3_stm32f1 LIBNAME = opencm3_stm32f1
DEFS = -DSTM32F1 DEFS = -DSTM32F1 -DEBUG
OBJDIR = mk OBJDIR = mk
INDEPENDENT_HEADERS= INDEPENDENT_HEADERS=
@ -11,7 +13,6 @@ INDEPENDENT_HEADERS=
FP_FLAGS ?= -msoft-float FP_FLAGS ?= -msoft-float
ARCH_FLAGS = -mthumb -mcpu=cortex-m3 $(FP_FLAGS) -mfix-cortex-m3-ldrd ARCH_FLAGS = -mthumb -mcpu=cortex-m3 $(FP_FLAGS) -mfix-cortex-m3-ldrd
############################################################################### ###############################################################################
# Executables # Executables
PREFIX ?= arm-none-eabi PREFIX ?= arm-none-eabi
@ -46,7 +47,7 @@ SCRIPT_DIR = $(OPENCM3_DIR)/scripts
############################################################################### ###############################################################################
# C flags # C flags
CFLAGS += -Os -g CFLAGS += -Os -g
CFLAGS += -Wextra -Wshadow -Wimplicit-function-declaration CFLAGS += -Wall -Wextra -Wshadow -Wimplicit-function-declaration
CFLAGS += -Wredundant-decls CFLAGS += -Wredundant-decls
# -Wmissing-prototypes -Wstrict-prototypes # -Wmissing-prototypes -Wstrict-prototypes
CFLAGS += -fno-common -ffunction-sections -fdata-sections CFLAGS += -fno-common -ffunction-sections -fdata-sections

1
with_opencm3/NVIC Normal file
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@ -0,0 +1 @@
don't forget to call nvic_enable_irq(irq) to allow interrupts

8
with_opencm3/README
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@ -1,3 +1,11 @@
The work begins
First PCB have been prodused, so I need "only" to solder elements & finish the code
Pinout of MCI is in file schematics/STM32_PINS
-- OLD --
This is a sketch for futher work This is a sketch for futher work
I found that libopencm3 is more friendly than SPL. Also I have some new thoughts about modular system: for I found that libopencm3 is more friendly than SPL. Also I have some new thoughts about modular system: for
flexibility. flexibility.

16
with_opencm3/cdcacm.c
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@ -292,20 +292,19 @@ usbd_device *USB_init(){
return current_usb; return current_usb;
} }
uint8_t send_block = 0; mutex_t send_block_mutex = MUTEX_UNLOCKED;
/** /**
* Put byte into USB buffer to send * Put byte into USB buffer to send
* @param byte - a byte to put into a buffer * @param byte - a byte to put into a buffer
*/ */
void usb_send(uint8_t byte){ void usb_send(uint8_t byte){
while(send_block); // wait for unlock mutex_lock(&send_block_mutex);
send_block = 1;
USB_Tx_Buffer[USB_Tx_ptr++] = byte; USB_Tx_Buffer[USB_Tx_ptr++] = byte;
if(USB_Tx_ptr == USB_TX_DATA_SIZE){ // buffer can be overflowed - send it! if(USB_Tx_ptr == USB_TX_DATA_SIZE){ // buffer can be overflowed - send it!
send_block = 0; mutex_unlock(&send_block_mutex);
usb_send_buffer(); usb_send_buffer();
} }else
send_block = 0; mutex_unlock(&send_block_mutex);
} }
/** /**
@ -313,8 +312,7 @@ void usb_send(uint8_t byte){
* this function runs when buffer is full or on SysTick * this function runs when buffer is full or on SysTick
*/ */
void usb_send_buffer(){ void usb_send_buffer(){
if(send_block) return; if(MUTEX_LOCKED == mutex_trylock(&send_block_mutex)) return;
send_block = 1;
if(USB_Tx_ptr){ if(USB_Tx_ptr){
if(current_usb && USB_connected){ if(current_usb && USB_connected){
// usbd_ep_write_packet return 0 if previous packet isn't transmit yet // usbd_ep_write_packet return 0 if previous packet isn't transmit yet
@ -323,5 +321,5 @@ void usb_send_buffer(){
} }
USB_Tx_ptr = 0; USB_Tx_ptr = 0;
} }
send_block = 0; mutex_unlock(&send_block_mutex);
} }

17
with_opencm3/client-term/get_T.m
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@ -31,14 +31,17 @@ function [Time T Tfxd] = get_T(filename, filter_treshold)
endfor endfor
endif endif
plot(Time, R); Leg = ['1'; '2'; '3'; '4'; '5'; '6'; '7'; '8'];
more_colors(plot(Time, R), 8);
Tit = sprintf("Resistance, \\Omega"); Tit = sprintf("Resistance, \\Omega");
xlabel("Time, s"); ylabel("R, \\Omega"); title(Tit); xlabel("Time, s"); ylabel("R, \\Omega"); title(Tit);
print -dpng -color resistance.png; print -dpng -color resistance.png;
close close
plot(Time, T); more_colors(plot(Time, T), 8);
Tit = sprintf("Temperature, ^\\circ{}C"); Tit = sprintf("Temperature, ^\\circ{}C");
xlabel("Time, s"); ylabel("T, ^\\circ{}C"); title(Tit); xlabel("Time, s"); ylabel("T, ^\\circ{}C"); title(Tit);
legend(Leg);
print -dpng -color temperatures.png; print -dpng -color temperatures.png;
close close
@ -46,12 +49,18 @@ function [Time T Tfxd] = get_T(filename, filter_treshold)
Tavr = mean(T, 2); Tavr = mean(T, 2);
Tadd = mean(T - repmat(Tavr, [1 8])); Tadd = mean(T - repmat(Tavr, [1 8]));
Tfxd = T - repmat(Tadd,[size(T,1) 1]); Tfxd = T - repmat(Tadd,[size(T,1) 1]);
plot(Time, Tfxd); more_colors(plot(Time, Tfxd), 8);
Tit = sprintf("Temperature fixed to average value, ^\\circ{}C"); Tit = sprintf("Temperature fixed to average value, ^\\circ{}C");
xlabel("Time, s"); ylabel("T, ^\\circ{}C"); title(Tit); xlabel("Time, s"); ylabel("T, ^\\circ{}C"); title(Tit);
print -dpng -color temperatures_fixed.png; print -dpng -color temperatures_fixed.png;
legend(Leg);
close close
printf("differences:\n"); printf("%g\n", -Tadd); printf("differences:\n"); printf("%g\n", -Tadd);
endfunction endfunction
function more_colors(h, N)
palette = jet (N);
for i = 1:N
set(h(i),"color",palette(i,:))
endfor
endfunction

