mirror of
https://github.com/eddyem/stm32samples.git
synced 2025-12-06 18:55:13 +03:00
68 lines
2.0 KiB
C
68 lines
2.0 KiB
C
/*
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* main.c
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*
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* Copyright 2018 Edward V. Emelianoff <eddy@sao.ru, edward.emelianoff@gmail.com>
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
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* MA 02110-1301, USA.
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*/
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#include "hardware.h"
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#include "protocol.h"
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#include "usart.h"
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#include <stm32f0.h>
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volatile uint32_t Tms = 0;
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// Called when systick fires
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void sys_tick_handler(void){
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++Tms;
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}
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int main(void){
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uint32_t T = 0;
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uint32_t tim3cnt = 0;
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char *txt;
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hw_setup();
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SysTick_Config(6000, 1);
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SEND("Encoder controller v0.1\n");
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while (1){
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if(usart1_getline(&txt)){ // usart1 received command, process it
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txt = process_command(txt);
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}else txt = NULL;
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if(txt){ // text waits for sending
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while(ALL_OK != usart1_send(txt, 0));
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}
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if(Tms - T == 10){
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T = Tms;
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if(tim3cnt != TIM3->CNT){
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int32_t diff = TIM3->CNT - tim3cnt;
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if(tim3upd){
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if(TIM3->CR1 & TIM_CR1_DIR) diff -= 80;
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else diff += 80;
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tim3upd = 0;
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}
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tim3cnt = TIM3->CNT;
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put_string("Speed: ");
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put_int(diff);
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put_string(", pos: ");
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put_uint(TIM3->CNT);
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put_char('\n');
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}
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}
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usart1_sendbuf();
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}
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}
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