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3 servos management in development
This commit is contained in:
eddyem
parent
39fd5b4912
commit
3d59c76f65
6
.gitignore
vendored
6
.gitignore
vendored
@ -16,3 +16,9 @@
|
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*.sublime-workspace
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F1/client-term/client
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*.bk
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*.config
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||||
*.creator
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*.creator.user*
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||||
*.files
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||||
*.includes
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||||
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||||
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@ -2,22 +2,13 @@ Servo motors SG-90 management
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=============================
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## GPIO
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- PA0 - (ADC_IN0) - Servo1 control,
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- PA1 - (ADC_IN1) - Servo2 control,
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- PA2 - (ADC_IN2) - Servo3 control,
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- PA3 - (ADC_IN3) - external analogue signal,
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- PA4 - (PullUp in) - ext. input 0,
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- PA5 - (PullUp in) - ext. input 1,
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- PA0..PA3 - 4 ADC inputs
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- PA6 - (TIM3_CH1) - Servo1,
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- PA7 - (TIM3_CH2) - Servo2,
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- PA9 - (USART_Tx) - TX,
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- PA10 - (USART_Rx) - RX,
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- PA13 - (PullUp in) - Jumper 0,
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- PA14 - (PullUp in) - Jumper 1,
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- PB1 - (TIM3_CH4) - Servo3,
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- PF0 - (OpenDrain) - Buzzer,
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- PF1 - (OpenDrain) - External LED (or weak laser module).
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- PF1 - (OpenDrain) - external LED or laser (0 - active)
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## UART
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115200N1, not more than 100ms between data bytes in command.
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@ -1,6 +1,6 @@
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|
||||
204
F0-nolib/Servo/Servo.creator.user.20
Normal file
204
F0-nolib/Servo/Servo.creator.user.20
Normal file
@ -0,0 +1,204 @@
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adc.c
|
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adc.h
|
||||
effects.c
|
||||
effects.h
|
||||
hardware.c
|
||||
hardware.h
|
||||
main.c
|
||||
mainloop.c
|
||||
mainloop.h
|
||||
protocol.c
|
||||
protocol.h
|
||||
usart.c
|
||||
|
||||
@ -20,7 +20,7 @@
|
||||
|
||||
/**
|
||||
* @brief ADC_array - array for ADC channels with median filtering:
|
||||
* 0..3 - external NTC
|
||||
* 0..3 - external channels
|
||||
* 4 - internal Tsens
|
||||
* 5 - Vref
|
||||
*/
|
||||
|
||||
111
F0-nolib/Servo/effects.c
