mirror of
https://github.com/eddyem/stm32samples.git
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89 lines
2.3 KiB
C
89 lines
2.3 KiB
C
/*
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* This file is part of the canbus4bta project.
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* Copyright 2024 Edward V. Emelianov <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 3 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, see <http://www.gnu.org/licenses/>.
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*/
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#include "can.h"
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#include "encoder.h"
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#include "flash.h"
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#include "gpio.h"
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#include "spi.h"
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#include "usart.h"
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#include <string.h>
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#include <strings.h>
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static int rdy = 0;
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void encoder_process(){
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if(!FLAG(ENC_IS_SSI)) return;
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static uint32_t lastT = 0;
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if(!rdy){
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encoder_setup();
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return;
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}
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if(Tms - lastT > ENCODER_RD_INTERVAL){
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if(spi_start_enc()) lastT = Tms; // start rd process
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}
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}
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void encoder_setup(){
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if(FLAG(ENC_IS_SSI)){
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usart_deinit();
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spi_setup(ENCODER_SPI);
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}else{
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spi_deinit(ENCODER_SPI);
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usart_setup();
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}
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rdy = 1;
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}
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// read encoder value into buffer `outbuf`
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// return TRUE if all OK
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int read_encoder(uint8_t outbuf[8]){
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bzero(outbuf, 8);
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if(FLAG(ENC_IS_SSI)){
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spi_read_enc(outbuf);
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return TRUE;
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}
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usart_rstbuf();
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// just send some trash over USART1 if encoder is RS-422
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usart_send("teststring\n");
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char *x;
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uint32_t Tl = Tms;
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while(Tms - Tl < 10){
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int l = usart_getline(&x);
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if(l){
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for(int i = 0; i < l && i < 4; ++i) outbuf[i] = x[i];
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return TRUE;
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}
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}
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return FALSE;
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}
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// send encoder data
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void CANsendEnc(){
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CAN_message msg = {.data = {0}, .ID = the_conf.encoderID, .length = 8};
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if(!read_encoder(msg.data)) return;
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CAN_send(&msg);
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}
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// send limit-switches data
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void CANsendLim(){
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CAN_message msg = {.data = {0}, .ID = the_conf.limitsID, .length = 8};
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msg.data[2] = getESW(1);
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CAN_send(&msg);
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}
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