241
with_opencm3/hardware_ini.c
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@ -19,24 +19,108 @@
* MA 02110-1301, USA. * MA 02110-1301, USA.
*/ */
/*
* All hardware-dependent initialisation & definition should be placed here
* and in hardware_ini.h
*
*/
#include "main.h" #include "main.h"
#include "hardware_ini.h" #include "hardware_ini.h"
volatile uint16_t ADC_value[8]; // ADC DMA value volatile uint16_t ADC_value[8]; // ADC DMA value
/** /*
* GPIO initialisaion: clocking + ports setup * Configure SPI ports
*/ */
void GPIO_init(){ /*
rcc_periph_clock_enable(RCC_GPIOC); * SPI1 remapped:
gpio_set_mode(GPIOC, GPIO_MODE_OUTPUT_2_MHZ, * SCK - PB3
GPIO_CNF_OUTPUT_PUSHPULL, GPIO11|GPIO12); // LED + USB * MISO - PB4
// AD7794 addr + en * MOSI - PB5
gpio_set_mode(GPIOC, GPIO_MODE_OUTPUT_2_MHZ, */
GPIO_CNF_OUTPUT_PUSHPULL, ADC_ADDR_MASK | GPIO10); // ADDRESS: PC6..9; EN: PC10 void SPI1_init(){
GPIO_BSRR(GPIOC) = (ADC_ADDR_MASK | GPIO10) << 16; // clear address & disable com // enable AFIO & other clocking
rcc_peripheral_enable_clock(&RCC_APB2ENR,
RCC_APB2ENR_SPI1EN | RCC_APB2ENR_AFIOEN | RCC_APB2ENR_IOPBEN);
// remap SPI1 (change pins from PA5..7 to PB3..5); also turn off JTAG
gpio_primary_remap(AFIO_MAPR_SWJ_CFG_JTAG_OFF_SW_OFF, AFIO_MAPR_SPI1_REMAP);
// SCK, MOSI - push-pull output
gpio_set_mode(GPIO_BANK_SPI1_RE_SCK, GPIO_MODE_OUTPUT_50_MHZ,
GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_SPI1_RE_SCK);
gpio_set_mode(GPIO_BANK_SPI1_RE_MOSI, GPIO_MODE_OUTPUT_50_MHZ,
GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_SPI1_RE_MOSI);
// MISO - opendrain in
gpio_set_mode(GPIO_BANK_SPI1_RE_MISO, GPIO_MODE_INPUT, GPIO_CNF_INPUT_FLOAT, GPIO_SPI1_RE_MISO);
spi_reset(SPI1);
/* Set up SPI in Master mode with:
* Clock baud rate: 1/128 of peripheral clock frequency (APB2, 72MHz)
* Clock polarity: Idle High
* Clock phase: Data valid on 2nd clock pulse
* Data frame format: 8-bit
* Frame format: MSB First
*/
spi_init_master(SPI1, SPI_CR1_BAUDRATE_FPCLK_DIV_128, SPI_CR1_CPOL_CLK_TO_1_WHEN_IDLE,
SPI_CR1_CPHA_CLK_TRANSITION_2, SPI_CR1_DFF_8BIT, SPI_CR1_MSBFIRST);
nvic_enable_irq(NVIC_SPI1_IRQ); // enable SPI interrupt
} }
/*
* SPI2:
* SCK - PB13
* MISO - PB14
* MOSI - PB15
*/
void SPI2_init(){
// turn on clocking
//rcc_periph_clock_enable(RCC_SPI2 | RCC_GPIOB);
rcc_peripheral_enable_clock(&RCC_APB1ENR, RCC_APB1ENR_SPI2EN);
rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_AFIOEN | RCC_APB2ENR_IOPBEN);
// SCK, MOSI - push-pull output
gpio_set_mode(GPIO_BANK_SPI2_SCK, GPIO_MODE_OUTPUT_50_MHZ,
GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_SPI2_SCK);
gpio_set_mode(GPIO_BANK_SPI2_MOSI, GPIO_MODE_OUTPUT_50_MHZ,
GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_SPI2_MOSI);
// MISO - opendrain in
gpio_set_mode(GPIO_BANK_SPI2_MISO, GPIO_MODE_INPUT, GPIO_CNF_INPUT_FLOAT, GPIO_SPI2_MISO);
spi_reset(SPI2);
/* Set up SPI in Master mode with:
* Clock baud rate: 1/64 of peripheral clock frequency (APB1, 36MHz)
* Clock polarity: Idle High
* Clock phase: Data valid on 2nd clock pulse
* Data frame format: 8-bit
* Frame format: MSB First
*/
spi_init_master(SPI2, SPI_CR1_BAUDRATE_FPCLK_DIV_64, SPI_CR1_CPOL_CLK_TO_1_WHEN_IDLE,
SPI_CR1_CPHA_CLK_TRANSITION_2, SPI_CR1_DFF_8BIT, SPI_CR1_MSBFIRST);
nvic_enable_irq(NVIC_SPI2_IRQ); // enable SPI interrupt
}
/**
* GPIO initialisaion: clocking + pins setup
*/
void GPIO_init(){
/* rcc_periph_clock_enable(RCC_AFIO);
rcc_periph_clock_enable(RCC_SPI1);
rcc_periph_clock_enable(RCC_GPIOC);*/
rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN |
RCC_APB2ENR_IOPBEN | RCC_APB2ENR_IOPCEN | RCC_APB2ENR_IOPDEN |
RCC_APB2ENR_IOPEEN);
// USB_DISC: push-pull
gpio_set_mode(USB_DISC_PORT, GPIO_MODE_OUTPUT_2_MHZ,
GPIO_CNF_OUTPUT_PUSHPULL, USB_DISC_PIN);
// USB_POWER: open drain, externall pull down with R7 (22k)
gpio_set_mode(USB_POWER_PORT, GPIO_MODE_INPUT,
GPIO_CNF_INPUT_FLOAT, USB_POWER_PIN);
// AD7794 addr + en
gpio_set_mode(ADC_ADDR_PORT, GPIO_MODE_OUTPUT_2_MHZ,
GPIO_CNF_OUTPUT_PUSHPULL, ADC_ADDR_MASK | ADC_EN_PIN); // ADDRESS: PD10..12; EN: PD13
gpio_clear(ADC_ADDR_PORT, ADC_ADDR_MASK | ADC_EN_PIN); // clear address & turn switch off
}
/*
* SysTick used for system timer with period of 1ms
*/
void SysTick_init(){ void SysTick_init(){
systick_set_clocksource(STK_CSR_CLKSOURCE_AHB_DIV8); // Systyck: 72/8=9MHz systick_set_clocksource(STK_CSR_CLKSOURCE_AHB_DIV8); // Systyck: 72/8=9MHz
systick_set_reload(8999); // 9000 pulses: 1kHz systick_set_reload(8999); // 9000 pulses: 1kHz
@ -44,13 +128,31 @@ void SysTick_init(){
systick_counter_enable(); systick_counter_enable();
} }
/*
* Due to inconvenient pins position on STM32F103VxT6 I had to make this strange location:
* my channel # -> ADC1/2 channel #
* 0 -> 9 PB1
* 1 -> 8 PB0
* 2 -> 15 PC5
* 3 -> 14 PC4
* 4 -> 7 PA7
* 5 -> 6 PA6
* 6 -> 5 PA5
* 7 -> 4 PA4
*/
uint8_t adc_channel_array[16] = {9,8,15,14,7,6,5,4};
#define ADC_CHANNELS_NUMBER 8
void ADC_init(){ void ADC_init(){
rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_ADC1EN); // enable clocking rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_ADC1EN); // enable clocking
rcc_periph_clock_enable(RCC_ADC1); rcc_periph_clock_enable(RCC_ADC1);
rcc_set_adcpre(RCC_CFGR_ADCPRE_PCLK2_DIV4); rcc_set_adcpre(RCC_CFGR_ADCPRE_PCLK2_DIV4);
rcc_periph_clock_enable(RCC_GPIOB | RCC_GPIOC); // clocking for ADC ports rcc_periph_clock_enable(RCC_GPIOA | RCC_GPIOB | RCC_GPIOC); // clocking for ADC ports
gpio_set_mode(GPIOB, GPIO_MODE_INPUT, GPIO_CNF_INPUT_ANALOG, 3); // ADC8 - PB0, ADC9 -PB1 // channels 4-7: PA7-PA4
gpio_set_mode(GPIOC, GPIO_MODE_INPUT, GPIO_CNF_INPUT_ANALOG, 63); // ADC10-15: PC0-PC5 gpio_set_mode(GPIOA, GPIO_MODE_INPUT, GPIO_CNF_INPUT_ANALOG, GPIO4|GPIO5|GPIO6|GPIO7);
// channels 0,1: PB1, PB0
gpio_set_mode(GPIOB, GPIO_MODE_INPUT, GPIO_CNF_INPUT_ANALOG, GPIO0|GPIO1);
// channels 2,3: PC5, PC4
gpio_set_mode(GPIOC, GPIO_MODE_INPUT, GPIO_CNF_INPUT_ANALOG, GPIO4|GPIO5);
// Make sure the ADC doesn't run during config // Make sure the ADC doesn't run during config
adc_off(ADC1); adc_off(ADC1);
@ -60,7 +162,7 @@ void ADC_init(){
dma_channel_reset(DMA1, DMA_CHANNEL1); //DMA_DeInit(DMA1_Channel1); dma_channel_reset(DMA1, DMA_CHANNEL1); //DMA_DeInit(DMA1_Channel1);
dma_set_peripheral_address(DMA1, DMA_CHANNEL1, (uint32_t) &(ADC_DR(ADC1))); // DMA_InitStructure.DMA_PeripheralBaseAddr = ADC1_DR_Address; dma_set_peripheral_address(DMA1, DMA_CHANNEL1, (uint32_t) &(ADC_DR(ADC1))); // DMA_InitStructure.DMA_PeripheralBaseAddr = ADC1_DR_Address;
dma_set_memory_address(DMA1, DMA_CHANNEL1, (uint32_t) ADC_value); // DMA_InitStructure.DMA_MemoryBaseAddr = (uint32_t)&ADC_value; dma_set_memory_address(DMA1, DMA_CHANNEL1, (uint32_t) ADC_value); // DMA_InitStructure.DMA_MemoryBaseAddr = (uint32_t)&ADC_value;
