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encoders works fine

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This commit is contained in:
Edward Emelianov
2025-04-04 11:56:37 +03:00
parent faeac98318
commit f46185feaf
18 changed files with 359 additions and 361 deletions
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44
F1:F103/BISS_C_encoders/main.c
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@@ -27,6 +27,7 @@
volatile uint32_t Tms = 0;
static char inbuff[RBINSZ];
static uint32_t monitT[2] = {0};
/* Called when systick fires */
void sys_tick_handler(void){
@@ -47,7 +48,6 @@ static void printResult(BiSS_Frame *result){
}
static void proc_enc(uint8_t idx){
uint8_t encbuf[ENCODER_BUFSZ];
static uint32_t lastMSG[2], gotgood[2], gotwrong[2];
int iface = idx ? I_Y : I_X;
char ifacechr = idx ? 'Y' : 'X';
@@ -65,9 +65,11 @@ static void proc_enc(uint8_t idx){
CMDWR("'\n");
}
}
if(l > 0) spi_start_enc(idx); // start encoder reading on each request from given interface
}
if(!spi_read_enc(idx, encbuf)) return;
BiSS_Frame result = parse_biss_frame(encbuf, ENCODER_BUFSZ);
uint8_t *encbuf = spi_read_enc(idx);
if(!encbuf) return;
BiSS_Frame result = parse_biss_frame(encbuf, the_conf.encbufsz);
char *str = result.crc_valid ? u2str(result.data) : NULL;
uint8_t testflag = (idx) ? user_pars.testy : user_pars.testx;
if(CDCready[I_CMD]){
@@ -86,11 +88,11 @@ static void proc_enc(uint8_t idx){
if(str) ++gotgood[idx];
else ++gotwrong[idx];
}
}else{
}else if(!the_conf.flags.monit){
printResult(&result);
CMDWR("ENC"); USB_putbyte(I_CMD, ifacechr);
USB_putbyte(I_CMD, '=');
hexdump(I_CMD, encbuf, ENCODER_BUFSZ);
hexdump(I_CMD, encbuf, the_conf.encbufsz);
CMDWR(" (");
if(str) CMDWR(str);
else CMDWR("wrong");
@@ -102,22 +104,17 @@ static void proc_enc(uint8_t idx){
USB_putbyte(iface, '\n');
}
if(result.error) spi_setup(1+idx); // reinit SPI in case of error
if(testflag) spi_start_enc(idx);
if(the_conf.flags.monit) monitT[idx] = Tms;
else if(testflag) spi_start_enc(idx);
}
int main(){
uint32_t lastT = 0;//, lastS = 0;
uint32_t lastT = 0;
StartHSE();
flashstorage_init();
hw_setup();
USBPU_OFF();
SysTick_Config(72000);
/*
#ifdef EBUG
usart_setup();
uint32_t tt = 0;
#endif
*/
USB_setup();
#ifndef EBUG
iwdg_setup();
@@ -129,29 +126,18 @@ int main(){
LED_blink(LED0);
lastT = Tms;
}
/*
#ifdef EBUG
if(Tms != tt){
__disable_irq();
usart_transmit();
tt = Tms;
__enable_irq();
}
#endif
*/
if(CDCready[I_CMD]){
/*if(Tms - lastS > 9999){
USB_sendstr(I_CMD, "Tms=");
USB_sendstr(I_CMD, u2str(Tms));
CMDn();
lastS = Tms;
}*/
int l = USB_receivestr(I_CMD, inbuff, RBINSZ);
if(l < 0) CMDWRn("ERROR: CMD USB buffer overflow or string was too long");
else if(l) parse_cmd(inbuff);
}
proc_enc(0);
proc_enc(1);
if(the_conf.flags.monit){
for(int i = 0; i < 2; ++i){
if(Tms - monitT[i] >= the_conf.monittime) spi_start_enc(i);
}
}
}
return 0;
}