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add buttons, not tested yet

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This commit is contained in:
Edward Emelianov
2024-03-04 19:11:47 +03:00
parent 021c0bdf6b
commit 1ecea45cc0
16 changed files with 48356 additions and 25160 deletions
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109
F1:F103/CAR_CANbus/WindShield/hardware.c
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@@ -16,6 +16,7 @@
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "buttons.h"
#include "hardware.h"
/* pinout:
@@ -42,23 +43,24 @@
*/
// last incr/decr time and minimal time between incr/decr CCRx
static uint32_t PWM_lasttime = 0, PWM_deltat = 1;
static int direction = 0, accel = 0; // rotation direction and acceleration/deceleration
static uint32_t PWM_lasttime = 0, PWM_deltat = 1; // PWM_deltat should be more than timer period
static int accel = 0; // rotation direction and acceleration/deceleration
static motdir_t direction = MOTDIR_NONE; // current moving direction
void gpio_setup(void){
// PB8 & PB9 (CAN) setup in can.c; PA9 & PA10 (USART) in usart.c; PA6 & PA7 will be configured later
// PB8 & PB9 (CAN) setup in can.c; PA9 & PA10 (USART) in usart.c; PA6 & PA7 - TIM3 PWM ch1/2
RCC->APB2ENR |= RCC_APB2ENR_IOPAEN | RCC_APB2ENR_IOPBEN | RCC_APB2ENR_IOPCEN | RCC_APB2ENR_AFIOEN;
// pullups & initial values
GPIOA->ODR = (1<<11) | (1<<11) | (1<<12);
GPIOA->ODR = (1<<11) | (1<<12);
GPIOB->ODR = (1<<14) | (1<<15);
GPIOA->CRL = CRL(0, CNF_ANALOG) | CRL(1, CNF_PPOUTPUT|MODE_SLOW) | CRL(2, CNF_PPOUTPUT|MODE_SLOW) |
CRL(3, CNF_PPOUTPUT|MODE_SLOW);
CRL(3, CNF_PPOUTPUT|MODE_SLOW) | CRL(6, CNF_AFPP|MODE_FAST) | CRL(7, CNF_AFPP|MODE_FAST);
GPIOA->CRH = CRH(11, CNF_PUDINPUT) | CRH(12, CNF_PUDINPUT);
GPIOB->CRH = CRH(12, CNF_PUDINPUT) | CRH(13, CNF_PUDINPUT) | CRH(14, CNF_PUDINPUT) | CRH(15, CNF_PUDINPUT);
// setup timer: 100 ticks per full PWM range, 2kHz -> 200kHz timer frequency
RCC->APB1ENR |= RCC_APB1ENR_TIM3EN; // enable TIM3 clocking
TIM3->CR1 = 0;
TIM3->PSC = (TIM3FREQ/PWMFREQ) - 1; // 359 ticks for 200kHz
TIM3->PSC = (TIM3FREQ/(PWMFREQ*PWMMAX)) - 1; // 359 ticks for 200kHz
TIM3->ARR = PWMMAX - 1;
TIM3->CCR1 = 0; // inactive
TIM3->CCR2 = 0;
@@ -72,29 +74,32 @@ void gpio_setup(void){
// set minimal pause between successive CCRx increments or decrements; return TRUE if OK
int set_dT(uint32_t d){
if(d > 1000) return FALSE;
PWM_deltat = d;
PWM_deltat = d + 1;
return TRUE;
}
// stop or start rotation in given direction (only if motor stops); return TRUE if OK
// dir == 0 to stop; > 0 to rotate CW (L_UP, R_DOWN), < 0 to rotate CCW (L_DOWN, R_UP)
int motor_ctl(int32_t dir){
if(dir < MOTDIR_STOP || dir > MOTDIR_DOWN) return FALSE;
if(dir == MOTDIR_NONE) return TRUE;
if(direction == dir) return TRUE; // already do this
if(TIM3->CR1 & TIM_CR1_CEN){
if(direction && dir) return FALSE; // motor is moving while trying to move it
if(direction == 0 && dir == 0) return TRUE; // already stopped
if(direction > MOTDIR_NONE && dir > MOTDIR_NONE) return FALSE; // motor is moving while trying to move it into another dir
if(direction == MOTDIR_BREAK && dir < MOTDIR_NONE) return TRUE; // already stopped
}
if(dir == 0){ // stop motor -> deceleration
accel = -1;
PWM_lasttime = Tms;
if(dir == MOTDIR_STOP){ // stop motor -> deceleration
if(direction == MOTDIR_UP || direction == MOTDIR_DOWN) accel = -1;
