mirror of
https://github.com/eddyem/stm32samples.git
synced 2025-12-06 18:55:13 +03:00
188 lines
5.3 KiB
C
188 lines
5.3 KiB
C
/*
|
|
* This file is part of the 3steppers project.
|
|
* Copyright 2021 Edward V. Emelianov <edward.emelianoff@gmail.com>.
|
|
*
|
|
* 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 __HARDWARE_H__
|
|
#define __HARDWARE_H__
|
|
|
|
#include <stm32f0.h>
|
|
|
|
// default CAN bus speed in kbaud
|
|
#define DEFAULT_CAN_SPEED (250)
|
|
|
|
#define CONCAT(a,b) a ## b
|
|
#define STR_HELPER(s) #s
|
|
#define STR(s) STR_HELPER(s)
|
|
|
|
/** Pinout:
|
|
---- Motors' encoders ---------------
|
|
PA0 Enc2a (motor2 encoder) - TIM2CH1/2 [AF2]
|
|
PA1 Enc2b [AF2]
|
|
PA8 Enc1a (motor1 encoder) - TIM1CH1/2 [AF2]
|
|
PA9 Enc1b [AF2]
|
|
PB4 Enc3a (motor3 encoder) - TIM3CH1/2 [AF1]
|
|
PB5 Enc3b [AF1]
|
|
---- Motors' clocks + PWM -----------
|
|
PA2 CLK1 (motor1 clock) - TIM15CH1 [AF0]
|
|
PA4 CLK2 (motor2 clock) - TIM14CH1 [AF4]
|
|
PA6 CLK3 (motor3 clock) - TIM16CH1 [AF5]
|
|
PA7 PWM (opendrain PWM, up to 12V) - TIM17CH1 [AF5]
|
|
---- GPIO out (push-pull) -----------
|
|
PB0 ~EN1 (motor1 not enable)
|
|
PB1 DIR1 (motor1 direction)
|
|
PB2 ~EN2 (motor2 not enable)
|
|
PB3 Buzzer (external buzzer or other non-inductive opendrain load up to 12V)
|
|
PB10 DIR2 (motor2 direction)
|
|
PB11 ~EN3 (motor3 not enable)
|
|
PB12 DIR3 (motor3 direction)
|
|
PB13 Ext0 (3 external outputs: 5V, up to 20mA)
|
|
PB14 Ext1
|
|
PB15 Ext2
|
|
PF0 Relay (10A 250VAC, 10A 30VDC)
|
|
---- GPIO in -----------------------
|
|
PA10 BTN1 (user button 1) - pullup
|
|
PA13 BTN2 (user button 2) - pullup
|
|
PA14 BTN3 (user button 3) - pullup
|
|
PA15 BTN4 (user button 4) - pullup
|
|
PC13 ESW1 (motor1 zero limit switch) - pulldown
|
|
PC14 ESW2 (motor2 zero limit switch) - pulldown
|
|
PC15 ESW3 (motor3 zero limit switch) - pulldown
|
|
---- ADC ----------------------------
|
|
PA3 ADC1 (ADC1 in, 0-3.3V) [ADC3]
|
|
PA5 ADC2 (ADC2 in, 0-3.3V) [ADC5]
|
|
---- USB ----------------------------
|
|
PA11 USBDM
|
|
PA12 USBDP
|
|
---- I2C ----------------------------
|
|
PB6 I2C SCL (external I2C bus, have internal pullups of 4.7kOhm to +3.3V) - I2C1 [AF1]
|
|
PB7 I2C SDA [AF1]
|
|
---- CAN ----------------------------
|
|
PB8 CAN Rx (external CAN bus, with local galvanic isolation) [AF4]
|
|
PB9 CAN Tx [AF4]
|
|
|
|
COMMON setup:
|
|
PORT FN AFR[1]idx
|
|
PA0 AF2
|
|
PA1 AF2
|
|
PA2 AF0
|
|
PA3 AI
|
|
PA4 AF4
|
|
PA5 AI
|
|
PA6 AF5
|
|
PA7 AF5
|
|
PA8 AF2 0
|
|
PA9 AF2 1
|
|
PA10 PU
|
|
PA11 USB
|
|
PA12 USB
|
|
PA13 PU
|
|
PA14 PU
|
|
PA15 PU
|
|
PB0 PP
|
|
PB1 PP
|
|
PB2 PP
|
|
PB3 PP
|
|
PB4 AF1
|
|
PB5 AF1
|
|
PB6 AF1
|
|
PB7 AF1
|
|
PB8 CAN
|
|