dma_set_number_of_data(DMA1, DMA_CHANNEL1, 8); // DMA_InitStructure.DMA_BufferSize = 1; dma_set_number_of_data(DMA1, DMA_CHANNEL1, ADC_CHANNELS_NUMBER); // DMA_InitStructure.DMA_BufferSize = 1;
dma_set_read_from_peripheral(DMA1, DMA_CHANNEL1); // DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralSRC; dma_set_read_from_peripheral(DMA1, DMA_CHANNEL1); // DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralSRC;
dma_enable_memory_increment_mode(DMA1, DMA_CHANNEL1); // DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Disable; dma_enable_memory_increment_mode(DMA1, DMA_CHANNEL1); // DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Disable;
dma_disable_peripheral_increment_mode(DMA1, DMA_CHANNEL1); // DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable; dma_disable_peripheral_increment_mode(DMA1, DMA_CHANNEL1); // DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
@ -76,8 +178,8 @@ void ADC_init(){
adc_set_continuous_conversion_mode(ADC1); // ADC_InitStructure.ADC_ContinuousConvMode = ENABLE; adc_set_continuous_conversion_mode(ADC1); // ADC_InitStructure.ADC_ContinuousConvMode = ENABLE;
adc_disable_external_trigger_regular(ADC1); // ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_None; adc_disable_external_trigger_regular(ADC1); // ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_None;
adc_set_right_aligned(ADC1); // ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right; adc_set_right_aligned(ADC1); // ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
//adc_set_sample_time_on_all_channels(ADC1, ADC_SMPR_SMP_239DOT5CYC); // ADC_SampleTime_239Cycles5 adc_set_sample_time_on_all_channels(ADC1, ADC_SMPR_SMP_239DOT5CYC); // ADC_SampleTime_239Cycles5
adc_set_sample_time(ADC1, ADC_CHANNEL8, ADC_SMPR_SMP_239DOT5CYC); // ADC_RegularChannelConfig(ADC1, ADC_Channel_8, 1, ADC_SampleTime_239Cycles5); //adc_set_sample_time(ADC1, ADC_CHANNEL8, ADC_SMPR_SMP_239DOT5CYC); // ADC_RegularChannelConfig(ADC1, ADC_Channel_8, 1, ADC_SampleTime_239Cycles5);
adc_enable_dma(ADC1); // ADC_DMACmd(ADC1, ENABLE); adc_enable_dma(ADC1); // ADC_DMACmd(ADC1, ENABLE);
adc_power_on(ADC1); // ADC_Cmd(ADC1, ENABLE); adc_power_on(ADC1); // ADC_Cmd(ADC1, ENABLE);
} }
@ -87,13 +189,112 @@ void ADC_init(){
* First call ADC_init(), than wait a little and call this function * First call ADC_init(), than wait a little and call this function
*/ */
void ADC_calibrate_and_start(){ void ADC_calibrate_and_start(){
uint8_t channel_array[16] = {8,9,10,11,12,13,14,15}; adc_set_regular_sequence(ADC1, ADC_CHANNELS_NUMBER, adc_channel_array);
// adc_set_regular_sequence 1 channel -- 0 // ADC_InitStructure.ADC_NbrOfChannel = 1;
channel_array[0] = ADC_CHANNEL8;
adc_set_regular_sequence(ADC1, 8, channel_array);
adc_reset_calibration(ADC1); adc_reset_calibration(ADC1);
adc_calibration(ADC1); adc_calibration(ADC1);
adc_start_conversion_regular(ADC1); // ADC_SoftwareStartConvCmd(ADC1, ENABLE); adc_start_conversion_regular(ADC1); // ADC_SoftwareStartConvCmd(ADC1, ENABLE);
adc_start_conversion_direct(ADC1); adc_start_conversion_direct(ADC1);
} }
uint16_t tim2_buff[8] = {10,20,30,40,50,60,70,80};
uint16_t tim2_inbuff[8];
void init_dmatimer(){ // tim2_ch4 - PA3, no remap
gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ,
GPIO_CNF_OUTPUT_ALTFN_OPENDRAIN, GPIO3);
rcc_periph_clock_enable(RCC_TIM2);
timer_reset(TIM2);
// timers have frequency of 1MHz -- 1us for one step
// 36MHz of APB1
timer_set_mode(TIM2, TIM_CR1_CKD_CK_INT, TIM_CR1_CMS_EDGE, TIM_CR1_DIR_UP);
// 72MHz div 72 = 1MHz
timer_set_prescaler(TIM2, 71); // prescaler is (div - 1)
timer_continuous_mode(TIM2); // automatically reload
timer_enable_preload(TIM2); // force changing period
timer_set_period(TIM2, 86); // period is 87us
timer_enable_update_event(TIM2);
timer_set_oc_mode(TIM2, TIM_OC4, TIM_OCM_PWM1); // edge-aligned mode
timer_enable_oc_preload(TIM2, TIM_OC4);
timer_enable_oc_output(TIM2, TIM_OC4);
timer_enable_irq(TIM2, TIM_DIER_UDE | TIM_DIER_CC4DE | TIM_DIER_CC3DE);
timer_set_oc_polarity_low(TIM2, TIM_OC4);
// TIM2_CH4 - DMA1, channel 7
rcc_periph_clock_enable(RCC_DMA1);
dma_channel_reset(DMA1, DMA_CHANNEL7);
dma_set_peripheral_address(DMA1, DMA_CHANNEL7, (uint32_t) &(TIM_CCR4(TIM2)));
dma_set_read_from_memory(DMA1, DMA_CHANNEL7);
dma_enable_memory_increment_mode(DMA1, DMA_CHANNEL7);
dma_disable_peripheral_increment_mode(DMA1, DMA_CHANNEL7);
dma_set_peripheral_size(DMA1, DMA_CHANNEL7, DMA_CCR_PSIZE_16BIT);
dma_set_memory_size(DMA1, DMA_CHANNEL7, DMA_CCR_MSIZE_16BIT);
dma_enable_transfer_error_interrupt(DMA1, DMA_CHANNEL7);
dma_enable_transfer_complete_interrupt(DMA1, DMA_CHANNEL7);
dma_set_memory_address(DMA1, DMA_CHANNEL7, (uint32_t)tim2_buff);
nvic_enable_irq(NVIC_DMA1_CHANNEL7_IRQ); // enable dma1_channel7_isr
// capture: TIM2_CH3
timer_ic_set_input(TIM2, TIM_IC3, TIM_IC_IN_TI4);
timer_set_oc_polarity_high(TIM2, TIM_OC3);
timer_ic_enable(TIM2, TIM_IC3);
timer_enable_oc_output(TIM2, TIM_OC3);
// configure DMA1 Channel1 (ADC1)
dma_channel_reset(DMA1, DMA_CHANNEL1);
dma_set_peripheral_address(DMA1, DMA_CHANNEL1, (uint32_t) &(TIM_CCR3(TIM2)));
dma_set_memory_address(DMA1, DMA_CHANNEL1, (uint32_t) tim2_inbuff);
dma_set_number_of_data(DMA1, DMA_CHANNEL1, 8);
dma_set_read_from_peripheral(DMA1, DMA_CHANNEL1);
dma_enable_memory_increment_mode(DMA1, DMA_CHANNEL1);
dma_disable_peripheral_increment_mode(DMA1, DMA_CHANNEL1);
dma_set_peripheral_size(DMA1, DMA_CHANNEL1, DMA_CCR_PSIZE_16BIT);
dma_set_memory_size(DMA1, DMA_CHANNEL1, DMA_CCR_MSIZE_16BIT);
nvic_enable_irq(NVIC_DMA1_CHANNEL1_IRQ);
dma_enable_transfer_error_interrupt(DMA1, DMA_CHANNEL1);
dma_enable_transfer_complete_interrupt(DMA1, DMA_CHANNEL1);
}
void run_dmatimer(){
int i;
DMA1_IFCR = DMA_ISR_TEIF7|DMA_ISR_HTIF7|DMA_ISR_TCIF7|DMA_ISR_GIF7 |
DMA_ISR_TEIF1|DMA_ISR_HTIF1|DMA_ISR_TCIF1|DMA_ISR_GIF1; // clear flags
dma_set_number_of_data(DMA1, DMA_CHANNEL7, 8);
timer_set_dma_on_compare_event(TIM2);
timer_enable_oc_output(TIM2, TIM_OC4);
dma_enable_channel(DMA1, DMA_CHANNEL7);
timer_enable_counter(TIM2);
for(i = 0; i < 8; i++) tim2_inbuff[i] = 0;
dma_set_number_of_data(DMA1, DMA_CHANNEL1, 8);
dma_enable_channel(DMA1, DMA_CHANNEL1);
}
void dma1_channel7_isr(){
if(DMA1_ISR & DMA_ISR_TCIF7) {
DMA1_IFCR = DMA_IFCR_CTCIF7;
dma_disable_channel(DMA1, DMA_CHANNEL7);
}else if(DMA1_ISR & DMA_ISR_TEIF7){
DMA1_IFCR = DMA_IFCR_CTEIF7;
MSG("out transfer error\n");
}
}
void dma1_channel1_isr(){
int i;
if(DMA1_ISR & DMA_ISR_TCIF1) {
DMA1_IFCR = DMA_IFCR_CTCIF1;
dma_disable_channel(DMA1, DMA_CHANNEL1);
timer_disable_counter(TIM2);
gpio_set(GPIOA, GPIO3);
for(i = 0; i < 8; i++){
print_int(tim2_inbuff[i], lastsendfun);
MSG(" ");
}
MSG("\n");
}else if(DMA1_ISR & DMA_ISR_TEIF1){
DMA1_IFCR = DMA_IFCR_CTEIF1;
MSG("in transfer error\n");
}
}