Normal file
111
F0-nolib/Servo/effects.c
Normal file
@ -0,0 +1,111 @@
|
||||
/*
|
||||
* This file is part of the Servo project.
|
||||
* Copyright 2019 Edward Emelianov <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 3 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, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#include "effects.h"
|
||||
#include "hardware.h"
|
||||
#include "usart.h"
|
||||
|
||||
static effect_t current_ef[3] = {EFF_NONE, EFF_NONE, EFF_NONE};
|
||||
|
||||
#define SPD_STP (25)
|
||||
|
||||
static void eff_madwipe(int n){
|
||||
static uint32_t speed[3] = {SPD_STP, SPD_STP, SPD_STP};
|
||||
if(onposition(n)){ // move back
|
||||
if((speed[n]+=SPD_STP) > SG90_STEP) speed[n] = SPD_STP;
|
||||
int val = 0;
|
||||
if(getPWM(n) < SG90_MIDPULSE) val = 1;
|
||||
setPWM(n, val, speed[n]);
|
||||
}
|
||||
}
|
||||
|
||||
static void eff_wipe(int n){
|
||||
static uint8_t cntr = 0;
|
||||
if(onposition(n)){ // move back
|
||||
int val = 0;
|
||||
if(getPWM(n) < SG90_MIDPULSE) val = 1;
|
||||
if(++cntr < 4){ // stay a little in outermost positions
|
||||
setPWM(n, getPWM(n), SG90_STEP/2);
|
||||
}else{
|
||||
cntr = 0;
|
||||
setPWM(n, val, SG90_STEP/2);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
static void eff_pendulum(int n){
|
||||
const uint16_t steps[41] = {0, 10, 21, 33, 47, 62, 79, 97, 117, 140, 165, 193, 224, 258, 295, 337, 383, 434,
|
||||
490, 552, 621, 697, 766, 828, 884, 935, 981, 1023, 1060, 1094, 1125, 1153, 1178,
|
||||
1201, 1221, 1239, 1256, 1271, 1285, 1297, 1308};
|
||||
static int8_t cntr = 0, dir = 1;
|
||||
if(onposition(n)){
|
||||
setPWM(n, SG90_MINPULSE + steps[cntr], SG90_STEP);
|
||||
cntr += dir;
|
||||
if(cntr == -1){ // min position
|
||||
dir = 1;
|
||||
cntr = 0; // repeat zero position one time
|
||||
}else if(cntr == 41){ // max position
|
||||
dir = -1;
|
||||
cntr = 40; // and this position needs to repeat too
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
static void eff_pendsm(int n){
|
||||
const uint16_t steps[19] = {0, 6, 10, 15, 22, 30, 40, 52, 66, 82, 101, 123, 148, 177, 210, 247, 289, 336, 389};
|
||||
static int8_t cntr = 0, dir = 1;
|
||||
if(onposition(n)){
|
||||
setPWM(n, SG90_MINPULSE + steps[cntr], SG90_STEP);
|
||||
cntr += dir;
|
||||
if(cntr == -1){ // min position
|
||||
dir = 1;
|
||||
cntr = 1;
|
||||
}else if(cntr == 19){ // max position
|
||||
dir = -1;
|
||||
cntr = 18;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void proc_effect(){
|
||||
for(int i = 0; i < 3; ++i){
|
||||
switch(current_ef[i]){
|
||||
case EFF_WIPE:
|
||||
eff_wipe(i);
|
||||
break;
|
||||
case EFF_MADWIPE:
|
||||
eff_madwipe(i);
|
||||
break;
|
||||
case EFF_PENDULUM:
|
||||
eff_pendulum(i);
|
||||
break;
|
||||
case EFF_SMPENDULUM:
|
||||
eff_pendsm(i);
|
||||
break;
|
||||
case EFF_NONE:
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
effect_t set_effect(int n, effect_t eff){
|
||||
if(n < 0 || n > 3) return EFF_NONE;
|
||||
current_ef[n] = eff;
|
||||
return eff;
|
||||
}
|
||||
36
F0-nolib/Servo/effects.h
Normal file
36
F0-nolib/Servo/effects.h
Normal file
@ -0,0 +1,36 @@
|
||||
/*
|
||||
* This file is part of the Servo project.
|
||||
* Copyright 2019 Edward Emelianov <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 3 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, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
#ifndef EFFECTS_H__
|
||||
#define EFFECTS_H__
|
||||
|
||||
#include "stm32f0.h"
|
||||
|
||||
typedef enum{
|
||||
EFF_NONE,
|
||||
EFF_WIPE,
|
||||
EFF_MADWIPE,
|
||||
EFF_PENDULUM,
|
||||
EFF_SMPENDULUM
|
||||
} effect_t;
|
||||
|
