mirror of
https://github.com/eddyem/stm32samples.git
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96 lines
2.9 KiB
C
96 lines
2.9 KiB
C
/*
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* This file is part of the windshield 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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#pragma once
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#include <stm32f1.h>
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// frequency of TIM3 clocking
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#define TIM3FREQ (72000000)
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// PWM frequency
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#define PWMFREQ (2000)
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// max PWM value
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#define PWMMAX (100)
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#define CONCAT(a,b) a ## b
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#define STR_HELPER(s) #s
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#define STR(s) STR_HELPER(s)
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#define FORMUSART(X) CONCAT(USART, X)
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#define USARTX FORMUSART(USARTNUM)
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// turn ON upper shoulder, x==0 - L_UP, x==1 - R_UP
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#define UP_LEFT 0
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#define UP_RIGHT 1
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#define _set_up(x) do{GPIOA->BSRR = (x) ? (1<<3)|((1<<2)<<16) : (1<<2)|((1<<3)<<16); }while(0)
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#define set_up(x) _set_up(x)
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#define read_upL() (pin_read(GPIOA, 1<<2))
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#define read_upR() (pin_read(GPIOA, 1<<3))
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// turn off upper shoulders
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#define up_off() do{pin_clear(GPIOA, (1<<2)|(1<<3));}while(0)
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#define start_pwm() do{ TIM3->CR1 = TIM_CR1_CEN; TIM3->EGR |= TIM_EGR_UG; }while(0)
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#define stop_pwm() do{ TIM3->CCR1 = 0; TIM3->CCR2 = 0; TIM3->CR1 = TIM_CR1_OPM | TIM_CR1_CEN; }while(0)
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#define PWM_LEFT 2
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#define PWM_RIGHT 1
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// set PWM value (0..100), x==1 - R_DOWN, x==2 - L_DOWN
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#define _set_pwm(x, n) do{ TIM3->CCR ## x = n; }while(0)
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#define set_pwm(x, n) _set_pwm(x, n)
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#define _get_pwm(x) (TIM3->CCR ## x)
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#define get_pwm(x) _get_pwm(x)
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// buttons, dir, hall:
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#define HALL_PORT GPIOA
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#define HALL_U_PIN (1<<12)
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#define HALL_D_PIN (1<<11)
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#define BUTTON_PORT GPIOB
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#define BUTTON_U_PIN (1<<14)
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#define BUTTON_D_PIN (1<<15)
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#define DIR_PORT GPIOB
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#define DIR_U_PIN (1<12)
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#define DIR_D_PIN (1<13)
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// define BUTTONS_NEGATIVE if ALL button pressed when ==1
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// (inversion of common buttons - by flag `inverted`)
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#ifdef BUTTONS_NEGATIVE
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#define PRESSED(port, pin) ((port->IDR & pin) == pin)
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#else
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#define PRESSED(port, pin) ((port->IDR & pin) == 0)
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#endif
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// moving when > NONE, stopped when < NONE
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typedef enum{
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MOTDIR_STOP = -2, // stop with deceleration
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MOTDIR_BREAK = -1, // emergency stop
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MOTDIR_NONE = 0, // do nothing
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MOTDIR_UP = 1, // move up
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MOTDIR_DOWN = 2, // move down
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} motdir_t;
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int set_dT(uint32_t d);
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extern volatile uint32_t Tms;
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void gpio_setup(void);
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void iwdg_setup();
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int motor_ctl(int32_t dir);
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void motor_break();
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void motor_process();
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