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f105-motor-demo_stm32
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some small work..

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master
Ondřej Hruška 9 years ago
parent 2a11d01505
commit 5e8886579f
25 changed files with 3486 additions and 835 deletions
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  1. 1
      Makefile
  2. 147
      f103.pro
  3. 299
      f103.pro.user
  4. 149
      f105motor.pro
  5. 53
      project/blinky.c
  6. 17
      project/blinky.h
  7. 66
      project/colorled.c
  8. 79
      project/colorled.h
  9. 3
      project/com/com_fileio.c
  10. 3
      project/com/com_fileio.h
  11. 6
      project/com/datalink.c
  12. 11
      project/com/datalink.h
  13. 2
      project/com/debug.h
  14. 2
      project/com/iface_noop.c
  15. 2
      project/com/iface_noop.h
  16. 120
      project/display.c
  17. 11
      project/display.h
  18. 1472
      project/dspin.c
  19. 925
      project/dspin.h
  20. 344
      project/dspin_config.h
  21. 143
      project/hw_init.c
  22. 129
      project/main.c
  23. 321
      project/stm32f10x_it.c
  24. 14
      project/utils/debounce.c
  25. 2
      project/utils/debounce.h

1
Makefile
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@ -9,6 +9,7 @@ DEFS += -DF_CPU=72000000UL
DEFS += -DSTM32F10X_MD
DEFS += -DARM_MATH_CM3
DEFS += -DUSE_STDPERIPH_DRIVER
DEFS += -DST_DSPIN_6470H_DISCOVERY
LDSCRIPT = lib/cmsis/stm32_flash.ld
STARTUP_SCRIPT = lib/cmsis/startup_stm32f10x_md.s

147
f103.pro
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@ -1,147 +0,0 @@
TEMPLATE = app
CONFIG += console
CONFIG -= app_bundle
CONFIG -= qt
INCLUDEPATH += \
project \
lib/spl/inc \
lib/cmsis \
lib/sbmp/library \
/usr/arm-none-eabi/include \
/usr/lib/gcc/arm-none-eabi/5.3.0/include/
DEFINES += F_CPU=72000000UL \
STM32F10X_MD \
USE_STDPERIPH_DRIVER \
__null=0 \
__STATIC_INLINE="static inline" \
__INLINE="inline" \
__ASM=__asm \
__CORTEX_M=3 \
VERBOSE_LOGGING=1
HEADERS += \
lib/cmsis/core_cm3.h \
lib/cmsis/stm32f10x.h \
lib/sbmp/library/crc32.h \
lib/sbmp/library/payload_builder.h \
lib/sbmp/library/payload_parser.h \
lib/sbmp/library/sbmp.h \
lib/sbmp/library/sbmp_bulk.h \
lib/sbmp/library/sbmp_checksum.h \
lib/sbmp/library/sbmp_config.example.h \
lib/sbmp/library/sbmp_datagram.h \
lib/sbmp/library/sbmp_frame.h \
lib/sbmp/library/sbmp_session.h \
lib/sbmp/library/type_coerce.h \
lib/spl/inc/misc.h \
lib/spl/inc/stm32f10x_adc.h \
lib/spl/inc/stm32f10x_bkp.h \
lib/spl/inc/stm32f10x_can.h \
lib/spl/inc/stm32f10x_cec.h \
lib/spl/inc/stm32f10x_crc.h \
lib/spl/inc/stm32f10x_dac.h \
lib/spl/inc/stm32f10x_dbgmcu.h \
lib/spl/inc/stm32f10x_dma.h \
lib/spl/inc/stm32f10x_exti.h \
lib/spl/inc/stm32f10x_flash.h \
lib/spl/inc/stm32f10x_fsmc.h \
lib/spl/inc/stm32f10x_gpio.h \
lib/spl/inc/stm32f10x_i2c.h \
lib/spl/inc/stm32f10x_iwdg.h \
lib/spl/inc/stm32f10x_pwr.h \
lib/spl/inc/stm32f10x_rcc.h \
lib/spl/inc/stm32f10x_rtc.h \
lib/spl/inc/stm32f10x_sdio.h \
lib/spl/inc/stm32f10x_spi.h \
lib/spl/inc/stm32f10x_tim.h \
lib/spl/inc/stm32f10x_usart.h \
lib/spl/inc/stm32f10x_wwdg.h \
project/stm32f10x_conf.h \
project/stm32f10x_it.h \
project/system_stm32f10x.h \
project/sbmp_config.h \
project/com/com_fileio.h \
project/com/com_iface.h \
project/com/datalink.h \
project/com/debug.h \
project/com/iface_noop.h \
project/com/iface_usart.h \
project/utils/circbuf.h \
project/utils/minmax.h \
project/utils/timebase.h \
project/colorled.h \
project/malloc_safe.h \
project/hw_init.h \
project/utils/debounce.h \
project/bus/event_handler.h \
project/bus/event_queue.h \
project/utils/str_utils.h \
project/main.h \
project/utils/matcher.h \
project/utils/meanbuf.h \
project/display.h
SOURCES += \
lib/cmsis/core_cm3.c \
lib/sbmp/library/crc32.c \
lib/sbmp/library/payload_builder.c \
lib/sbmp/library/payload_parser.c \
lib/sbmp/library/sbmp_bulk.c \
lib/sbmp/library/sbmp_checksum.c \
lib/sbmp/library/sbmp_datagram.c \
lib/sbmp/library/sbmp_frame.c \
lib/sbmp/library/sbmp_session.c \
lib/spl/src/misc.c \
lib/spl/src/stm32f10x_adc.c \
lib/spl/src/stm32f10x_bkp.c \
lib/spl/src/stm32f10x_can.c \
lib/spl/src/stm32f10x_cec.c \
lib/spl/src/stm32f10x_crc.c \
lib/spl/src/stm32f10x_dac.c \
lib/spl/src/stm32f10x_dbgmcu.c \
lib/spl/src/stm32f10x_dma.c \
lib/spl/src/stm32f10x_exti.c \
lib/spl/src/stm32f10x_flash.c \
lib/spl/src/stm32f10x_fsmc.c \
lib/spl/src/stm32f10x_gpio.c \
lib/spl/src/stm32f10x_i2c.c \
lib/spl/src/stm32f10x_iwdg.c \
lib/spl/src/stm32f10x_pwr.c \
lib/spl/src/stm32f10x_rcc.c \
lib/spl/src/stm32f10x_rtc.c \
lib/spl/src/stm32f10x_sdio.c \
lib/spl/src/stm32f10x_spi.c \
lib/spl/src/stm32f10x_tim.c \
lib/spl/src/stm32f10x_usart.c \
lib/spl/src/stm32f10x_wwdg.c \
project/main.c \
project/stm32f10x_it.c \
project/system_stm32f10x.c \
project/com/com_fileio.c \
project/com/com_iface.c \
project/com/datalink.c \
project/com/debug.c \
project/com/iface_noop.c \
project/com/iface_usart.c \
project/utils/circbuf.c \
project/utils/debounce.c \
project/utils/timebase.c \
project/colorled.c \
project/hw_init.c \
project/malloc_safe.c \
project/spl_assert.c \
project/syscalls.c \
project/bus/event_handler.c \
project/bus/event_queue.c \
project/utils/str_utils.c \
project/utils/matcher.c \
project/utils/meanbuf.c \
project/display.c
DISTFILES += \
style.astylerc \
Makefile \
lib/cmsis/startup_stm32f10x_md.s \
lib/cmsis/stm32_flash.ld