57
with_opencm3/hardware_ini.h
View File

@ -23,23 +23,72 @@
#ifndef __HARDWARE_INI_H__ #ifndef __HARDWARE_INI_H__
#define __HARDWARE_INI_H__ #define __HARDWARE_INI_H__
extern volatile uint16_t ADC_value[]; // ADC DMA value extern volatile uint16_t ADC_value[]; // ADC DMA value
#define ADC_ADDR_MASK (GPIO6|GPIO7|GPIO8|GPIO9)
#define TRD_NO 8 // number of TRD devices #define TRD_NO 8 // number of TRD devices
// bits used to address external SPI ADC - PD10..12
#define ADC_ADDR_MASK (GPIO10|GPIO11|GPIO12)
#define ADC_SET_ADDR(X) ((X << 10) & ADC_ADDR_MASK)
#define ADC_EN_PIN GPIO13
#define ADC_ADDR_PORT GPIOD
void SPI1_init();
void SPI2_init();
void GPIO_init(); void GPIO_init();
void SysTick_init(); void SysTick_init();
void ADC_init(); void ADC_init();
void ADC_calibrate_and_start(); void ADC_calibrate_and_start();
/*
* USB interface
*/
// USB_DICS (disconnect) - PC11
#define USB_DISC_PIN GPIO11
#define USB_DISC_PORT GPIOC
// USB_POWER (high level when USB connected to PC)
#define USB_POWER_PIN GPIO10
#define USB_POWER_PORT GPIOC
// change signal level on USB diconnect pin
#define usb_disc_high() gpio_set(USB_DISC_PORT, USB_DISC_PIN)
#define usb_disc_low() gpio_clear(USB_DISC_PORT, USB_DISC_PIN)
// in case of pnp bipolar transistor on 1.5k pull-up disconnect means low level
// in case of p-channel FET on 1.5k pull-up change on/off disconnect means high level
#define usb_disconnect() usb_disc_low()
#define usb_connect() usb_disc_high()
/*
* Stepper motors
* motors' interface use timers 1 & 2, so even hardware-dependent functions are
* moved to stepper_motors.c
*/
// PE7..11 - EN
#define MOROT_EN_MASK (0x1f << 7)
#define MOTOR_EN_PORT (GPIOE)
// N == 1..5
#define MOTOR_EN_PIN(N) (GPIO6 << (N))
// PE0..PE5 - DIR
#define MOROT_DIR_MASK (0x1f)
#define MOTOR_DIR_PORT (GPIOE)
// N == 1..5
#define MOTOR_DIR_PIN(N) (GPIO0 << (N - 1))
// timers: TIM1 - PC6, TIM2 - PD15
#define MOTOR_TIM1_PORT (GPIOC)
#define MOTOR_TIM1_PIN (GPIO6)
#define MOTOR_TIM2_PORT (GPIOD)
#define MOTOR_TIM2_PIN (GPIO15)
/* /*
* One Wire interface * One Wire interface
*/ */
// In case of using USART2 for 1-wire port, make corresponding change // In case of using other USART for 1-wire port, make corresponding change
// and redefine pins in OW_Init // and redefine pins in OW_Init
//#define OW_USART_X USART2 #define OW_USART_X USART2
#define OW_USART_X USART3 #define OW_RX_PORT GPIO_BANK_USART2_RX
#define OW_RX_PIN GPIO_USART2_RX
void init_dmatimer();
void run_dmatimer();
#endif // __HARDWARE_INI_H__ #endif // __HARDWARE_INI_H__

BIN
with_opencm3/ircontroller.bin
View File

Binary file not shown.

51
with_opencm3/main.c
View File

@ -24,6 +24,7 @@
#include "cdcacm.h" #include "cdcacm.h"
#include "uart.h" #include "uart.h"
#include "spi.h" #include "spi.h"
#include "stepper_motors.h"
volatile uint32_t Timer = 0, tOVRFL = 0; // global timer (milliseconds), overflow counter volatile uint32_t Timer = 0, tOVRFL = 0; // global timer (milliseconds), overflow counter
usbd_device *usbd_dev; usbd_device *usbd_dev;
@ -55,10 +56,7 @@ void read_next_TRD(){
//P("Step 0: read_next_TRD, N=", uart1_send); //P("Step 0: read_next_TRD, N=", uart1_send);
//print_int(N, uart1_send); //print_int(N, uart1_send);
//newline(uart1_send); //newline(uart1_send);
GPIO_BSRR(GPIOC) = N << 6; // set address gpio_set(ADC_ADDR_PORT, ADC_SET_ADDR(N) | ADC_EN_PIN); // set address & enable switch
GPIO_BSRR(GPIOC) = GPIO10; // enable com
N++; // and increment TRD counter
if(N == TRD_NO) N = 0;
val0 = val1 = 0; val0 = val1 = 0;
step++; step++;
break; break;
@ -102,17 +100,29 @@ void read_next_TRD(){
break; break;
default: // last step - turn off multiplexer default: // last step - turn off multiplexer
step = 0; step = 0;
GPIO_BSRR(GPIOC) = (ADC_ADDR_MASK | GPIO10) << 16; // disable com & clear address bytes gpio_clear(ADC_ADDR_PORT, ADC_ADDR_MASK | ADC_EN_PIN); // disable com & clear address bytes
N++; // and increment TRD counter
if(N == TRD_NO) N = 0;
} }
} }
//uint8_t curSPI = 1;
void AD7794_init(){ void AD7794_init(){
uint8_t i; uint8_t i;
ad7794_on = 0; ad7794_on = 0;
i = reset_AD7794(); i = reset_AD7794();
if(i != ADC_NO_ERROR){ if(i != ADC_NO_ERROR){
if(i == ADC_ERR_NO_DEVICE){ if(i == ADC_ERR_NO_DEVICE){
MSG("ADC signal is absent! Check connection.\r\n"); // print_int(curSPI, lastsendfun);
MSG(": ADC signal is absent! Check connection.\r\n");
/* if(curSPI == 1){
curSPI = 2;
switch_SPI(SPI2);
}else{
curSPI = 1;
switch_SPI(SPI1);
}*/
} }
}else{ }else{
if(!setup_AD7794(INTREFIN | REF_DETECTION | UNIPOLAR_CODING, IEXC_DIRECT | IEXC_1MA) if(!setup_AD7794(INTREFIN | REF_DETECTION | UNIPOLAR_CODING, IEXC_DIRECT | IEXC_1MA)
@ -133,11 +143,12 @@ int main(){
//rcc_clock_setup_in_hsi_out_48mhz(); //rcc_clock_setup_in_hsi_out_48mhz();
// RCC clocking: 8MHz oscillator -> 72MHz system // RCC clocking: 8MHz oscillator -> 72MHz system
rcc_clock_setup_in_hse_8mhz_out_72mhz(); rcc_clock_setup_in_hse_8mhz_out_72mhz();
// GPIO // GPIO
GPIO_init(); GPIO_init();
gpio_set(GPIOC, GPIO11); // turn off USB
gpio_clear(GPIOC, GPIO12); // turn on LED steppers_init();
usb_disconnect(); // turn off USB
// init USART1 // init USART1
UART_init(USART1); UART_init(USART1);
@ -146,21 +157,26 @@ int main(){
usbd_dev = USB_init(); usbd_dev = USB_init();
// init ADC // init ADC
ADC_init(); // ADC_init();
// SysTick is a system timer with 1mc period // SysTick is a system timer with 1mc period
SysTick_init(); SysTick_init();
SPI1_init();
OW_Init(); // switch_SPI(SPI2); // init SPI2
// SPI_init();
switch_SPI(SPI1); // init SPI1
SPI_init();
//OW_Init();
// wait a little and then turn on USB pullup // wait a little and then turn on USB pullup
for (i = 0; i < 0x800000; i++) for (i = 0; i < 0x800000; i++)
__asm__("nop"); __asm__("nop");
gpio_clear(GPIOC, GPIO11); usb_connect(); // turn on USB
ADC_calibrate_and_start();
//ADC_calibrate_and_start();
init_dmatimer();
while(1){ while(1){
usbd_poll(usbd_dev); usbd_poll(usbd_dev);
if(usbdatalen){ // there's something in USB buffer if(usbdatalen){ // there's something in USB buffer
@ -174,10 +190,13 @@ int main(){
read_next_TRD(); read_next_TRD();
} }
} }
process_stepper_motors(); // check flags of motors' timers
if(Timer - Old_timer > 999){ // one-second cycle if(Timer - Old_timer > 999){ // one-second cycle
Old_timer += 1000; Old_timer += 1000;
gpio_toggle(GPIOC, GPIO12); // toggle LED //gpio_toggle(GPIOC, GPIO12); // toggle LED
if(!ad7794_on) AD7794_init(); // try to init ADC if it doesn't work //gpio_toggle(GPIO_BANK_SPI2_MOSI, GPIO_SPI2_MOSI);
//gpio_toggle(GPIO_BANK_SPI2_SCK, GPIO_SPI2_SCK);
// if(!ad7794_on) AD7794_init(); // try to init ADC if it doesn't work
//print_int(Timer/1000, usb_send); //print_int(Timer/1000, usb_send);
}else if(Timer < Old_timer){ // Timer overflow }else if(Timer < Old_timer){ // Timer overflow
Old_timer = 0; Old_timer = 0;

3
with_opencm3/main.h
View File

@ -37,9 +37,12 @@
#include <libopencm3/stm32/dma.h> #include <libopencm3/stm32/dma.h>
#include <libopencm3/stm32/spi.h> #include <libopencm3/stm32/spi.h>
#include "sync.h" // mutexes
#include "user_proto.h" #include "user_proto.h"
#include "AD7794.h" #include "AD7794.h"
#include "onewire.h" #include "onewire.h"
#include "stepper_motors.h"
#include "sensors.h"
#define _U_ __attribute__((__unused__)) #define _U_ __attribute__((__unused__))
#define U8(x) ((uint8_t) x) #define U8(x) ((uint8_t) x)