||||
void proc_effect();
|
||||
effect_t set_effect(int n, effect_t eff);
|
||||
|
||||
#endif // EFFECTS_H__
|
||||
@ -15,9 +15,13 @@
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#include "adc.h"
|
||||
#include "effects.h"
|
||||
#include "hardware.h"
|
||||
#include "usart.h"
|
||||
#include "adc.h"
|
||||
|
||||
uint32_t sg90step = SG90DEFSTEP;
|
||||
|
||||
static inline void iwdg_setup(){
|
||||
/* Enable the peripheral clock RTC */
|
||||
@ -99,13 +103,10 @@ static inline void adc_setup(){
|
||||
/**
|
||||
* @brief gpio_setup - setup GPIOs for external IO
|
||||
* GPIO pinout:
|
||||
* PA5 - floating input - Ef of TLE5205
|
||||
* PA13 - open drain - IN1 of TLE5205
|
||||
* PA14 - open drain - IN2 of TLE5205
|
||||
* PF0 - floating input - water level alert
|
||||
* PF1 - push-pull - external alarm
|
||||
* PF1 - open drain - ext. LED/laser
|
||||
* PA0..PA3 - ADC_IN0..3
|
||||
* PA4, PA6, PA7 - PWM outputs
|
||||
* PA4 - open drain - onboard LED (always ON when board works)
|
||||
* PB1, PA6, PA7 - Alt. F. - PWM outputs
|
||||
* Registers
|
||||
* MODER - input/output/alternate/analog (2 bit)
|
||||
* OTYPER - 0 pushpull, 1 opendrain
|
||||
@ -120,67 +121,54 @@ static inline void adc_setup(){
|
||||
static inline void gpio_setup(){
|
||||
// Enable clocks to the GPIO subsystems
|
||||
RCC->AHBENR |= RCC_AHBENR_GPIOAEN | RCC_AHBENR_GPIOBEN | RCC_AHBENR_GPIOFEN;
|
||||
GPIOA->MODER =
|
||||
GPIO_MODER_MODER13_O | GPIO_MODER_MODER14_O |
|
||||
GPIO_MODER_MODER4_AF | GPIO_MODER_MODER6_AF |
|
||||
GPIO_MODER_MODER7_AF |
|
||||
// PA6/7 - AF; PB1 - AF
|
||||
GPIOA->MODER = GPIO_MODER_MODER6_AF | GPIO_MODER_MODER7_AF |
|
||||
GPIO_MODER_MODER0_AI | GPIO_MODER_MODER1_AI |
|
||||
GPIO_MODER_MODER2_AI | GPIO_MODER_MODER3_AI;
|
||||
RCC->APB2ENR |= RCC_APB2ENR_SYSCFGEN; // enable syscfg clock for EXTI
|
||||
GPIOA->OTYPER = 3 << 13; // 13/14 opendrain
|
||||
GPIO_MODER_MODER2_AI | GPIO_MODER_MODER3_AI |
|
||||
GPIO_MODER_MODER4_O;
|
||||
GPIOA->OTYPER = GPIO_OTYPER_OT_4;
|
||||
GPIOB->MODER = GPIO_MODER_MODER1_AF;
|
||||
//RCC->APB2ENR |= RCC_APB2ENR_SYSCFGEN; // enable syscfg clock for EXTI
|
||||
GPIOF->ODR = 1<<1;
|
||||
GPIOF->MODER = GPIO_MODER_MODER1_O;
|
||||
// PB1 - interrupt input
|
||||
/* (2) Select Port B for pin 1 external interrupt by writing 0001 in EXTI1*/
|
||||
/* (3) Configure the corresponding mask bit in the EXTI_IMR register */
|
||||
/* (4) Configure the Trigger Selection bits of the Interrupt line on rising edge*/
|
||||
/* (5) Configure the Trigger Selection bits of the Interrupt line on falling edge*/
|
||||
SYSCFG->EXTICR[0] = SYSCFG_EXTICR1_EXTI1_PB; /* (2) */
|
||||
EXTI->IMR = EXTI_IMR_MR1; /* (3) */
|
||||
//EXTI->RTSR = 0x0000; /* (4) */
|
||||
EXTI->FTSR = EXTI_FTSR_TR1; /* (5) */
|
||||
/* (6) Enable Interrupt on EXTI0_1 */
|
||||
/* (7) Set priority for EXTI0_1 */
|
||||
NVIC_EnableIRQ(EXTI0_1_IRQn); /* (6) */
|
||||
NVIC_SetPriority(EXTI0_1_IRQn, 3); /* (7) */
|
||||
GPIOF->OTYPER = GPIO_OTYPER_OT_1;
|
||||
// alternate functions:
|
||||
// PA4 - TIM14_CH1 (AF4)
|
||||
// PA6 - TIM16_CH1 (AF5), PA7 - TIM17_CH1 (AF5)
|
||||
GPIOA->AFR[0] = (GPIOA->AFR[0] &~ (GPIO_AFRL_AFRL4 | GPIO_AFRL_AFRL6 | GPIO_AFRL_AFRL7)) \
|
||||
| (4 << (4 * 4)) | (5 << (6 * 4)) | (5 << (7 * 4));
|
||||
// PA6 - TIM3_CH1, PA7 - TIM3_CH2, PB1 - TIM3_CH4 (all - AF1)
|
||||
GPIOA->AFR[0] = (GPIOA->AFR[0] &~ (GPIO_AFRL_AFRL6 | GPIO_AFRL_AFRL7)) \
|
||||
| (1 << (6 * 4)) | (1 << (7 * 4));
|
||||
GPIOB->AFR[0] = (GPIOB->AFR[0] &~ (GPIO_AFRL_AFRL1)) \
|
||||
| (1 << (1 * 4)) ;
|
||||
}
|
||||
|
||||
// change period of PWM
|
||||
// MAX freq - 200Hz!!!