return TRUE;
}else if(dir == MOTDIR_BREAK){ // emergency stop
if(TIM3->CR1 & TIM_CR1_CEN) motor_break(); // break only if is moving
return TRUE;
}
accel = 1;
if(dir > 0){ // start in positive direction
direction = 1;
direction = dir;
if(dir == MOTDIR_UP){ // start in positive direction (move UP)
set_up(UP_LEFT);
set_pwm(PWM_RIGHT, 1);
}else{ // negative
direction = -1;
}else{ // negative (move DOWN)
set_up(UP_RIGHT);
set_pwm(PWM_LEFT, 1);
}
@@ -106,33 +111,83 @@ int motor_ctl(int32_t dir){
// extremal stop
void motor_break(){
up_off();
direction = 0; accel = 0;
direction = MOTDIR_BREAK;
accel = 0;
stop_pwm();
PWM_lasttime = Tms;
}
// simplest state machine of motor control
void motor_process(){
if(!direction) return; // motor isn't moving
if(Tms - PWM_lasttime < PWM_deltat) return;
if(process_keys()){ // check buttons
keyevent evt;
motdir_t newdir = MOTDIR_NONE; // new moving direction (-2 - do nothing, 2 - emerg. stop)
// first, check HALL sensors if motor is moving
if(direction){
if(keystate(HALL_D, &evt)){ // HALL DOWN
if(direction < 0 && (evt == EVT_PRESS || evt == EVT_HOLD)){
newdir = MOTDIR_BREAK;
}
}else if(keystate(HALL_U, &evt)){
if(direction > 0 && (evt == EVT_PRESS || evt == EVT_HOLD)){
newdir = MOTDIR_BREAK;
}
}
}
keyevent uh = keyevt(HALL_U), dh = keyevt(HALL_D); // current hall states - if we cannot move upper or lower
// short key pressed - full open/close; long - move with stop after release
if(MOTDIR_BREAK != newdir){ // process keys if don't need to break
evt = EVT_NONE;
if(keystate(KEY_U, &evt)){
if(evt == EVT_PRESS){ // move up (don't mind EVT_HOLD - it's already moving)
if(uh != EVT_HOLD && uh != EVT_PRESS) newdir = MOTDIR_UP;
}
}else if(keystate(KEY_D, &evt)){
if(evt == EVT_PRESS){
if(dh != EVT_HOLD && dh != EVT_PRESS) newdir = MOTDIR_DOWN;
}
}
if(evt == EVT_RELEASE) newdir = MOTDIR_STOP;
evt = EVT_NONE;
int extsig = FALSE;
// now chech external signals, they have an advantage over local keys
if(keystate(DIR_U, &evt)){ // react on PRESS and both NONE/RELEASE
extsig = TRUE;
if(evt == EVT_PRESS && uh != EVT_PRESS && uh != EVT_HOLD) newdir = MOTDIR_UP;
}else if(keystate(DIR_D, &evt)){
extsig = TRUE;
if(evt == EVT_PRESS && dh != EVT_PRESS && dh != EVT_HOLD) newdir = MOTDIR_DOWN;
}
if(evt == EVT_RELEASE || (extsig && evt == EVT_NONE)){ // EVT_NONE - released after short press - do nothing; EVT_RELEASE - after hold, stop
newdir = MOTDIR_STOP;
}
}
motor_ctl(newdir);
clear_events();
}
if(direction == MOTDIR_NONE) return; // motor isn't moving
else if(direction == MOTDIR_BREAK && 0 == (TIM3->CR1 & TIM_CR1_CEN)){ // motor stopped
direction = MOTDIR_NONE;
accel = 0;
return;
}
if(Tms < PWM_lasttime + PWM_deltat) return;
volatile uint16_t *CCRx = (direction > 0) ? &TIM3->CCR1 : &TIM3->CCR2; // current CCRx
if(accel < 0){ // decrement
PWM_lasttime = Tms;
if(accel < 0){ // deceleration
if(*CCRx == 0){ // stopped
up_off();
direction = 0;
accel = 0;
stop_pwm();
motor_break(); // wait for another cycle
return;
}
// TODO: here we should check currents and if failure turn off immediatelly
--*CCRx;
}else{
}else{ // constant speed or acceleration
// TODO: here we should check currents and increment only if all OK; decrement and change to accel if fail
if(accel){ // acceleration
if(*CCRx == PWMMAX) accel = 0;
else ++*CCRx;
} // else do nothing - moving with constant speed
}
PWM_lasttime = Tms;
}
void iwdg_setup(){