299
f103.pro.user
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@ -1,299 +0,0 @@
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<value type="QString" key="ProjectExplorer.CustomExecutableRunConfiguration.Executable">/home/ondra/devel/f103/main.elf</value>
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<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Run /home/ondra/devel/f103/main.elf</value>
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149
f105motor.pro
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@ -0,0 +1,149 @@
TEMPLATE = app
CONFIG += console
CONFIG -= app_bundle
CONFIG -= qt
INCLUDEPATH += \
project \
lib/spl/inc \
lib/cmsis \
lib/sbmp/library \
/usr/arm-none-eabi/include \
/usr/lib/gcc/arm-none-eabi/5.3.0/include/
DEFINES += F_CPU=72000000UL \
STM32F10X_MD \
USE_STDPERIPH_DRIVER \
__null=0 \
__STATIC_INLINE="static inline" \
__INLINE="inline" \
__ASM=__asm \
__CORTEX_M=3 \
VERBOSE_LOGGING=1 \
ST_DSPIN_6470H_DISCOVERY
HEADERS += \
lib/cmsis/core_cm3.h \
lib/cmsis/stm32f10x.h \
lib/sbmp/library/crc32.h \
lib/sbmp/library/payload_builder.h \
lib/sbmp/library/payload_parser.h \
lib/sbmp/library/sbmp.h \
lib/sbmp/library/sbmp_bulk.h \
lib/sbmp/library/sbmp_checksum.h \
lib/sbmp/library/sbmp_config.example.h \
lib/sbmp/library/sbmp_datagram.h \
lib/sbmp/library/sbmp_frame.h \
lib/sbmp/library/sbmp_session.h \
lib/sbmp/library/type_coerce.h \
lib/spl/inc/misc.h \
lib/spl/inc/stm32f10x_adc.h \
lib/spl/inc/stm32f10x_bkp.h \
lib/spl/inc/stm32f10x_can.h \
lib/spl/inc/stm32f10x_cec.h \
lib/spl/inc/stm32f10x_crc.h \
lib/spl/inc/stm32f10x_dac.h \
lib/spl/inc/stm32f10x_dbgmcu.h \
lib/spl/inc/stm32f10x_dma.h \
lib/spl/inc/stm32f10x_exti.h \
lib/spl/inc/stm32f10x_flash.h \
lib/spl/inc/stm32f10x_fsmc.h \
lib/spl/inc/stm32f10x_gpio.h \
lib/spl/inc/stm32f10x_i2c.h \
lib/spl/inc/stm32f10x_iwdg.h \
lib/spl/inc/stm32f10x_pwr.h \
lib/spl/inc/stm32f10x_rcc.h \
lib/spl/inc/stm32f10x_rtc.h \
lib/spl/inc/stm32f10x_sdio.h \
lib/spl/inc/stm32f10x_spi.h \
lib/spl/inc/stm32f10x_tim.h \
lib/spl/inc/stm32f10x_usart.h \
lib/spl/inc/stm32f10x_wwdg.h \
project/stm32f10x_conf.h \
project/stm32f10x_it.h \
project/system_stm32f10x.h \
project/sbmp_config.h \
project/com/com_fileio.h \
project/com/com_iface.h \
project/com/datalink.h \
project/com/debug.h \
project/com/iface_noop.h \
project/com/iface_usart.h \
project/utils/circbuf.h \
project/utils/minmax.h \
project/utils/timebase.h \
project/malloc_safe.h \
project/hw_init.h \
project/utils/debounce.h \
project/bus/event_handler.h \
project/bus/event_queue.h \
project/utils/str_utils.h \
project/main.h \
project/utils/matcher.h \
project/utils/meanbuf.h \
project/dspin.h \
project/dspin_config.h \
project/blinky.h
SOURCES += \
lib/cmsis/core_cm3.c \
lib/sbmp/library/crc32.c \
lib/sbmp/library/payload_builder.c \
lib/sbmp/library/payload_parser.c \
lib/sbmp/library/sbmp_bulk.c \
lib/sbmp/library/sbmp_checksum.c \
lib/sbmp/library/sbmp_datagram.c \
lib/sbmp/library/sbmp_frame.c \
lib/sbmp/library/sbmp_session.c \
lib/spl/src/misc.c \
lib/spl/src/stm32f10x_adc.c \
lib/spl/src/stm32f10x_bkp.c \
lib/spl/src/stm32f10x_can.c \
lib/spl/src/stm32f10x_cec.c \
lib/spl/src/stm32f10x_crc.c \
lib/spl/src/stm32f10x_dac.c \
lib/spl/src/stm32f10x_dbgmcu.c \
lib/spl/src/stm32f10x_dma.c \
lib/spl/src/stm32f10x_exti.c \
lib/spl/src/stm32f10x_flash.c \
lib/spl/src/stm32f10x_fsmc.c \
lib/spl/src/stm32f10x_gpio.c \
lib/spl/src/stm32f10x_i2c.c \
lib/spl/src/stm32f10x_iwdg.c \
lib/spl/src/stm32f10x_pwr.c \
lib/spl/src/stm32f10x_rcc.c \
lib/spl/src/stm32f10x_rtc.c \
lib/spl/src/stm32f10x_sdio.c \
lib/spl/src/stm32f10x_spi.c \
lib/spl/src/stm32f10x_tim.c \
lib/spl/src/stm32f10x_usart.c \
lib/spl/src/stm32f10x_wwdg.c \
project/main.c \
project/stm32f10x_it.c \
project/system_stm32f10x.c \
project/com/com_fileio.c \
project/com/com_iface.c \
project/com/datalink.c \
project/com/debug.c \
project/com/iface_noop.c \
project/com/iface_usart.c \
project/utils/circbuf.c \
project/utils/debounce.c \
project/utils/timebase.c \
project/hw_init.c \
project/malloc_safe.c \
project/spl_assert.c \
project/syscalls.c \
project/bus/event_handler.c \
project/bus/event_queue.c \
project/utils/str_utils.c \
project/utils/matcher.c \
project/utils/meanbuf.c \
project/dspin.c \
project/blinky.c
DISTFILES += \
style.astylerc \
Makefile \
lib/cmsis/startup_stm32f10x_md.s \
lib/cmsis/stm32_flash.ld

