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fixed schematics @ canon managing, add initialization for absolute positioning, TODO: add CAN bus management

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This commit is contained in:
Edward Emelianov
2023-03-15 17:50:49 +03:00
parent 46c77abaed
commit 681f3253d7
37 changed files with 2535 additions and 1735 deletions
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46
F1:F103/Canon_managing_device/spi.c
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@@ -34,7 +34,6 @@ static void mymemcpy(uint8_t *dest, uint8_t *src, int len){
uint32_t SPI_CR1 = SPI_CR1_MSTR | SPI_CR1_BR | SPI_CR1_SSM | SPI_CR1_SSI | SPI_CR1_CPHA | SPI_CR1_CPOL;
spiStatus SPI_status = SPI_NOTREADY;
static uint8_t inbuff[SPIBUFSZ], lastlen = 0;
void spi_setup(){
RCC->APB2ENR |= SPI_APB2; // Enable the peripheral clock SPI1
@@ -44,37 +43,40 @@ void spi_setup(){
SPIx->CR1 |= SPI_CR1_SPE; // enable SPI
}
volatile uint32_t wctr;
#define WAITX(x) do{wctr = 0; while((x) && (++wctr < 360000)) IWDG->KR = IWDG_REFRESH; if(wctr==360000) return -1;}while(0)
/**
* @brief SPI_transmit - transmit data over SPI DMA
* @param buf - data to transmit
* @param len - its length
* @return amount of transmitted data
* @return amount of transmitted data or -1 if error
*/
uint8_t SPI_transmit(const uint8_t *buf, uint8_t len){
uint8_t SPI_transmit(uint8_t *buf, uint8_t len){
if(!buf || !len) return 0; // bad data format
if(SPI_status != SPI_READY) return 0; // spi not ready to transmit data
#ifdef EBUG
USB_send("SPI send "); USB_send(u2str(len));
USB_send("bytes, data: ");
#endif
for(uint8_t x = 0; x < len; ++x){
while(!(SPI1->SR & SPI_SR_TXE));
WAITX(!(SPI1->SR & SPI_SR_TXE));
SPI1->DR = buf[x];
while(!(SPI1->SR & SPI_SR_BSY));
while(!(SPI1->SR & SPI_SR_RXNE));
inbuff[x] = SPI1->DR;
for(int ctr = 0; ctr < 3600; ++ctr) nop(); // ~100mks delay
WAITX(!(SPI1->SR & SPI_SR_BSY));
#ifdef EBUG
USB_send(u2hexstr(buf[x])); USB_send(", ");
#endif
WAITX(!(SPI1->SR & SPI_SR_RXNE));
buf[x] = SPI1->DR;
for(int ctr = 0; ctr < 3600; ++ctr) IWDG->KR = IWDG_REFRESH; // ~100mks delay
}
lastlen = len;
#ifdef EBUG
USB_send("\nReceive: ");
for(int i = 0; i < len; ++i){
USB_send(u2hexstr(buf[i])); USB_send(", ");
}
USB_send("\n");
#endif
return len;
}
/**
* @brief SPI_receive - get received data
* @param len (o) - received length
* @return received buffer
*/
uint8_t *SPI_receive(uint8_t *len){
if(SPI_status != SPI_READY) return NULL;
if(lastlen == 0) return NULL;
if(len) *len = lastlen;
lastlen = 0;
return inbuff;
}