|
||||
void setTIM3T(uint32_t T){
|
||||
if(T < 1000 || T > 65536) return;
|
||||
TIM3->ARR = T - 1;
|
||||
// step = ampl / freq(Hz) * 3
|
||||
sg90step = SG90_AMPL * T;
|
||||
sg90step >>= 18; // /262144
|
||||
}
|
||||
|
||||
static inline void timers_setup(){
|
||||
// timer 14 ch1 - cooler PWM
|
||||
// timer 16 ch1 - heater PWM
|
||||
// timer 17 ch1 - pump PWM
|
||||
RCC->APB1ENR |= RCC_APB1ENR_TIM3EN | RCC_APB1ENR_TIM14EN; // enable clocking for timers 3 and 14
|
||||
RCC->APB2ENR |= RCC_APB2ENR_TIM16EN | RCC_APB2ENR_TIM17EN; // & timers 16/17
|
||||
// PWM mode 1 (active -> inactive)
|
||||
TIM14->CCMR1 = TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC1M_1;
|
||||
TIM16->CCMR1 = TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC1M_1;
|
||||
TIM17->CCMR1 = TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC1M_1;
|
||||
// timer 3 ch1, 2, 4 PWM for three servos
|
||||
RCC->APB1ENR |= RCC_APB1ENR_TIM3EN;
|
||||
// PWM mode 1 (active -> inactive) on all three channels
|
||||
TIM3->CCMR1 = TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC1M_1 |
|
||||
TIM_CCMR1_OC2M_2 | TIM_CCMR1_OC2M_1;
|
||||
TIM3->CCMR2 = TIM_CCMR2_OC4M_2 | TIM_CCMR2_OC4M_1;
|
||||
// frequency
|
||||
TIM14->PSC = 59; // 0.8MHz for 3kHz PWM
|
||||
TIM16->PSC = 18749; // 2.56kHz for 10Hz PWM
|
||||
TIM17->PSC = 5; // 8MHz for 31kHz PWM
|
||||
TIM3->PSC = 47; // 1MHz -> 1us per tick
|
||||
// ARR for 8-bit PWM
|
||||
TIM14->ARR = 254;
|
||||
TIM16->ARR = 254;
|
||||
TIM17->ARR = 254;
|
||||
// start in OFF state
|
||||
// TIM14->CCR1 = 0; and so on
|
||||
TIM3->ARR = 19999; // 50Hz
|
||||
// enable main output
|
||||
TIM14->BDTR |= TIM_BDTR_MOE;
|
||||
TIM16->BDTR |= TIM_BDTR_MOE;
|
||||
TIM17->BDTR |= TIM_BDTR_MOE;
|
||||
TIM3->BDTR |= TIM_BDTR_MOE;
|
||||
// enable PWM output
|
||||
TIM14->CCER = TIM_CCER_CC1E;
|
||||
TIM16->CCER = TIM_CCER_CC1E;
|
||||
TIM17->CCER = TIM_CCER_CC1E;
|
||||
// enable timers
|
||||
TIM14->CR1 |= TIM_CR1_CEN;
|
||||
TIM16->CR1 |= TIM_CR1_CEN;
|
||||
TIM17->CR1 |= TIM_CR1_CEN;
|
||||
TIM3->CCER = TIM_CCER_CC1E | TIM_CCER_CC2E | TIM_CCER_CC4E;
|
||||
TIM3->DIER = TIM_DIER_UIE; //TIM_DIER_CC1IE | TIM_DIER_CC2IE | TIM_DIER_CC4IE;
|
||||
// enable timer & ARR buffering
|
||||
TIM3->CR1 |= TIM_CR1_CEN | TIM_CR1_ARPE;
|
||||
NVIC_EnableIRQ(TIM3_IRQn);
|
||||
}
|
||||
|
||||
void hw_setup(){
|
||||
@ -192,10 +180,79 @@ void hw_setup(){
|
||||
iwdg_setup();
|
||||
}
|
||||
|
||||
static uint32_t target_Val[3] = {SG90_MIDPULSE, SG90_MIDPULSE, SG90_MIDPULSE};
|
||||
static uint32_t target_Speed[3] = {SG90DEFSTEP, SG90DEFSTEP, SG90DEFSTEP};
|
||||
static uint8_t onpos[3] = {0,0,0};
|
||||
volatile uint32_t *addr[3] = {&TIM3->CCR1, &TIM3->CCR2, &TIM3->CCR4};
|
||||
|
||||
int32_t getPWM(int nch){
|
||||
return *addr[nch];
|
||||
}
|
||||
|
||||
// return current value
|
||||
int32_t setPWM(int nch, uint32_t val, uint32_t speed){
|
||||
if(nch < 0 || nch > 2) return 0;
|
||||
if(speed > 0){
|
||||
if(speed > SG90_STEP) speed = SG90_STEP;
|
||||
target_Speed[nch] = speed;
|
||||
}
|
||||
uint8_t ch = 1;
|
||||
if(val >= SG90_MINPULSE && val <= SG90_MAXPULSE) target_Val[nch] = val;
|
||||
else if(val == 0) target_Val[nch] = SG90_MINPULSE;
|
||||
else if(val == 1) target_Val[nch] = SG90_MAXPULSE;
|
||||
else if(val == 2) target_Val[nch] = SG90_MIDPULSE;
