electro/f105-motor-demo_stm32
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MightyPork
2016-05-16 02:25:21 +02:00
parent 8ecce09ba8
commit 4ecd54786a
3 changed files with 41 additions and 17 deletions
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project/com/datalink.c
+3 -2
View File
@@ -3,6 +3,7 @@
#include "debug.h" #include "debug.h"
#include "com_fileio.h" #include "com_fileio.h"
#include "dspin.h" #include "dspin.h"
#include "blinky.h"
SBMP_Endpoint *dlnk_ep; SBMP_Endpoint *dlnk_ep;
@@ -32,7 +33,7 @@ static void dlnk_rx_bridge(ComIface *iface)
{ {
uint8_t b; uint8_t b;
STATUS_LED_Port->BSRR = STATUS_LED_Pin; led_on(LED_SPARE);
while (com_rx(iface, &b)) { while (com_rx(iface, &b)) {
SBMP_RxStatus st = sbmp_ep_receive(dlnk_ep, b); SBMP_RxStatus st = sbmp_ep_receive(dlnk_ep, b);
@@ -44,7 +45,7 @@ static void dlnk_rx_bridge(ComIface *iface)
} }
} }
STATUS_LED_Port->BRR = STATUS_LED_Pin; led_off(LED_SPARE);
} }
/** Datalink Tx func */ /** Datalink Tx func */
project/com/datalink.h
+2 -2
View File
@@ -7,8 +7,8 @@
#include "main.h" #include "main.h"
#include <sbmp.h> #include <sbmp.h>
#define DG_MOTOR_HOME 40 #define DG_MOTOR_START 30
#define DG_MOTOR_GOTO 41 #define DG_MOTOR_STOP 31
// wifi status & control // wifi status & control
#define DG_SETMODE_AP 44 // request AP mode (AP button pressed) #define DG_SETMODE_AP 44 // request AP mode (AP button pressed)
project/main.c
+36 -13
View File
@@ -67,17 +67,27 @@ static void try_sbmp_hsk(void *unused)
} }
/** Left button was pressed */ /** Left button was pressed */
static void left_btn_click(void) static void left_btn_down(void)
{ {
led_blink(LED_BUSY, 100); dSPIN_Run(REV, STEPS_360*2);
dSPIN_Move(FWD, STEPS_360 / 4); // rotate by 90deg
} }
/** Right button was pressed */ /** Right button was pressed */
static void right_btn_click(void) static void right_btn_down(void)
{ {
led_blink(LED_ERROR, 100); dSPIN_Run(FWD, STEPS_360*2);
dSPIN_Move(REV, STEPS_360 / 4); // rotate by -90deg }
/** Left button was pressed */
static void left_btn_up(void)
{
dSPIN_Soft_Stop();
}
/** Right button was pressed */
static void right_btn_up(void)
{
dSPIN_Soft_Stop();
} }
/** Datagram rx on SBMP (extern declated in datalink.h) */ /** Datagram rx on SBMP (extern declated in datalink.h) */
@@ -87,14 +97,25 @@ void dlnk_rx(SBMP_Datagram *dg)
PayloadParser pp = pp_start(dg->payload, dg->length); PayloadParser pp = pp_start(dg->payload, dg->length);
int32_t speed;
uint8_t fwd;
led_blink(LED_BUSY, 50);
switch (dg->type) { switch (dg->type) {
case DG_MOTOR_HOME: case DG_MOTOR_START:
dSPIN_Go_Home(); fwd = (bool) pp_u8(&pp);
speed = pp_u32(&pp);
if (speed > 6144*3) {
speed = 6144*3;
}
dSPIN_Run(fwd ? FWD : REV, speed);
break; break;
case DG_MOTOR_GOTO:; case DG_MOTOR_STOP:
int32_t pos = pp_i32(&pp); dSPIN_Soft_Stop();
dSPIN_Go_To(pos);
break; break;
} }
} }
@@ -112,13 +133,15 @@ static void conf_buttons(void)
// button A // button A
debo.GPIOx = BUTTON_A_Port; debo.GPIOx = BUTTON_A_Port;
debo.pin = BUTTON_A_Pin; debo.pin = BUTTON_A_Pin;
debo.rising_cb = left_btn_click; debo.rising_cb = left_btn_down;
debo.falling_cb = left_btn_up;
debo_register_pin(&debo); debo_register_pin(&debo);
// Button B // Button B
debo.GPIOx = BUTTON_B_Port; debo.GPIOx = BUTTON_B_Port;
debo.pin = BUTTON_B_Pin; debo.pin = BUTTON_B_Pin;
debo.rising_cb = right_btn_click; debo.rising_cb = right_btn_down;
debo.falling_cb = right_btn_up;
debo_register_pin(&debo); debo_register_pin(&debo);
add_periodic_task(debo_periodic_task, NULL, 10, true); add_periodic_task(debo_periodic_task, NULL, 10, true);