53
project/blinky.c
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@ -0,0 +1,53 @@
#include "main.h"
#include "utils/timebase.h"
#include "blinky.h"
#include "dspin.h"
typedef struct {
GPIO_TypeDef* GPIOx;
uint32_t pin;
task_pid_t blink_task;
} LedInfo;
static LedInfo leds[4] = {
{GPIOC, GPIO_Pin_3, 0}, // LED_READY
{GPIOC, GPIO_Pin_2, 0}, // LED_BUSY
{GPIOC, GPIO_Pin_1, 0}, // LED_ERROR
{GPIOC, GPIO_Pin_0, 0}, // LED_SPARE
};
void led_on(enum led_nr led)
{
leds[led].GPIOx->BSRR = leds[led].pin;
}
void led_off(enum led_nr led)
{
leds[led].GPIOx->BRR = leds[led].pin;
}
void led_toggle(enum led_nr led)
{
leds[led].GPIOx->ODR ^= leds[led].pin;
}
static void led_off_cb(void *arg)
{
enum led_nr led = (uint32_t)arg;
led_off(led);
leds[led].blink_task = 0;
}
void led_blink(enum led_nr led, ms_time_t ms)
{
LedInfo *L = &leds[led];
if (L->blink_task) {
// re-schedule
abort_scheduled_task(L->blink_task);
}
led_on(led);
L->blink_task = schedule_task(led_off_cb, (uint32_t*)led, ms, false);
}