133
with_opencm3/onewire.c
View File

@ -24,8 +24,10 @@
#define OW_RST 0xf0 #define OW_RST 0xf0
// In/Out buffer uint8_t dev_amount = 0; // amount of 1-wire devices
uint8_t ow_buf[8]; uint8_t ID_buf[64] = {0}; // 1-wire devices ID buffer (8 bytes for every device)
uint8_t NUM_buf[8] = {0}; // numerical identificators for each sensor
/** /**
* this function sends bits of ow_byte (LSB first) to 1-wire line * this function sends bits of ow_byte (LSB first) to 1-wire line
* @param ow_byte - byte to convert * @param ow_byte - byte to convert
@ -46,22 +48,29 @@ void OW_SendBits(uint8_t ow_byte, uint8_t Nbits){
} }
} }
/* void OW_ClearBuff(){
* Inverce conversion - read data (not more than 8 b
*/
uint8_t OW_ReadByte(){
UART_buff *curbuff = get_uart_buffer(OW_USART_X); UART_buff *curbuff = get_uart_buffer(OW_USART_X);
uint8_t ow_byte = 0, i, L, *buf; curbuff->end = 0;
if(!curbuff || !(L = curbuff->end)) return 0; // no data? }
/*
* Inverce conversion - read data (not more than 8 bits)
*/
uint8_t OW_ConvertByte(uint8_t *bits, uint8_t L){
uint8_t ow_byte = 0, i, *st = bits;
if(L > 8) L = 8; // forget all other data if(L > 8) L = 8; // forget all other data
buf = curbuff->buf; for(i = 0; i < L; i++, st++){
for(i = 0; i < L; i++, buf++){
ow_byte = ow_byte >> 1; // prepare for next bit filling ow_byte = ow_byte >> 1; // prepare for next bit filling
if(*buf == OW_1){ if(*st == OW_1){
ow_byte |= 0x80; // MSB = 1 ow_byte |= 0x80; // MSB = 1
} }
} }
return ow_byte >> (8 - L); // shift to the end: L could be != 8 ??? ow_byte >>= (8 - L);
print_hex(bits, L, lastsendfun);
lastsendfun(' ');
print_hex(&ow_byte, 1, lastsendfun);
newline(lastsendfun);
return ow_byte; // shift to the end: L could be != 8 ???
} }
@ -111,51 +120,60 @@ uint8_t OW_Reset() {
return 0; return 0;
} }
/* /**
* Procedure of 1-wire communications * Procedure of 1-wire communications
* variables: * variables:
* sendReset - send RESET before transmission * @param sendReset - send RESET before transmission
* command - bytes sent to the bus (if we want to read, send OW_READ_SLOT) * @param command - bytes sent to the bus (if we want to read, send OW_READ_SLOT)
* cLen - command buffer length (how many bytes to send) * @param cLen - command buffer length (how many bytes to send)
* data - pointer for reading buffer (if reading needed) * @return 1 if succeed, 0 if failure
* readStart - first byte to read (starts from 0) or OW_NO_READ (not read)
*
* return 1 if succeed, 0 if failure
*/ */
uint8_t OW_Send(uint8_t sendReset, uint8_t *command, uint8_t cLen, uint8_t OW_Send(uint8_t sendReset, uint8_t *command, uint8_t cLen){
uint8_t *data, uint8_t dLen, uint8_t readStart) {
// if reset needed - send RESET and check bus // if reset needed - send RESET and check bus
if(sendReset){ if(sendReset){
if(OW_Reset() == 0){ if(OW_Reset() == 0){
return 0; return 0;
} }
} }
while(cLen > 0){ while(cLen-- > 0){
OW_SendBits(*command, 8); OW_SendBits(*command, 8);
command++; command++;
cLen--; }
// wait for EOT return 1;
while(!(USART_SR(OW_USART_X) & USART_SR_TC)); }
// put data from bus into user buffer
if(readStart == 0 && dLen > 0){ /**
*data = OW_ReadByte(); * Check USART IN buffer for ready & fill user buffer with data on success
data++; * @param buflen - expected buffer length
dLen--; * @param data - pointer for reading buffer (if reading needed must be at least buflen-readStart bytes)
* @param readStart - first byte to read (starts from 0) or OW_NO_READ (not read)
* @return 0 if buffer not ready; 1 if OK
*/
uint8_t OW_Get(uint8_t buflen, uint8_t *data, uint8_t readStart){
UART_buff *curbuff = get_uart_buffer(OW_USART_X);
uint8_t *buff = curbuff->buf;
if(curbuff->end < buflen/8) return 0;
while(buflen-- > 0){
if(readStart == 0){
*data++ = OW_ConvertByte(buff, 8);
}else{ }else{
if(readStart != OW_NO_READ){ if(readStart != OW_NO_READ){
readStart--; readStart--;
} }
} }
buff += 8;
} }
curbuff->end = 0; // zero counter
return 1; return 1;
} }
/* /*
* scan 1-wire bus * scan 1-wire bus
* WARNING! The procedure works in real-time, so it is VERY LONG
* num - max number of devices * num - max number of devices
* buf - array for devices' ID's (8*num bytes) * buf - array for devices' ID's (8*num bytes)
* return amount of founded devices * return amount of founded devices
*/ *
uint8_t OW_Scan(uint8_t *buf, uint8_t num){ uint8_t OW_Scan(uint8_t *buf, uint8_t num){
unsigned long path,next,pos; unsigned long path,next,pos;
uint8_t bit,chk; uint8_t bit,chk;
@ -165,6 +183,8 @@ uint8_t OW_Scan(uint8_t *buf, uint8_t num) {
do{ do{
//(issue the 'ROM search' command) //(issue the 'ROM search' command)
if( 0 == OW_WriteCmd(OW_SEARCH_ROM) ) return 0; if( 0 == OW_WriteCmd(OW_SEARCH_ROM) ) return 0;
OW_Wait_TX();
OW_ClearBuff(); // clear RX buffer
next = 0; // next path to follow next = 0; // next path to follow
pos = 1; // path bit pointer pos = 1; // path bit pointer
for(cnt_byte = 0; cnt_byte != 8; cnt_byte++){ for(cnt_byte = 0; cnt_byte != 8; cnt_byte++){
@ -172,10 +192,10 @@ uint8_t OW_Scan(uint8_t *buf, uint8_t num) {
for(cnt_bit = 0; cnt_bit != 8; cnt_bit++){ for(cnt_bit = 0; cnt_bit != 8; cnt_bit++){
//(read two bits, 'bit' and 'chk', from the 1-wire bus) //(read two bits, 'bit' and 'chk', from the 1-wire bus)
OW_SendBits(OW_R, 2); OW_SendBits(OW_R, 2);
bit = OW_ReadByte(); OW_Wait_TX();
bit = -----OW_ReadByte();
chk = bit & 0x02; // bit 1 chk = bit & 0x02; // bit 1
bit = bit & 0x01; // bit 0 bit = bit & 0x01; // bit 0
//bit = (ow_buf[0] == OW_1); chk = (ow_buf[1] == OW_1);
if(bit && chk) return 0; // error if(bit && chk) return 0; // error
if(!bit && !chk){ // collision, both are zero if(!bit && !chk){ // collision, both are zero
if (pos & path) bit = 1; // if we've been here before if (pos & path) bit = 1; // if we've been here before
@ -186,11 +206,54 @@ uint8_t OW_Scan(uint8_t *buf, uint8_t num) {
if (bit) buf[cnt_num*8 + cnt_byte]|=(1<<cnt_bit); if (bit) buf[cnt_num*8 + cnt_byte]|=(1<<cnt_bit);
//(write 'bit' to the 1-wire bus) //(write 'bit' to the 1-wire bus)
OW_SendBits(bit, 1); OW_SendBits(bit, 1);
OW_Wait_TX();
} }
} }
//(output the just-completed ROM value)
path=next; path=next;
cnt_num++; cnt_num++;
}while(path && cnt_num < num); }while(path && cnt_num < num);
return cnt_num; return cnt_num;
}*/
uint8_t OW_Scan(uint8_t *buf, uint8_t num){
uint8_t flg, b[11], i;
flg = OW_Send(1, (uint8_t*)"\xcc\x33\xff\xff\xff\xff\xff\xff\xff\xff\xff", 11);
if(!flg) return 0;
OW_Wait_TX();
if(!OW_Get(11, b, 0)) return 0;
num += 2;
for(i = 2; i < num; i++) *buf++ = b[i];
return 1;
} }
//OW_USART_X
/*
void OW_getTemp(){
uint8_t buf[9], i;
void printTBuf(){
uint8_t j;
OW_Send(0, (uint8_t*)"\xbe\xff\xff\xff\xff\xff\xff\xff\xff\xff", 10, buf, 9, 1);
for(j = 0; j != 9; j++)
printInt(&buf[j], 1);
newline();
}
// send broadcast message to start measurement
if(!OW_Send(1, (uint8_t*)"\xcc\x44", 2)) return;
Delay(1000);
// read values
if(dev_amount == 1){
if(OW_WriteCmd(OW_SKIP_ROM)) printTBuf();
}else{
for(i = 0; i < dev_amount; i++){
MSG("Device ", "ow");
USB_Send_Data(i + '0');
MSG(": ", 0);
if(OW_WriteCmd(OW_MATCH_ROM)){
OW_SendOnly(0, &ID_buf[i*8], 8);
printTBuf();
}
}
}
}
*/

13
with_opencm3/onewire.h
View File

@ -34,17 +34,20 @@
#define OW_READ_SLOT (uint8_t*)"0xff" #define OW_READ_SLOT (uint8_t*)"0xff"
void OW_Init(); void OW_Init();
uint8_t OW_Send(uint8_t sendReset, uint8_t *command, uint8_t cLen, uint8_t OW_Send(uint8_t sendReset, uint8_t *command, uint8_t cLen);
uint8_t *data, uint8_t dLen, uint8_t readStart); uint8_t OW_Get(uint8_t buflen, uint8_t *data, uint8_t readStart);
uint8_t OW_Scan(uint8_t *buf, uint8_t num); uint8_t OW_Scan(uint8_t *buf, uint8_t num);
// shortcuts for functions // shortcuts for functions
// only send message b wich length is c with RESET flag a // only send message b wich length is c with RESET flag a
#define OW_SendOnly(a,b,c) OW_Send(a, b, c, (void*)0, 0, OW_NO_READ) #define OW_SendOnly(a,b,c) OW_Send(a, b, c)
// send 1 command (with bus reset) // send 1 command (with bus reset)
#define OW_WriteCmd(cmd) OW_Send(1, cmd, 1, (void*)0, 0, OW_NO_READ) #define OW_WriteCmd(cmd) OW_Send(1, cmd, 1)
// send 1 function (without bus reset) // send 1 function (without bus reset)
#define OW_WriteFn(cmd) OW_Send(0, cmd, 1, (void*)0, 0, OW_NO_READ) #define OW_WriteFn(cmd) OW_Send(0, cmd, 1)
#define OW_Wait_TX() while(!(USART_SR(OW_USART_X) & USART_SR_TC))
void OW_getTemp();
/* /*
* thermometer identificator is: 8bits CRC, 48bits serial, 8bits device code (10h) * thermometer identificator is: 8bits CRC, 48bits serial, 8bits device code (10h)

