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PEP emulation (didn't test yet)

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Edward Emelianov
2024-03-08 13:23:23 +03:00
parent 8ea835d80f
commit bc82142e87
17 changed files with 183 additions and 26 deletions
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31
F3:F303/CANbus4BTA/encoder.c
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@@ -16,15 +16,23 @@
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "can.h"
#include "encoder.h"
#include "flash.h"
#include "gpio.h"
#include "spi.h"
#include "usart.h"
#include <string.h>
void encoder_setup(){
if(FLAG(ENC_IS_SSI)) spi_setup(ENCODER_SPI);
else usart_setup();
if(FLAG(ENC_IS_SSI)){
usart_deinit();
spi_setup(ENCODER_SPI);
}else{
spi_deinit(ENCODER_SPI);
usart_setup();
}
}
// read encoder value into buffer `outbuf`
@@ -34,3 +42,22 @@ int read_encoder(uint8_t outbuf[4]){
*((uint32_t*)outbuf) = 0;
return spi_writeread(ENCODER_SPI, outbuf, 4);
}
// send encoder data
void CANsendEnc(){
CAN_message msg = {.data = {0}, .ID = the_conf.encoderID, .length = 8};
if(!read_encoder(msg.data)) return;
uint32_t ctr = TIM2->CNT;
//msg.data[4] = 0;
msg.data[5] = (ctr >> 16) & 0xff;
msg.data[6] = (ctr >> 8 ) & 0xff;
msg.data[7] = (ctr >> 0 ) & 0xff;
CAN_send(&msg);
}
// send limit-switches data
void CANsendLim(){
CAN_message msg = {.data = {0}, .ID = the_conf.limitsID, .length = 8};
msg.data[2] = getESW(0);
msg.data[3] = getESW(1);
CAN_send(&msg);
}