17
project/blinky.h
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@ -0,0 +1,17 @@
#ifndef BLINKY_H
#define BLINKY_H
#include "utils/timebase.h"
enum led_nr {
LED_READY,
LED_BUSY,
LED_ERROR,
LED_SPARE
};
void led_on(enum led_nr led);
void led_off(enum led_nr led);
void led_toggle(enum led_nr led);
void led_blink(enum led_nr led, ms_time_t ms);
#endif // BLINKY_H

66
project/colorled.c
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@ -1,66 +0,0 @@
#include "colorled.h"
#include "utils/timebase.h"
#define LONG_DELAY() for (volatile uint32_t __j = 4; __j > 0; __j--)
#define SHORT_DELAY() for (volatile uint32_t __j = 1; __j > 0; __j--)
static inline
__attribute__((always_inline))
void colorled_byte(uint8_t b)
{
for (register volatile uint8_t i = 0; i < 8; i++) {
COLORLED_GPIO->BSRR = COLORLED_PIN; // set pin high
// duty cycle determines bit value
if (b & 0x80) {
LONG_DELAY();
COLORLED_GPIO->BRR = COLORLED_PIN; // set pin low
SHORT_DELAY();
} else {
SHORT_DELAY();
COLORLED_GPIO->BRR = COLORLED_PIN; // set pin low
LONG_DELAY();
}
b <<= 1; // shift to next bit
}
}
/** Set one RGB LED color */
void colorled_set(uint32_t rgb)
{
__disable_irq(); // SysTick interrupt when sending data would break the timing
colorled_byte((rgb & 0x00FF00) >> 8);
colorled_byte((rgb & 0xFF0000) >> 16);
colorled_byte(rgb & 0x0000FF);
__enable_irq();
delay_us(50); // show
}
/** Set many RGBs */
void colorled_set_many(uint32_t *rgbs, int count)
{
__disable_irq();
for (int i = 0; i < count; i++) {
uint32_t rgb = *rgbs++;
colorled_byte((rgb & 0x00FF00) >> 8);
colorled_byte((rgb & 0xFF0000) >> 16);
colorled_byte(rgb & 0x0000FF);
}
__enable_irq();
delay_us(50); // show
}
void colorled_off(void)
{
colorled_set(RGB_BLACK);
}

79
project/colorled.h
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@ -1,79 +0,0 @@
#pragma once
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* Exported types ------------------------------------------------------------*/
/* Exported constants --------------------------------------------------------*/
// PB8 - WS2812B data line
#define COLORLED_GPIO GPIOB
#define COLORLED_PIN GPIO_Pin_12
#define RGB_RED rgb(255, 0, 0)
#define RGB_ORANGE rgb(255, 110, 0)
#define RGB_YELLOW rgb(255, 255, 0)
#define RGB_LIME rgb(160, 255, 0)
#define RGB_GREEN rgb( 0, 255, 0)
#define RGB_CYAN rgb( 0, 255, 120)
#define RGB_BLUE rgb( 0, 0, 255)
#define RGB_MAGENTA rgb(255, 0, 255)
#define RGB_WHITE rgb(255, 255, 255)
#define RGB_BLACK rgb( 0, 0, 0)
/**
* @brief Struct for easy manipulation of RGB colors.
*
* Set components in the xrgb.r (etc.) and you will get
* the hex in xrgb.num.
*/
typedef union {
/** Struct for access to individual color components */
struct __attribute__((packed)) {
uint8_t b;
uint8_t g;
uint8_t r;
};
/** RGB color as a single uint32_t */
uint32_t num;
} ws2812_rgb_t;
/* Exported macros -----------------------------------------------------------*/
/**
* @brief Compose an RGB color.
* @param r, g, b - components 0xFF
* @returns integer 0xRRGGBB
*/
#define rgb(r, g, b) (((0xFF & (r)) << 16) | ((0xFF & (g)) << 8) | (0xFF & (b)))
/* Get components */
#define rgb_r(rgb) (((rgb) >> 16) & 0xFF)
#define rgb_g(rgb) (((rgb) >> 8) & 0xFF)
#define rgb_b(rgb) ((rgb) & 0xFF)
/* Exported functions --------------------------------------------------------*/
/**
* @brief Turn OFF the rgb LED
*/
void colorled_off(void);
/**
* @brief Set color of a WS2812B
* @param rgb - color 0xRRGGBB
*/
void colorled_set(uint32_t rgb);
/**
* @brief Set color of multiple chained RGB leds
* @param rgbs - array of colors (0xRRGGBB)
* @param count - number of LEDs
*/
void colorled_set_many(uint32_t *rgbs, int count);