24
with_opencm3/sensors.c Normal file
View File

@ -0,0 +1,24 @@
/*
* sensors.c - funtions to work with end-switches & MOSFETs
*
* Copyright 2014 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
* MA 02110-1301, USA.
*/
#include "main.h"
#include "sensors.h"

29
with_opencm3/sensors.h Normal file
View File

@ -0,0 +1,29 @@
/*
* sensors.h
*
* Copyright 2014 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
* MA 02110-1301, USA.
*/
#pragma once
#ifndef __SENSORS_H__
#define __SENSORS_H__
#include "hardware_ini.h"
#endif // __SENSORS_H__

49
with_opencm3/spi.c
View File

@ -21,6 +21,7 @@
#include "main.h" #include "main.h"
#include "spi.h" #include "spi.h"
#include "hardware_ini.h"
// Rx/Tx buffer // Rx/Tx buffer
volatile uint8_t SPI_TxBuffer[SPI_BUFFERSIZE]; volatile uint8_t SPI_TxBuffer[SPI_BUFFERSIZE];
@ -32,35 +33,31 @@ volatile uint8_t SPI_datalen = 0;
#endif #endif
volatile uint8_t SPI_EOT_FLAG = 1; // end of transmission flag, set by interrupt volatile uint8_t SPI_EOT_FLAG = 1; // end of transmission flag, set by interrupt
/*
* Configure SPI port
*/
void SPI1_init(){
rcc_periph_clock_enable(RCC_SPI1);
//rcc_periph_clock_enable(RCC_GPIOB); // PB3..5
rcc_periph_clock_enable(RCC_GPIOA); // PA5..7
// PA5 - SCK, PA6 - MISO, PA7 - MOSI
gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ,
GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO5 | GPIO7 );
gpio_set_mode(GPIOA, GPIO_MODE_INPUT, GPIO_CNF_INPUT_FLOAT, GPIO6);
spi_reset(SPI1); uint32_t Current_SPI = SPI1; // this is SPI interface which would b
/* Set up SPI in Master mode with: /**
* Clock baud rate: 1/128 of peripheral clock frequency * Set current SPI to given value
* Clock polarity: Idle High
* Clock phase: Data valid on 2nd clock pulse
* Data frame format: 8-bit
* Frame format: MSB First
*/ */
spi_init_master(SPI1, SPI_CR1_BAUDRATE_FPCLK_DIV_128, SPI_CR1_CPOL_CLK_TO_1_WHEN_IDLE, void switch_SPI(uint32_t SPI){
SPI_CR1_CPHA_CLK_TRANSITION_2, SPI_CR1_DFF_8BIT, SPI_CR1_MSBFIRST); Current_SPI = SPI;
nvic_enable_irq(NVIC_SPI1_IRQ); // enable SPI interrupt }
void SPI_init(){
switch(Current_SPI){
case SPI1:
SPI1_init();
break;
case SPI2:
SPI2_init();
break;
default:
return; // error
}
} }
//uint32_t read_end; // read timeout //uint32_t read_end; // read timeout
/** /**
* Write data to SPI1 * Write data to current SPI
* @param data - buffer with data * @param data - buffer with data
* @param len - buffer length (<= DMA_BUFFERSIZE) * @param len - buffer length (<= DMA_BUFFERSIZE)
* @return 0 in case of error (or 1 in case of success) * @return 0 in case of error (or 1 in case of success)
@ -72,7 +69,7 @@ uint8_t write_SPI(uint8_t *data, uint8_t len){
//DBG("check\r\n"); //DBG("check\r\n");
while(!SPI_EOT_FLAG && Timer < tend); // wait for previous DMA interrupt while(!SPI_EOT_FLAG && Timer < tend); // wait for previous DMA interrupt
if(!SPI_EOT_FLAG){ if(!SPI_EOT_FLAG){
//DBG("ERR!\r\n"); DBG("SPI error: no EOT flag!\r\n");
return 0; // error: there's no receiver??? return 0; // error: there's no receiver???
} }
if(len > SPI_BUFFERSIZE) len = SPI_BUFFERSIZE; if(len > SPI_BUFFERSIZE) len = SPI_BUFFERSIZE;
@ -88,9 +85,9 @@ uint8_t write_SPI(uint8_t *data, uint8_t len){
SPI_TxIndex = 0; SPI_TxIndex = 0;
SPI_datalen = len; // set length of data to transmit SPI_datalen = len; // set length of data to transmit
// start transmission - enable interrupts // start transmission - enable interrupts
SPI_CR2(SPI1) |= SPI_CR2_TXEIE | SPI_CR2_RXNEIE; //spi_enable_rx_buffer_not_empty_interrupt(SPI1); spi_enable_tx_buffer_empty_interrupt(SPI1); SPI_CR2(Current_SPI) |= SPI_CR2_TXEIE | SPI_CR2_RXNEIE; //spi_enable_rx_buffer_not_empty_interrupt(SPI1); spi_enable_tx_buffer_empty_interrupt(SPI1);
// Enable the SPI peripheral // Enable the SPI peripheral
spi_enable(SPI1); spi_enable(Current_SPI);
#endif // SPI_USE_DMA #endif // SPI_USE_DMA
return 1; return 1;
} }
@ -108,7 +105,7 @@ uint8_t *read_SPI(uint8_t *data, uint8_t len){
//DBG("check\r\n"); //DBG("check\r\n");
while((!SPI_EOT_FLAG || len != SPI_RxIndex) && Timer < tend); while((!SPI_EOT_FLAG || len != SPI_RxIndex) && Timer < tend);
if(len != SPI_RxIndex){ if(len != SPI_RxIndex){
//DBG("ERR\r\n"); //DBG("SPI error: bad data length\r\n");
return NULL; return NULL;
} }
//DBG("OK\r\n"); //DBG("OK\r\n");

4
with_opencm3/spi.h
View File

@ -31,9 +31,11 @@ typedef enum{
SPI_READ_ERROR SPI_READ_ERROR
} SPI_read_status; } SPI_read_status;
void SPI1_init(); void SPI_init();
uint8_t write_SPI(uint8_t *data, uint8_t len); uint8_t write_SPI(uint8_t *data, uint8_t len);
SPI_read_status check_SPI(); SPI_read_status check_SPI();
uint8_t *read_SPI(uint8_t *data, uint8_t len); uint8_t *read_SPI(uint8_t *data, uint8_t len);
void switch_SPI(uint32_t SPI);
#endif // __SPI_H__ #endif // __SPI_H__