PB9 CAN
|
|
PB10 PP
|
|
PB11 PP
|
|
PB12 PP
|
|
PB13 PP
|
|
PB14 PP
|
|
PB15 PP
|
|
PC13 PD
|
|
PC14 PD
|
|
PC15 PD
|
|
PF0 PP
|
|
**/
|
|
|
|
// buzzer
|
|
#define BUZZERport (GPIOB)
|
|
#define BUZZERpin (1<<3)
|
|
// relay
|
|
#define RELAYport (GPIOF)
|
|
#define RELAYpin (1<<0)
|
|
|
|
// ON(RELAY), OFF(BUZZER) etc
|
|
#define ON(x) do{pin_set(CONCAT(x, port), CONCAT(x, pin));}while(0)
|
|
#define OFF(x) do{pin_clear(CONCAT(x, port), CONCAT(x, pin));}while(0)
|
|
#define TGL(x) do{pin_toggle(CONCAT(x, port), CONCAT(x, pin));}while(0)
|
|
#define CHK(x) (pin_read(CONCAT(x, port), CONCAT(x, pin)))
|
|
|
|
// max value of PWM
|
|
#define PWMMAX (255)
|
|
// max index of PWM channels
|
|
#define PWMCHMAX (0)
|
|
#define PWMset(val) do{TIM17->CCR1 = val;}while(0)
|
|
#define PWMget() (TIM17->CCR1)
|
|
|
|
// extpins amount
|
|
#define EXTNO (3)
|
|
extern volatile GPIO_TypeDef *EXTports[EXTNO];
|
|
extern const uint32_t EXTpins[EXTNO];
|
|
#define EXT_SET(x) do{ pin_set(EXTports[x], EXTpins[x]); }while(0)
|
|
#define EXT_CLEAR(x) do{ pin_clear(EXTports[x], EXTpins[x]); }while(0)
|
|
#define EXT_TOGGLE(x) do{ pin_toggle(EXTports[x], EXTpins[x]); }while(0)
|
|
#define EXT_CHK(x) (pin_read(EXTports[x], EXTpins[x]))
|
|
|
|
// Buttons amount
|
|
#define BTNSNO (4)
|
|
// Buttons ports & pins
|
|
extern volatile GPIO_TypeDef *BTNports[BTNSNO];
|
|
extern const uint32_t BTNpins[BTNSNO];
|
|
// state 1 - pressed, 0 - released (pin active is zero)
|
|
#define BTN_state(x) ((BTNports[x]->IDR & BTNpins[x]) ? 0 : 1)
|
|
|
|
// Limit switches
|
|
#define ESWNO (3)
|
|
// ESW ports & pins
|
|
extern volatile GPIO_TypeDef *ESWports[ESWNO];
|
|
extern const uint32_t ESWpins[ESWNO];
|
|
// state 1 - pressed, 0 - released (pin active is zero)
|
|
#define ESW_state(x) ((ESWports[x]->IDR & ESWpins[x]) ? 0 : 1)
|
|
|
|
// motors
|
|
#define MOTORSNO (3)
|
|
extern volatile GPIO_TypeDef *ENports[MOTORSNO];
|
|
extern const uint32_t ENpins[MOTORSNO];
|
|
#define MOTOR_EN(x) do{ pin_clear(ENports[x], ENpins[x]); }while(0)
|
|
#define MOTOR_DIS(x) do{ pin_set(ENports[x], ENpins[x]); }while(0)
|
|
extern volatile GPIO_TypeDef *DIRports[MOTORSNO];
|
|
extern const uint32_t DIRpins[MOTORSNO];
|
|
#define MOTOR_CW(x) do{ pin_set(DIRports[x], DIRpins[x]); }while(0)
|
|
#define MOTOR_CCW(x) do{ pin_clear(DIRports[x], DIRpins[x]); }while(0)
|
|
|
|
extern volatile uint32_t Tms;
|
|
|
|
// timers of motors
|
|
extern TIM_TypeDef *mottimers[];
|
|
// timers for encoders
|
|
extern TIM_TypeDef *enctimers[];
|
|
|
|
void gpio_setup();
|
|
void iwdg_setup();
|
|
void timers_setup();
|
|
void pause_ms(uint32_t pause);
|
|
void Jump2Boot();
|
|
|
|
#endif // __HARDWARE_H__
|