3
project/com/com_fileio.c
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@ -20,7 +20,7 @@ struct name_fd {
/** pre-assigned file descriptors for names */
static const struct name_fd name_fd_map[NAME_FD_MAP_LEN] = {
{FNAME_DLNK, FD_DLNK}
// {FNAME_DLNK, FD_DLNK}
};
@ -39,7 +39,6 @@ int _write(int fd, const char *buf, int len)
switch (fd) {
case FD_STDOUT: return (int)com_tx_block(debug_iface, buf, (size_t)len);
case FD_STDERR: return (int)com_tx_block(debug_iface, buf, (size_t)len);
case FD_DLNK: return (int)com_tx_block(data_iface, buf, (size_t)len);
default:
return 0;
}

3
project/com/com_fileio.h
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@ -17,7 +17,4 @@ enum {
FD_STDIN = 0,
FD_STDOUT = 1,
FD_STDERR = 2,
FD_DLNK = 3,
};
#define FNAME_DLNK "dlnk"

6
project/com/datalink.c
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@ -2,6 +2,7 @@
#include "com_fileio.h"
#include "debug.h"
#include "com_fileio.h"
#include "dspin.h"
SBMP_Endpoint *dlnk_ep;
@ -30,6 +31,9 @@ void dlnk_init(void)
static void dlnk_rx_bridge(ComIface *iface)
{
uint8_t b;
STATUS_LED_Port->BSRR = STATUS_LED_Pin;
while (com_rx(iface, &b)) {
SBMP_RxStatus st = sbmp_ep_receive(dlnk_ep, b);
@ -39,6 +43,8 @@ static void dlnk_rx_bridge(ComIface *iface)
break;
}
}
STATUS_LED_Port->BRR = STATUS_LED_Pin;
}
/** Datalink Tx func */

11
project/com/datalink.h
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@ -7,15 +7,14 @@
#include "main.h"
#include <sbmp.h>
#define DG_REQUEST_RAW 40 // request raw vector. Sample count [u16], Frequency [u32]
#define DG_REQUEST_FFT 41 // request fft vector. Sample count [u16], Frequency [u32]. Result - count/2 bins. Count must be 2^n, 16..2048
#define DG_REQUEST_STORE_REF 42 // calculate signal signature & store for comparing
#define DG_REQUEST_COMPARE_REF 43
#define DG_MOTOR_HOME 40
#define DG_MOTOR_GOTO 41
// wifi status & control
#define DG_SETMODE_AP 44 // request AP mode (AP button pressed)
#define DG_WPS_START 45 // start WPS
#define DG_WIFI_STATUS 46 // WiFi status report
#define DG_REQUEST_STM_VERSION 47 // Get acquisition module firmware version
#define DG_WIFI_STATUS 46 // WiFi status report (sent by the ESP every second)
#define DG_REQUEST_STM_VERSION 47 // Get STM32 module firmware version
extern SBMP_Endpoint *dlnk_ep;

2
project/com/debug.h
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@ -13,6 +13,8 @@
#define ESCAPE_DEBUG_MESSAGES 1
#define VERBOSE_LOGGING 1
// formatting symbols
#define DEBUG_EOL "\r\n"

2
project/com/iface_noop.c
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@ -66,7 +66,7 @@ static void if_poll(ComIface *iface)
(void)iface;
}
ComIface *com_noop_init(void)
ComIface *noop_iface_init(void)
{
ComIface *iface = malloc_s(sizeof(ComIface));

2
project/com/iface_noop.h
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@ -11,4 +11,4 @@
* @param iface : iface pointer. If NULL, it'll be allocated.
* @return the iface pointer.
*/
ComIface *com_noop_init(void);
ComIface *noop_iface_init(void);