|
||||
else ch = 0;
|
||||
if(ch){
|
||||
onpos[nch] = 0;
|
||||
}
|
||||
return *addr[nch];
|
||||
}
|
||||
|
||||
uint8_t onposition(int nch){
|
||||
return onpos[nch];
|
||||
}
|
||||
|
||||
static void chkPWM(int n){
|
||||
if(n < 0 || n > 2) return;
|
||||
uint32_t cur = *addr[n], tg = target_Val[n];
|
||||
if(cur == tg){
|
||||
onpos[n] = 1;
|
||||
return;
|
||||
}
|
||||
uint32_t diff = tg - cur;
|
||||
int sign = 1;
|
||||
if(cur > tg){
|
||||
diff = cur - tg;
|
||||
sign = -1;
|
||||
}
|
||||
if(diff > target_Speed[n]) diff = target_Speed[n];
|
||||
*addr[n] = cur + sign*diff;
|
||||
}
|
||||
|
||||
void tim3_isr(){
|
||||
/*
|
||||
if(TIM3->SR & TIM_SR_CC1IF){ // 1st channel
|
||||
chkPWM(0);
|
||||
}
|
||||
if(TIM3->SR & TIM_SR_CC2IF){ // 2nd channel
|
||||
chkPWM(1);
|
||||
}
|
||||
if(TIM3->SR & TIM_SR_CC4IF){ // 3rd channel
|
||||
chkPWM(2);
|
||||
}*/
|
||||
if(TIM3->SR & TIM_SR_UIF){
|
||||
chkPWM(0);
|
||||
chkPWM(1);
|
||||
chkPWM(2);
|
||||
}
|
||||
TIM3->SR = 0;
|
||||
}
|
||||
|
||||
/*
|
||||
void exti0_1_isr(){
|
||||
if (EXTI->PR & EXTI_PR_PR1){
|
||||
EXTI->PR |= EXTI_PR_PR1; /* Clear the pending bit */
|
||||
EXTI->PR |= EXTI_PR_PR1; // Clear the pending bit
|
||||
;
|
||||
}
|
||||
}
|
||||
*/
|
||||
|
||||
@ -20,59 +20,21 @@
|
||||
#define HARDWARE_H
|
||||
#include "stm32f0.h"
|
||||
|
||||
// measure flow sensor data each 1 second
|
||||
#define FLOW_RATE_MS (999)
|
||||
// previous as string constant
|
||||
#define FLOWRATESTR "1"
|
||||
|
||||
// each TMEASURE_MS ms calculate temperatures & check them
|
||||
#define TMEASURE_MS (1000)
|
||||
// each TCHECK_MS ms check cooler state and regulate temperature
|
||||
#define TCHECK_MS (10000)
|
||||
|
||||
/*
|
||||
temperature limits and tolerances
|
||||
*/
|
||||
// tolerance: +-1.5degrC
|
||||
#define TEMP_TOLERANCE (15)
|
||||
// dT tolerance: +-0.5degrC
|
||||
#define DT_TOLERANCE (5)
|
||||
// maximal heater temperature - 80degrC; normal - <60
|
||||
#define MAX_HEATER_T (800)
|
||||
#define NORMAL_HEATER_T (600)
|
||||
// maximal output temperature - 45degrC; minimal - 10
|
||||
#define MAX_OUTPUT_T (450)
|
||||
#define MIN_OUTPUT_T (100)
|
||||
// temperature working values: from 15 to 30degrC
|
||||
#define OUTPUT_T_H (300)
|
||||
#define OUTPUT_T_L (150)
|
||||
|
||||
/*
|
||||
other limits & tolerances
|
||||
*/
|
||||
// minimal flow rate - 0.2l per minute
|
||||
#define MIN_FLOW_RATE (20)
|
||||
// normal flow rate
|
||||
#define NORMAL_FLOW_RATE (30)
|
||||
// minimal PWM values when motors should work
|
||||
#define MIN_PUMP_PWM (90)
|
||||
#define MIN_COOLER_PWM (90)
|
||||
|
||||
// PWM setters and getters
|
||||
#define SET_COOLER_PWM(N) do{TIM14->CCR1 = (uint32_t)N;}while(0)
|
||||
#define GET_COOLER_PWM() (uint16_t)(TIM14->CCR1)
|
||||
#define SET_HEATER_PWM(N) do{TIM16->CCR1 = (uint32_t)N;}while(0)
|
||||
#define GET_HEATER_PWM() (uint16_t)(TIM16->CCR1)
|
||||
#define SET_PUMP_PWM(N) do{TIM17->CCR1 = (uint32_t)N;}while(0)
|
||||
#define GET_PUMP_PWM() (uint16_t)(TIM17->CCR1)
|
||||
|
||||
// ext. alarm states
|
||||
#define ALARM_ON() pin_set(GPIOF, 2)
|
||||
#define ALARM_OFF() pin_clear(GPIOF, 2)
|
||||
#define ALARM_STATE() pin_read(GPIOF, 2)
|
||||
// minimal and maximal pulse length for SG90
|
||||
#define SG90_MINPULSE (700)
|
||||
#define SG90_MAXPULSE (2100)