212
with_opencm3/stepper_motors.c Normal file
View File

@ -0,0 +1,212 @@
/*
* stepper_motors.c - moving of stepper motors
*
* Copyright 2014 Edward V. Emelianoff <eddy@sao.ru>
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
* MA 02110-1301, USA.
*/
#include "main.h"
static uint8_t timers_activated[2] = {0, 0}; // flag of activated timers
uint16_t Motor_period[2] = {10000, 10000}; // near 100 steps per second
volatile uint8_t timer_flag[2] = {0,0};
// amount of steps for each motor
volatile uint32_t Motor_steps[5] = {0, 0, 0, 0, 0};
// flag of active motor
volatile uint8_t Motor_active[5] = {0, 0, 0, 0, 0};
/**
* Setup stepper motors' timer Tim
* N == 0 for TIM3, == 1 for TIM4
*/
static void setup_timer(uint8_t N){
uint32_t Tim;
switch (N){
case 0:
Tim = TIM3;
nvic_enable_irq(NVIC_TIM3_IRQ);
break;
case 1:
Tim = TIM4;
nvic_enable_irq(NVIC_TIM4_IRQ);
break;
default:
return;
}
timer_reset(Tim);
// timers have frequency of 2MHz, 2 pulse == 1 microstep
// 36MHz of APB1
timer_set_mode(Tim, TIM_CR1_CKD_CK_INT, TIM_CR1_CMS_EDGE, TIM_CR1_DIR_UP);
// 72MHz div 36 = 2MHz
timer_set_prescaler(Tim, 35); // prescaler is (div - 1)
timer_continuous_mode(Tim); // automatically reload
timer_enable_preload(Tim); // force changing period
timer_set_period(Tim, Motor_period[N] - 1);
timer_enable_update_event(Tim);
timer_enable_irq(Tim, TIM_DIER_UIE); // update IRQ enable
timer_enable_counter(Tim);
timers_activated[N] = 1;
lastsendfun('3' + N);
MSG(" timer\n");
}
/**
* Set up motors pins & activate timers 3 & 4
* Timer3 gives ticks to motors 1..3 (turrets)
* Timer4 gives ticks to motors 4,5 (long & short stages)
*
* Timers are always work, stopping motors can be done by EN
* Timers simply works as counters, no PWM mode
*/
void steppers_init(){
rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN |
RCC_APB2ENR_IOPBEN | RCC_APB2ENR_IOPCEN | RCC_APB2ENR_IOPDEN | RCC_APB2ENR_IOPEEN);
rcc_peripheral_enable_clock(&RCC_APB1ENR, RCC_APB1ENR_TIM3EN | RCC_APB1ENR_TIM4EN);
// timer pins
gpio_set_mode(MOTOR_TIM1_PORT, GPIO_MODE_OUTPUT_2_MHZ,
GPIO_CNF_OUTPUT_PUSHPULL, MOTOR_TIM1_PIN);
gpio_set_mode(MOTOR_TIM2_PORT, GPIO_MODE_OUTPUT_2_MHZ,
GPIO_CNF_OUTPUT_PUSHPULL, MOTOR_TIM2_PIN);
// EN pins
gpio_set_mode(MOTOR_EN_PORT, GPIO_MODE_OUTPUT_2_MHZ,
GPIO_CNF_OUTPUT_PUSHPULL, MOROT_EN_MASK);
// DIR pins
gpio_set_mode(MOTOR_DIR_PORT, GPIO_MODE_OUTPUT_2_MHZ,
GPIO_CNF_OUTPUT_PUSHPULL, MOROT_DIR_MASK);
setup_timer(0);
setup_timer(1);
}
/**
* Move motor Motor_number to User_value steps
*/
void move_motor(uint8_t num, int32_t steps){
if(steps == 0) return;
// check whether motor is moving
if(Motor_active[num]){
MSG("err: moving\r\n");
return;
}
if(steps < 0){
steps = -steps;
gpio_set(MOTOR_DIR_PORT, MOTOR_DIR_PIN(num)); // set DIR bit to rotate ccw
}else
gpio_clear(MOTOR_DIR_PORT, MOTOR_DIR_PIN(num)); // reset DIR bit
Motor_steps[num] = steps << 4; // multiply by 16 to get usteps count
Motor_active[num] = 1;
gpio_set(MOTOR_EN_PORT, MOTOR_EN_PIN(num)); // activate motor
}
void stop_motor(uint8_t num){
if(!Motor_active[num]) return;
MSG("stop motor ");
lastsendfun('0' + num);
MSG("\r\n");
gpio_clear(MOTOR_EN_PORT, MOTOR_EN_PIN(num));
Motor_active[num] = 0;
}
/**
* Check flags set by timers & do next:
* - decrease step counter if it isn't zero;
* - stop motor if counter is zero but motor still active
*/
void process_stepper_motors(){
int i, j;
const uint32_t ports[] = {MOTOR_TIM1_PORT, MOTOR_TIM2_PORT};
const uint32_t pins[] = {MOTOR_TIM1_PIN, MOTOR_TIM2_PIN};
const uint8_t startno[] = {0, 3};
const uint8_t stopno[] = {3, 5};
for(j = 0; j < 2; j++){
if(timer_flag[j]){
timer_flag[j] = 0;
gpio_toggle(ports[j], pins[j]); // change clock state
if(gpio_get(ports[j], pins[j])){ // positive pulse - next microstep
for(i = startno[j]; i < stopno[j]; i++){ // check motors
if(Motor_steps[i]) Motor_steps[i]--;
else if(Motor_active[i]){ // stop motor - all done
stop_motor(i);
}
}
}
}
}
}
/**
* Stop timers; turn off motor voltage
*
void stop_timer(){
// disable IRQs & stop timer
TIM_Cmd(SM_Timer, DISABLE);
TIM_ITConfig(SM_Timer, TIM_IT_Update, DISABLE);
// turn off power
SM_EN_GPIOx->BRR = SM_EN_PINS; // reset all EN bits
SM_PUL_GPIOx->BRR = SM_PUL_PIN; // reset signal on PUL
timers_activated = 0;
Motor_steps = 0;
}*/
/**
* Sets motor period to user value & refresh timer
* @param num - number of motor
* @param period - period of one STEP in microseconds
*/
void set_motor_period(uint8_t num, uint16_t period){
uint32_t Tim, N;
switch (num){
case 1:
case 2:
case 3:
Tim = TIM3;
N = 0;
break;
case 4:
case 5:
Tim = TIM4;
N = 1;
break;
default:
MSG("err: bad motor");
return;
}
period >>= 4; // divide by 4 to get 16usteps for one step
if(period == 0) Motor_period[N] = 1;
else Motor_period[N] = period;
if(!timers_activated[N]) setup_timer(N);
else timer_set_period(Tim, period);
}
/*
* Interrupts: just set flag
*/
void tim3_isr(){
if(timer_get_flag(TIM3, TIM_SR_UIF)){
// Clear compare interrupt flag
timer_clear_flag(TIM3, TIM_SR_UIF);
timer_flag[0] = 1;
}
}
void tim4_isr(){
if(timer_get_flag(TIM4, TIM_SR_UIF)){
// Clear compare interrupt flag
timer_clear_flag(TIM4, TIM_SR_UIF);
timer_flag[1] = 1;
}
}

33
with_opencm3/stepper_motors.h Normal file
View File

@ -0,0 +1,33 @@
/*
* stepper_motors.h
*
* Copyright 2014 Edward V. Emelianoff <eddy@sao.ru>
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
* MA 02110-1301, USA.
*/
#pragma once
#ifndef __STEPPER_MOTORS_H__
#define __STEPPER_MOTORS_H__
#include <libopencm3/stm32/timer.h>
void steppers_init();
void process_stepper_motors();
void move_motor(uint8_t num, int32_t steps);
void stop_motor(uint8_t num);
void set_motor_period(uint8_t num, uint16_t period);
#endif // __STEPPER_MOTORS_H__

88
with_opencm3/sync.c Normal file
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@ -0,0 +1,88 @@
/*
* This file is part of the libopencm3 project.
*
* Copyright (C) 2012 Fergus Noble <fergusnoble@gmail.com>
*
* This library is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with this library. If not, see <http://www.gnu.org/licenses/>.
*/
#include <libopencm3/cm3/sync.h>
/* DMB is supported on CM0 */
void __dmb()
{
__asm__ volatile ("dmb");
}
/* Those are defined only on CM3 or CM4 */
#if defined(__ARM_ARCH_7M__) || defined(__ARM_ARCH_7EM__)
uint32_t __ldrex(volatile uint32_t *addr)
{
uint32_t res;
__asm__ volatile ("ldrex %0, [%1]" : "=r" (res) : "r" (addr));
return res;
}
uint32_t __strex(uint32_t val, volatile uint32_t *addr)
{
uint32_t res;
__asm__ volatile ("strex %0, %2, [%1]"
: "=&r" (res) : "r" (addr), "r" (val));
return res;
}
void mutex_lock(mutex_t *m)
{
uint32_t status = 0;
do {
/* Wait until the mutex is unlocked. */
while (__ldrex(m) != MUTEX_UNLOCKED);
/* Try to acquire it. */
status = __strex(MUTEX_LOCKED, m);
/* Did we get it? If not then try again. */
} while (status != 0);
/* Execute the mysterious Data Memory Barrier instruction! */
__dmb();
}
void mutex_unlock(mutex_t *m)
{
/* Ensure accesses to protected resource are finished */
__dmb();
/* Free the lock. */
*m = MUTEX_UNLOCKED;
}
/*
* Try to lock mutex
* if it's already locked or there was error in STREX, return MUTEX_LOCKED
* else return MUTEX_UNLOCKED
*/
mutex_t mutex_trylock(mutex_t *m){
uint32_t status = 0;
mutex_t old_lock = __ldrex(m); // get mutex value
// set mutex
status = __strex(MUTEX_LOCKED, m);
if(status == 0) __dmb();
else old_lock = MUTEX_LOCKED;
return old_lock;
}
#endif

53
with_opencm3/sync.h Normal file
View File

@ -0,0 +1,53 @@
/*
* This file is part of the libopencm3 project.
*
* Copyright (C) 2012 Fergus Noble <fergusnoble@gmail.com>
*
* This library is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with this library. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef LIBOPENCM3_CM3_SYNC_H
#define LIBOPENCM3_CM3_SYNC_H
void __dmb(void);
/* Implements synchronisation primitives as discussed in the ARM document
* DHT0008A (ID081709) "ARM Synchronization Primitives" and the ARM v7-M
* Architecture Reference Manual.
*/
/* --- Exclusive load and store instructions ------------------------------- */
/* Those are defined only on CM3 or CM4 */
#if defined(__ARM_ARCH_7M__) || defined(__ARM_ARCH_7EM__)
uint32_t __ldrex(volatile uint32_t *addr);
uint32_t __strex(uint32_t val, volatile uint32_t *addr);
/* --- Convenience functions ----------------------------------------------- */
/* Here we implement some simple synchronisation primitives. */
typedef uint32_t mutex_t;
#define MUTEX_UNLOCKED 0
#define MUTEX_LOCKED 1
void mutex_lock(mutex_t *m);
void mutex_unlock(mutex_t *m);
mutex_t mutex_trylock(mutex_t *m);
#endif
#endif