120
project/display.c
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@ -1,120 +0,0 @@
#include "display.h"
#include "com/debug.h"
#include "utils/timebase.h"
#include "utils/meanbuf.h"
#include <math.h>
#define PIXEL_COUNT 30
#define WAVEGRID_DEPTH 5
#define WAVEGRID_LEN PIXEL_COUNT*WAVEGRID_DEPTH
static float wavegrid[WAVEGRID_LEN];
#define WAVE_DISSIPATION 0.011f
static ws2812_rgb_t pixels[PIXEL_COUNT] = {};
static MeanBuf *mb;
void display_show(void)
{
for (int i = 0; i < PIXEL_COUNT; i++) {
// 0 1 2 3 #0+i
// 7 6 5 4 #2-i-1
// 8 9 A B #2+i
// F E D C #
// G I J K
float x = wavegrid[i] +
wavegrid[PIXEL_COUNT*2-i-1] +
wavegrid[PIXEL_COUNT*2+i] +
wavegrid[PIXEL_COUNT*4-i-1] +
wavegrid[PIXEL_COUNT*4+i];
if (x > 255) x = 255;
pixels[i].r = (x);
pixels[i].b = (255.0f-x);
}
colorled_set_many((uint32_t*) pixels, PIXEL_COUNT);
}
static void handle_sonar_value(float mm)
{
for (int i = WAVEGRID_LEN-1; i > 0; i--) {
wavegrid[i] = wavegrid[i-1] * (1.0f - WAVE_DISSIPATION);
}
float x = mm/5.0f;
if (x>255) x = 255;
wavegrid[0] = 255 - x;
display_show();
}
static void show(void*arg)
{
(void)arg;
handle_sonar_value(meanbuf_current(mb));
}
static void sonar(void* arg)
{
(void)arg;
//info("Sonar");
GPIOB->BSRR = GPIO_Pin_13;
delay_us(10);
GPIOB->BRR = GPIO_Pin_13;
// wait for response
bool suc = false;
until_timeout(50) {
if((GPIOB->IDR & (1 << 14)) != 0) {
suc = true;
break;
}
}
if (!suc) {
dbg("Not suc");
return;
}
uint32_t cnt = 0;
until_timeout(50) {
if((GPIOB->IDR & (1 << 14)) == 0) break;
cnt++;
}
float t = cnt / 11.2f;
meanbuf_add(mb, t);
}
void display_init(void)
{
mb = meanbuf_create(10);
for (int i = 0; i < WAVEGRID_LEN; i++) {
wavegrid[i] = 0;
}
display_show();
add_periodic_task(sonar, NULL, 50, true);
add_periodic_task(show, NULL, 75, true);
}

11
project/display.h
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@ -1,11 +0,0 @@
#ifndef DISPLAY_H
#define DISPLAY_H
#include "main.h"
#include "colorled.h"
void display_show(void);
void display_init(void);
#endif // DISPLAY_H