|
||||
#define SG90_MIDPULSE ((SG90_MINPULSE+SG90_MAXPULSE)/2)
|
||||
#define SG90_AMPL (SG90_MAXPULSE-SG90_MINPULSE)
|
||||
#define SG90DEFSTEP (100)
|
||||
#define SG90_STEP (sg90step)
|
||||
|
||||
extern volatile uint32_t Tms;
|
||||
extern uint32_t sg90step;
|
||||
|
||||
void hw_setup(void);
|
||||
int32_t setPWM(int nch, uint32_t val, uint32_t speed);
|
||||
int32_t getPWM(int nch);
|
||||
uint8_t onposition(int nch);
|
||||
void setTIM3T(uint32_t T);
|
||||
|
||||
#endif // HARDWARE_H
|
||||
|
||||
@ -19,8 +19,8 @@
|
||||
* MA 02110-1301, USA.
|
||||
*/
|
||||
#include "adc.h"
|
||||
#include "effects.h"
|
||||
#include "hardware.h"
|
||||
#include "mainloop.h"
|
||||
#include "protocol.h"
|
||||
#include "usart.h"
|
||||
#include <string.h> // memcpy
|
||||
@ -38,12 +38,12 @@ int main(void){
|
||||
char *txt;
|
||||
hw_setup();
|
||||
SysTick_Config(6000, 1);
|
||||
SEND_BLK("Servos controller v0.1\n");
|
||||
SEND("Servos controller v0.1\n");
|
||||
if(RCC->CSR & RCC_CSR_IWDGRSTF){ // watchdog reset occured
|
||||
SEND_BLK("WDGRESET=1");
|
||||
SEND("WDGRESET=1\n");
|
||||
}
|
||||
if(RCC->CSR & RCC_CSR_SFTRSTF){ // software reset occured
|
||||
SEND_BLK("SOFTRESET=1");
|
||||
SEND("SOFTRESET=1\n");
|
||||
}
|
||||
RCC->CSR |= RCC_CSR_RMVF; // remove reset flags
|
||||
while (1){
|
||||
@ -56,7 +56,7 @@ int main(void){
|
||||
IWDG->KR = IWDG_REFRESH;
|
||||
}
|
||||
}
|
||||
mainloop();
|
||||
proc_effect();
|
||||
IWDG->KR = IWDG_REFRESH;
|
||||
usart1_sendbuf();
|
||||
}
|
||||
|
||||
@ -15,81 +15,170 @@
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
#include "adc.h"
|
||||
#include "effects.h"
|
||||
#include "hardware.h"
|
||||
#include "protocol.h"
|
||||
#include "usart.h"
|
||||
#include "adc.h"
|
||||
#include "mainloop.h"
|
||||
|
||||
|
||||
|
||||
extern uint8_t crit_error;
|
||||
|
||||
#ifdef EBUG
|
||||
static void putADC(int n){
|
||||
put_string("ADC");
|
||||
put_char('0' + n);
|
||||
put_string(" value: ");
|
||||
put_uint(getADCval(n));
|
||||
put_char('\n');
|
||||
// while(LINE_BUSY == usart1_sendbuf());
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief debugging_proc - debugging functions
|
||||
* @param command - rest of cmd
|
||||
*/
|
||||
static void debugging_proc(const char *command){
|
||||
const char *ptr = command;
|
||||
char ch;
|
||||
int i;
|
||||
switch(*ptr++){
|
||||
switch(*command++){
|
||||
case 'w':
|
||||
usart1_send("Test watchdog", 0);
|
||||
SEND("Test watchdog\n");
|
||||
while(1){nop();}
|
||||
break;
|
||||
case 'A': // raw ADC values depending on next symbol
|
||||
i = *ptr++ - '0';
|
||||
if(i < 0 || i > NUMBER_OF_ADC_CHANNELS){
|
||||
usart1_send("Wrong channel nuber!", 0);
|
||||
return;
|
||||
ch = *command;
|
||||
if(ch == 'A' || ch == 'B'){
|
||||
for(i = 0; i < NUMBER_OF_ADC_CHANNELS; ++i){
|
||||
putADC(i);
|
||||
}
|
||||
}else{
|
||||
i = ch - '0';
|
||||
if(i < 0 || i >= NUMBER_OF_ADC_CHANNELS){
|
||||
SEND("Wrong channel nuber!\n");
|
||||
}else putADC(i);
|
||||
}
|
||||
put_string("ADC value: ");
|
||||
put_uint(getADCval(i));
|
||||
put_string(", ");
|
||||
usart1_sendbuf();
|
||||
break;
|
||||
case 'B':
|
||||
SEND("B command\n");
|
||||
break;
|
||||
default:
|
||||
SEND("wrong command\n");
|
||||
break;
|
||||
}
|
||||
while(LINE_BUSY == usart1_sendbuf()){nop();};