15
with_opencm3/uart.c
View File

@ -74,7 +74,7 @@ void UART_setspeed(uint32_t UART, struct usb_cdc_line_coding *lc){
void UART_init(uint32_t UART){ void UART_init(uint32_t UART){
uint32_t irq, rcc, rccgpio, gpioport, gpiopin; uint32_t irq, rcc, rccgpio, gpioport, gpiopin;
switch(UART){ switch(UART){
case USART2: case USART2: // 1-wire
irq = NVIC_USART2_IRQ; // interrupt for given USART irq = NVIC_USART2_IRQ; // interrupt for given USART
rcc = RCC_USART2; // RCC timing of USART rcc = RCC_USART2; // RCC timing of USART
rccgpio = RCC_GPIOA; // RCC timing of GPIO pin (for output) rccgpio = RCC_GPIOA; // RCC timing of GPIO pin (for output)
@ -84,7 +84,7 @@ void UART_init(uint32_t UART){
gpioport = GPIO_BANK_USART2_TX; gpioport = GPIO_BANK_USART2_TX;
gpiopin = GPIO_USART2_TX; gpiopin = GPIO_USART2_TX;
break; break;
case USART3: case USART3: // without remapping
irq = NVIC_USART3_IRQ; irq = NVIC_USART3_IRQ;
rcc = RCC_USART3; rcc = RCC_USART3;
rccgpio = RCC_GPIOB; rccgpio = RCC_GPIOB;
@ -106,10 +106,19 @@ void UART_init(uint32_t UART){
// enable clocking // enable clocking
rcc_periph_clock_enable(RCC_AFIO); // alternate functions rcc_periph_clock_enable(RCC_AFIO); // alternate functions
rcc_periph_clock_enable(rcc); // USART rcc_periph_clock_enable(rcc); // USART
rcc_periph_clock_enable(rccgpio); // output pin rcc_periph_clock_enable(rccgpio); // GPIO pins
// enable output pin // enable output pin
if(UART == OW_USART_X){ // one wire
// TX: open-drain output
gpio_set_mode(gpioport, GPIO_MODE_OUTPUT_50_MHZ,
GPIO_CNF_OUTPUT_ALTFN_OPENDRAIN, gpiopin);
// RX: floating input
gpio_set_mode(OW_RX_PORT, GPIO_MODE_INPUT,
GPIO_CNF_INPUT_FLOAT, OW_RX_PIN);
}else{
gpio_set_mode(gpioport, GPIO_MODE_OUTPUT_50_MHZ, gpio_set_mode(gpioport, GPIO_MODE_OUTPUT_50_MHZ,
GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, gpiopin); GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, gpiopin);
}
// enable IRQ // enable IRQ
nvic_enable_irq(irq); nvic_enable_irq(irq);
UART_setspeed(UART, NULL); UART_setspeed(UART, NULL);

2
with_opencm3/uart.h
View File

@ -24,7 +24,7 @@
#define __UART_H__ #define __UART_H__
// Size of buffers // Size of buffers
#define UART_TX_DATA_SIZE 64 #define UART_TX_DATA_SIZE 128
typedef struct { typedef struct {
uint8_t buf[UART_TX_DATA_SIZE]; uint8_t buf[UART_TX_DATA_SIZE];

111
with_opencm3/user_proto.c
View File

@ -26,6 +26,8 @@
// integer value given by user // integer value given by user
static volatile int32_t User_value = 0; static volatile int32_t User_value = 0;
// number of motor to process
static volatile uint8_t active_motor = 6;
// last active send function - to post "anonymous" replies // last active send function - to post "anonymous" replies
sendfun lastsendfun = usb_send; // make it usb_send by default (to prevent suspension) sendfun lastsendfun = usb_send; // make it usb_send by default (to prevent suspension)
// flag: !=0 when user value reading ends - for character terminals // flag: !=0 when user value reading ends - for character terminals
@ -62,7 +64,8 @@ void print_ad_vals(sendfun s){
void parce_incoming_buf(char *buf, int len, sendfun s){ void parce_incoming_buf(char *buf, int len, sendfun s){
uint8_t command; uint8_t command;
int i = 0, j; uint8_t onewire_addr[8];
int i = 0, j, m;
lastsendfun = s; lastsendfun = s;
if(Uval_ready == UVAL_START){ // we are in process of user's value reading if(Uval_ready == UVAL_START){ // we are in process of user's value reading
i += read_int(buf, len); i += read_int(buf, len);
@ -78,11 +81,40 @@ void parce_incoming_buf(char *buf, int len, sendfun s){
for(; i < len; i++){ for(; i < len; i++){
command = buf[i]; command = buf[i];
if(!command) continue; // omit zero if(!command) continue; // omit zero
switch (command){ if(command >= '0' && command <= '4'){ // stepper motors
case '1': // single conversion active_motor = command - '0';
I = stepper_proc;
READINT();
}else switch (command){
case 'P':
run_dmatimer();
break;
case 'x': // set period of TIM1 (motors 1..3)
active_motor = 1;
I = set_timr;
READINT();
break;
case 'X': // set period of TIM2 (motors 4,5)
active_motor = 4;
I = set_timr;
READINT();
break;
case 'B': // stop all motors
for(m = 0; m < 5; m++)
stop_motor(m);
break;
case 'W': // scan for one 1-wire device
if(1 == OW_Scan(onewire_addr, 1)){
P("found 1-wire: ", s);
print_hex(onewire_addr, 8, s);
}else
P("1-wire error",s );
P("\r\n", s);
break;
case 'S': // single conversion
doubleconv = 0; doubleconv = 0;
break; break;
case '2': // double conversion case 'D': // double conversion
doubleconv = 1; doubleconv = 1;
break; break;
case 'A': // show ADC value case 'A': // show ADC value
@ -94,19 +126,12 @@ void parce_incoming_buf(char *buf, int len, sendfun s){
} }
newline(s); newline(s);
break; break;
case 'b': // turn LED off
gpio_set(GPIOC, GPIO12);
break;
case 'B': // turn LED on
gpio_clear(GPIOC, GPIO12);
break;
case 'I': // read & print integer value
I = process_int;
READINT();
break;
case 'i': // init AD7794 case 'i': // init AD7794
AD7794_init(); AD7794_init();
break; break;
case 'I': // turn off flag AD7794
ad7794_on = 0;
break;
case '+': // user check number value & confirm it's right case '+': // user check number value & confirm it's right
if(Uval_ready == UVAL_PRINTED) Uval_ready = UVAL_CHECKED; if(Uval_ready == UVAL_PRINTED) Uval_ready = UVAL_CHECKED;
else WRONG_COMMAND(); else WRONG_COMMAND();
@ -140,9 +165,9 @@ void parce_incoming_buf(char *buf, int len, sendfun s){
print_time(s); print_time(s);
newline(s); newline(s);
break; break;
case 'U': // test: init USART1 /* case 'U': // test: init USART1
UART_init(USART1); UART_init(USART1);
break; break; */
case '\n': // show newline as is case '\n': // show newline as is
break; break;
case '\r': case '\r':
@ -210,6 +235,27 @@ int read_int(char *buf, int cnt){
return readed; return readed;
} }
/**
* Print buff as hex values
* @param buf - buffer to print
* @param l - buf length
* @param s - function to send a byte
*/
void print_hex(uint8_t *buff, uint8_t l, sendfun s){
void putc(uint8_t c){
if(c < 10)
s(c + '0');
else
s(c + 'a' - 10);
}
s('0'); s('x'); // prefix 0x
while(l--){
putc(buff[l] >> 4);
putc(buff[l] & 0x0f);
}
}
/** /**
* Print decimal integer value * Print decimal integer value
* @param N - value to print * @param N - value to print
@ -230,12 +276,14 @@ void print_int(int32_t N, sendfun s){
}else s('0'); }else s('0');
} }
/*
void process_int(int32_t v, sendfun s){ void process_int(int32_t v, sendfun s){
newline(s); newline(s);
P("You have entered a value ", s); P("You have entered a value ", s);
print_int(v, s); print_int(v, s);
newline(s); newline(s);
} }
*/
void set_ADC_gain(int32_t v, sendfun s){ void set_ADC_gain(int32_t v, sendfun s){
if(ad7794_on){ if(ad7794_on){
@ -246,3 +294,34 @@ void set_ADC_gain(int32_t v, sendfun s){
AD7794_calibration(0); AD7794_calibration(0);
} }
} }
/**
* Process stepper
* @param v - user value
* @param s - active sendfunction
*/
void stepper_proc(int32_t v, sendfun s){
if(active_motor > 4){
P("wrong motor number\r\n", s);
return; // error
}
MSG("move ");
lastsendfun('0' + active_motor);
MSG(" to ");
print_int(v, lastsendfun);
MSG("\r\n");
move_motor(active_motor, v);
active_motor = 6;
}
void set_timr(int32_t v, sendfun s){
if(active_motor > 4){
P("wrong motor number\r\n", s);
return; // error
}
MSG("set period: ");
print_int(v, lastsendfun);
MSG("\r\n");
set_motor_period(active_motor, (uint16_t)v);
active_motor = 6;
}

5
with_opencm3/user_proto.h
View File

@ -50,8 +50,11 @@ void print_int(int32_t N, sendfun s);
void parce_incoming_buf(char *buf, int len, sendfun s); void parce_incoming_buf(char *buf, int len, sendfun s);
void process_int(int32_t v, sendfun s); // void process_int(int32_t v, sendfun s);
void set_ADC_gain(int32_t v, sendfun s); void set_ADC_gain(int32_t v, sendfun s);
void print_ad_vals(sendfun s); void print_ad_vals(sendfun s);
void stepper_proc(int32_t v, sendfun s);
void set_timr(int32_t v, sendfun s);
void print_hex(uint8_t *buff, uint8_t l, sendfun s);
#endif // __USER_PROTO_H__ #endif // __USER_PROTO_H__