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project/dspin.c
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925
project/dspin.h
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@ -0,0 +1,925 @@
/**
******************************************************************************
* @file dspin.h
* @author IPC Rennes
* @version V2.0
* @date October 4, 2013
* @brief Header for dspin.c module
* @note (C) COPYRIGHT 2013 STMicroelectronics
******************************************************************************
* @copy
*
* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE
* TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY
* DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING
* FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE
* CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
*
* <h2><center>&copy; COPYRIGHT 2013 STMicroelectronics</center></h2>
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __DSPIN_H
#define __DSPIN_H
/* Includes ------------------------------------------------------------------*/
#include "stm32f10x.h"
#include "dspin_config.h"
/* Exported constants --------------------------------------------------------*/
/* Select one of the following two evalboard options, comment the other one --*/
/* #define STEVAL_PCC009V2 */
/* #define STM32_VL_Discovery */
/* #define ST_DSPIN_6470H_DISCOVERY*/
/** @defgroup dSPIN FW library interface
*
* {
*/
#define FALSE (0)
#define TRUE (1)
#ifdef STEVAL_PCC009V2
#define dSPIN_SPI SPI2
#define dSPIN_SCK_Pin GPIO_Pin_13
#define dSPIN_SCK_Port GPIOB
#define dSPIN_MOSI_Pin GPIO_Pin_15
#define dSPIN_MOSI_Port GPIOB
#define dSPIN_MISO_Pin GPIO_Pin_14
#define dSPIN_MISO_Port GPIOB
#define dSPIN_nSS_Pin GPIO_Pin_12
#define dSPIN_nSS_Port GPIOB
#define dSPIN_BUSY_Pin GPIO_Pin_10
#define dSPIN_BUSY_Port GPIOB
#define dSPIN_FLAG_Pin GPIO_Pin_11
#define dSPIN_FLAG_Port GPIOB
#define dSPIN_PWM1_Pin GPIO_Pin_0
#define dSPIN_PWM1_Port GPIOB
#define dSPIN_PWM2_Pin GPIO_Pin_1
#define dSPIN_PWM2_Port GPIOB
#define POWER_LED_Pin GPIO_Pin_4
#define POWER_LED_Port GPIOC
#define STATUS_LED_Pin GPIO_Pin_8
#define STATUS_LED_Port GPIOC
#define dSPIN_STBY_RESET_Pin GPIO_Pin_1
#define dSPIN_STBY_RESET_Port GPIOB
#define TIM_PWM TIM3
/* List all the peripherals, which CLKs have to be enabled! */
#define dSPIN_PERIPHERAL_CLKs_APB1 (RCC_APB1Periph_SPI2|RCC_APB1Periph_TIM3)
#define dSPIN_PERIPHERAL_CLKs_APB2 (RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC | RCC_APB2Periph_AFIO)
/* Note : RCC_APB2Periph_AFIO is mandatory for interrupt enabling */
#endif
/* dSPIN maximum number of bytes of command and arguments to set a parameter */
#define dSPIN_CMD_ARG_MAX_NB_BYTES (4)
/* dSPIN command + argument bytes number */
#define dSPIN_CMD_ARG_NB_BYTES_NOP (1)
#define dSPIN_CMD_ARG_NB_BYTES_RUN (4)
#define dSPIN_CMD_ARG_NB_BYTES_STEP_CLOCK (1)
#define dSPIN_CMD_ARG_NB_BYTES_MOVE (4)
#define dSPIN_CMD_ARG_NB_BYTES_GO_TO (4)
#define dSPIN_CMD_ARG_NB_BYTES_GO_TO_DIR (4)
#define dSPIN_CMD_ARG_NB_BYTES_GO_UNTIL (4)
#define dSPIN_CMD_ARG_NB_BYTES_RELEASE_SW (1)
#define dSPIN_CMD_ARG_NB_BYTES_GO_HOME (1)
#define dSPIN_CMD_ARG_NB_BYTES_GO_MARK (1)
#define dSPIN_CMD_ARG_NB_BYTES_RESET_POS (1)
#define dSPIN_CMD_ARG_NB_BYTES_RESET_DEVICE (1)
#define dSPIN_CMD_ARG_NB_BYTES_SOFT_STOP (1)
#define dSPIN_CMD_ARG_NB_BYTES_HARD_STOP (1)
#define dSPIN_CMD_ARG_NB_BYTES_SOFT_HIZ (1)
#define dSPIN_CMD_ARG_NB_BYTES_HARD_HIZ (1)
#define dSPIN_CMD_ARG_NB_BYTES_GET_STATUS (1)
/* dSPIN response bytes number */
#define dSPIN_RSP_NB_BYTES_GET_STATUS (2)
/* Daisy chain command mask */
#define DAISY_CHAIN_COMMAND_MASK (0xFA)
/** dSPIN signals - Used for connection with STM32 discovery kit
* If another control board is used, please change the following settings
* according to the application board wiring diagram.
* Do not touch if STEVAL-PCC009V2 is used, see defs below for that evalboard.
*
*/
#ifdef STM32_VL_Discovery
#define dSPIN_SPI SPI1
#define dSPIN_SCK_Pin GPIO_Pin_5
#define dSPIN_SCK_Port GPIOA
#define dSPIN_MOSI_Pin GPIO_Pin_7
#define dSPIN_MOSI_Port GPIOA
#define dSPIN_MISO_Pin GPIO_Pin_6
#define dSPIN_MISO_Port GPIOA