|
||||
}
|
||||
#endif
|
||||
|
||||
static void chPWM(const char *command){
|
||||
int n = *command++ - '1';
|
||||
if(n < 0 || n > 2){
|
||||
put_string("Wrong PWM channel number");
|
||||
return;
|
||||
}
|
||||
int32_t CCR = getPWM(n);
|
||||
if((command = getnum(command, &CCR))){
|
||||
set_effect(n, EFF_NONE);
|
||||
int32_t speed = SG90_STEP;
|
||||
if(*command++ == ','){
|
||||
getnum(command, &speed);
|
||||
}
|
||||
CCR = setPWM(n, CCR, speed);
|
||||
}
|
||||
put_string("pulse");
|
||||
put_char('1' + n);
|
||||
put_char('=');
|
||||
put_int(CCR);
|
||||
put_char('\n');
|
||||
}
|
||||
|
||||
static void set_servoT(const char *buf){
|
||||
int32_t T;
|
||||
if(!getnum(buf, &T) || T < 1000 || T > 65535){
|
||||
put_string("Bad period value\n");
|
||||
usart1_sendbuf();
|
||||
return;
|
||||
}
|
||||
put_string("Set period to ");
|
||||
put_int(T);
|
||||
put_string(" us\n");
|
||||
setTIM3T(T);
|
||||
usart1_sendbuf();
|
||||
}
|
||||
|
||||
static void chk_effect(const char *cmd, effect_t eff, const char *name){
|
||||
if(set_effect(*(++cmd)-'1', eff) == eff){
|
||||
put_string("Turn on ");
|
||||
put_string(name);
|
||||
put_string(" effect\n");
|
||||
}else put_string("err\n");
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief process_command - command parser
|
||||
* @param command - command text (all inside [] without spaces)
|
||||
* @return text to send over terminal or NULL
|
||||
*/
|
||||
char *process_command(const char *command){
|
||||
const char *ptr = command;
|
||||
char *ret = NULL;
|
||||
usart1_sendbuf(); // send buffer (if it is already filled)
|
||||
switch(*ptr++){
|
||||
switch(*command){
|
||||
case '?': // help
|
||||
SEND_BLK(
|
||||
"1-3[pos[,speed]]- set/get xth pulse length (us) (0,1,2 - min, max, mid)\n"
|
||||
"fx - servo period (us)"
|
||||
"Mn - set Mad Wipe effect\n"
|
||||
"Pn - set Pendulum effect\n"
|
||||
"R - reset\n"
|
||||
"Sn - set Small Pendulum effect\n"
|
||||
"t - get MCU temperature (approx.)\n"
|
||||
"V - get Vdd"
|
||||
"V - get Vdd\n"
|
||||
"Wn - set Wipe effect\n"
|
||||
);
|
||||
#ifdef EBUG
|
||||
SEND_BLK("d -> goto debug:\n"
|
||||
"\tAx - get raw ADCx value\n"
|
||||
"\tw - test watchdog"
|
||||
"\tAx - get raw ADCx value (A for all)\n"
|
||||
"\tw - test watchdog\n"
|
||||
);
|
||||
#endif
|
||||
break;
|
||||
case '1':
|
||||
case '2':
|
||||
case '3':
|
||||
chPWM(command);
|
||||
break;
|
||||
case 'f':
|
||||
set_servoT(++command);
|
||||
break;
|
||||
case 'M':
|
||||
chk_effect(command, EFF_MADWIPE, "mad wipe");
|
||||
break;
|
||||
case 'P':
|
||||
chk_effect(command, EFF_PENDULUM, "pendulum");
|
||||
break;
|
||||
case 'R': // reset MCU
|
||||
NVIC_SystemReset();
|
||||
break;
|
||||
case 'S':
|
||||
chk_effect(command, EFF_SMPENDULUM, "small pendulum");
|
||||
break;
|
||||
case 't': // get mcu T
|
||||
put_string("MCUTEMP10=");
|
||||
put_int(getMCUtemp());
|
||||
put_char('\n');
|
||||
break;
|
||||
case 'V': // get Vdd
|
||||
put_string("VDD100=");
|
||||
put_uint(getVdd());
|
||||
put_char('\n');
|
||||
break;
|
||||
case 'W':
|
||||
chk_effect(command, EFF_WIPE, "wipe");
|
||||
break;
|
||||
#ifdef EBUG
|
||||
case 'd':
|
||||
debugging_proc(ptr);
|
||||
debugging_proc(++command);
|
||||
return NULL;
|
||||
break;
|
||||
#endif
|
||||
|
||||
Binary file not shown.
