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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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31
F1:F103/CAR_CANbus/WindShield/hardware.h
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@@ -23,7 +23,7 @@
// frequency of TIM3 clocking
#define TIM3FREQ (72000000)
// PWM frequency
#define PWMFREQ (200000)
#define PWMFREQ (2000)
// max PWM value
#define PWMMAX (100)
@@ -44,7 +44,7 @@
// turn off upper shoulders
#define up_off() do{pin_clear(GPIOA, (1<<2)|(1<<3));}while(0)
#define start_pwm() do{ TIM3->CR1 = TIM_CR1_CEN; TIM3->EGR |= TIM_EGR_UG; }while(0)
#define stop_pwm() do{ TIM3->CCR1 = 0; TIM3->CCR2 = 0; TIM3->CR1 = 0; }while(0)
#define stop_pwm() do{ TIM3->CCR1 = 0; TIM3->CCR2 = 0; TIM3->CR1 = TIM_CR1_OPM | TIM_CR1_CEN; }while(0)
#define PWM_LEFT 2
#define PWM_RIGHT 1
// set PWM value (0..100), x==1 - R_DOWN, x==2 - L_DOWN
@@ -53,6 +53,33 @@
#define _get_pwm(x) (TIM3->CCR ## x)
#define get_pwm(x) _get_pwm(x)
// buttons, dir, hall:
#define HALL_PORT GPIOA
#define HALL_U_PIN (1<<12)
#define HALL_D_PIN (1<<11)
#define BUTTON_PORT GPIOB
#define BUTTON_U_PIN (1<<14)
#define BUTTON_D_PIN (1<<15)
#define DIR_PORT GPIOB
#define DIR_U_PIN (1<12)
#define DIR_D_PIN (1<13)
// define BUTTONS_NEGATIVE if button pressed when ==1
#ifdef BUTTONS_NEGATIVE
#define PRESSED(port, pin) ((port->IDR & pin) == pin)
#else
#define PRESSED(port, pin) ((port->IDR & pin) == 0)
#endif
// moving when > NONE, stopped when < NONE
typedef enum{
MOTDIR_STOP = -2, // stop with deceleration
MOTDIR_BREAK = -1, // emergency stop
MOTDIR_NONE = 0, // do nothing
MOTDIR_UP = 1, // move up
MOTDIR_DOWN = 2, // move down
} motdir_t;
int set_dT(uint32_t d);
extern volatile uint32_t Tms;