@ -42,7 +42,8 @@ static int trbufidx = 0;
|
||||
|
||||
int put_char(char c){
|
||||
if(trbufidx >= UARTBUFSZ - 1){
|
||||
if(ALL_OK != usart1_sendbuf()) return 1;
|
||||
for(int i = 0; i < 72000000 && ALL_OK != usart1_sendbuf(); ++i)
|
||||
if(i == 72000000) return 1;
|
||||
}
|
||||
trbuf[trbufidx++] = c;
|
||||
return 0;
|
||||
@ -84,10 +85,11 @@ int put_uint(uint32_t N){
|
||||
*/
|
||||
TXstatus usart1_sendbuf(){
|
||||
int len = trbufidx;
|
||||
trbufidx = 0;
|
||||
if(len == 0) return ALL_OK;
|
||||
else if(len > UARTBUFSZ) len = UARTBUFSZ;
|
||||
return usart1_send(trbuf, len);
|
||||
TXstatus s = usart1_send(trbuf, len);
|
||||
if(s == ALL_OK) trbufidx = 0;
|
||||
return s;
|
||||
}
|
||||
|
||||
void USART1_config(){
|
||||
@ -125,8 +127,14 @@ void USART1_config(){
|
||||
NVIC_EnableIRQ(USART1_IRQn); /* (4) */
|
||||
}
|
||||
|
||||
#ifdef EBUG
|
||||
#define TMO 0
|
||||
#else
|
||||
#define TMO 1
|
||||
#endif
|
||||
|
||||
void usart1_isr(){
|
||||
static uint8_t timeout = 1 // == 0 for human interface without timeout
|
||||
static uint8_t timeout = TMO // == 0 for human interface without timeout
|
||||
,nctr = 0 // counter of '#' received
|
||||
,incmd = 0 // ==1 - inside command
|
||||
;
|
||||
@ -235,7 +243,7 @@ TXstatus usart1_send(const char *str, int len){
|
||||
if(len == 0) return ALL_OK;
|
||||
DMA1_Channel2->CCR &= ~DMA_CCR_EN;
|
||||
memcpy(tbuf, str, len);
|
||||
tbuf[len++] = '\n';
|
||||
// tbuf[len++] = '\n';
|
||||
DMA1_Channel2->CNDTR = len;
|
||||
DMA1_Channel2->CCR |= DMA_CCR_EN; // start transmission
|
||||
return ALL_OK;
|
||||
@ -252,7 +260,7 @@ TXstatus usart1_send_blocking(const char *str, int len){
|
||||
USART1->TDR = *str++;
|
||||
while(!(USART1->ISR & USART_ISR_TXE));
|
||||
}
|
||||
USART1->TDR = '\n';
|
||||
// USART1->TDR = '\n';
|
||||
while(!(USART1->ISR & USART_ISR_TC));
|
||||
txrdy = 1;
|
||||
return ALL_OK;
|
||||
|
||||
@ -38,8 +38,8 @@ typedef enum{
|
||||
#define usart1ovr() (bufovr)
|
||||
|
||||
// send constant string
|
||||
#define SEND_BLK(x) do{while(LINE_BUSY == usart1_send_blocking(x, sizeof(x)-1));}while(0)
|
||||
#define SEND(x) do{while(LINE_BUSY == usart1_send(x, sizeof(x)-1));}while(0)
|
||||
#define SEND_BLK(x) do{while(LINE_BUSY == usart1_send_blocking(x, sizeof(x)-1)) IWDG->KR = IWDG_REFRESH;}while(0)
|
||||
#define SEND(x) do{while(LINE_BUSY == usart1_send(x, sizeof(x)-1)) IWDG->KR = IWDG_REFRESH;}while(0)
|
||||
|
||||
extern uint8_t bufovr;
|
||||
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user