#define dSPIN_nSS_Pin GPIO_Pin_4
#define dSPIN_nSS_Port GPIOA
#define dSPIN_BUSY_Pin GPIO_Pin_4
#define dSPIN_BUSY_Port GPIOC
#define dSPIN_FLAG_Pin GPIO_Pin_5
#define dSPIN_FLAG_Port GPIOC
#define dSPIN_PWM1_Pin GPIO_Pin_1
#define dSPIN_PWM1_Port GPIOA
#define dSPIN_PWM2_Pin GPIO_Pin_0
#define dSPIN_PWM2_Port GPIOB
/* List all the peripherals, which CLKs have to be enabled! */
#define dSPIN_PERIPHERAL_CLKs_APB1 (0x00)
#define dSPIN_PERIPHERAL_CLKs_APB2 (RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC | RCC_APB2Periph_SPI1)
#endif
/** dSPIN signals - Used for connection with ST_DSPIN_6470H_DISCOVERY
*/
#ifdef ST_DSPIN_6470H_DISCOVERY
#define dSPIN_SPI SPI1
#define dSPIN_SCK_Pin GPIO_Pin_5
#define dSPIN_SCK_Port GPIOA
#define dSPIN_MOSI_Pin GPIO_Pin_7
#define dSPIN_MOSI_Port GPIOA
#define dSPIN_MISO_Pin GPIO_Pin_6
#define dSPIN_MISO_Port GPIOA
#define dSPIN_nSS_Pin GPIO_Pin_4
#define dSPIN_nSS_Port GPIOA
#define dSPIN_BUSY_Pin GPIO_Pin_11
#define dSPIN_BUSY_Port GPIOB
#define dSPIN_FLAG_Pin GPIO_Pin_10
#define dSPIN_FLAG_Port GPIOB
/* LED_READY, GREEN*/
#define POWER_LED_Pin GPIO_Pin_3
#define POWER_LED_Port GPIOC
/* LED_BUSY, ORANGE */
#define LED_BUSY_Pin GPIO_Pin_2
#define LED_BUSY_Port GPIOC
/* LED_ERROR, RED */
#define STATUS_LED_Pin GPIO_Pin_1
#define STATUS_LED_Port GPIOC
/* LED_SPARE, YELLOW */
#define LED_SPARE_Pin GPIO_Pin_0
#define LED_SPARE_Port GPIOC
#define dSPIN_PWM1_Pin GPIO_Pin_3
#define dSPIN_PWM1_Port GPIOA
#define SW_MOTOR_Pin GPIO_Pin_0
#define SW_MOTOR_Port GPIOA
#define dSPIN_SW_Pin GPIO_Pin_4
#define dSPIN_SW_Port GPIOC
#define BUTTON_A_Pin GPIO_Pin_1
#define BUTTON_A_Port GPIOA
#define BUTTON_B_Pin GPIO_Pin_2
#define BUTTON_B_Port GPIOA
#define dSPIN_STBY_RESET_Pin GPIO_Pin_5
#define dSPIN_STBY_RESET_Port GPIOC
#define TIM_PWM TIM5
/* List all the peripherals, which CLKs have to be enabled! */
/* Note : RCC_APB2Periph_AFIO is mandatory for interrupt enabling */
#define dSPIN_PERIPHERAL_CLKs_APB1 (RCC_APB1Periph_TIM5)
#define dSPIN_PERIPHERAL_CLKs_APB2 (RCC_APB2Periph_SPI1 | \
RCC_APB2Periph_GPIOA | \
RCC_APB2Periph_GPIOB | \
RCC_APB2Periph_GPIOC | \
RCC_APB2Periph_AFIO)
#endif
/** dSPIN parameter min and max values
*/
#define dSPIN_CONF_PARAM_STALL_TH_MA_MAX ((uint16_t)(4000)) /* current in mA */
/** Register bits / masks
*/
/* dSPIN electrical position register masks */
#define dSPIN_ELPOS_STEP_MASK ((uint8_t)0xC0)
#define dSPIN_ELPOS_MICROSTEP_MASK ((uint8_t)0x3F)
/* dSPIN min speed register bit / mask */
#define dSPIN_LSPD_OPT ((uint16_t)0x1000)
#define dSPIN_MIN_SPEED_MASK ((uint16_t)0x0FFF)
/* dSPIN Sync Output frequency enabling bit */
#define dSPIN_SYNC_EN 0x80
#if defined(L6472)
/* dSPIN step mode bit3 must be 1 */
#define dSPIN_STEP_MODE_BIT3 0x08
#endif /* defined(L6472) */
/* Exported types ------------------------------------------------------------*/
#if defined(L6470)
/**
* @brief dSPIN Init structure definition
*/
typedef struct {
uint32_t ABS_POS;
uint16_t EL_POS;
uint32_t MARK;
uint32_t SPEED;
uint16_t ACC;
uint16_t DEC;
uint16_t MAX_SPEED;
uint16_t MIN_SPEED;
uint16_t FS_SPD;
uint8_t KVAL_HOLD;
uint8_t KVAL_RUN;
uint8_t KVAL_ACC;
uint8_t KVAL_DEC;
uint16_t INT_SPD;
uint8_t ST_SLP;
uint8_t FN_SLP_ACC;
uint8_t FN_SLP_DEC;
uint8_t K_THERM;
uint8_t ADC_OUT;
uint8_t OCD_TH;
uint8_t STALL_TH;
uint8_t STEP_MODE;
uint8_t ALARM_EN;
uint16_t CONFIG;
uint16_t STATUS;
} dSPIN_RegsStruct_TypeDef;
/* dSPIN Low speed optimization */
typedef enum {
dSPIN_LSPD_OPT_OFF = ((uint16_t)0x0000),
dSPIN_LSPD_OPT_ON = ((uint16_t)dSPIN_LSPD_OPT)
} dSPIN_LSPD_OPT_TypeDef;
/* dSPIN overcurrent threshold options */
typedef enum {
dSPIN_OCD_TH_375mA = ((uint8_t)0x00),
dSPIN_OCD_TH_750mA = ((uint8_t)0x01),
dSPIN_OCD_TH_1125mA = ((uint8_t)0x02),
dSPIN_OCD_TH_1500mA = ((uint8_t)0x03),
dSPIN_OCD_TH_1875mA = ((uint8_t)0x04),
dSPIN_OCD_TH_2250mA = ((uint8_t)0x05),
dSPIN_OCD_TH_2625mA = ((uint8_t)0x06),
dSPIN_OCD_TH_3000mA = ((uint8_t)0x07),
dSPIN_OCD_TH_3375mA = ((uint8_t)0x08),
dSPIN_OCD_TH_3750mA = ((uint8_t)0x09),
dSPIN_OCD_TH_4125mA = ((uint8_t)0x0A),
dSPIN_OCD_TH_4500mA = ((uint8_t)0x0B),
dSPIN_OCD_TH_4875mA = ((uint8_t)0x0C),
dSPIN_OCD_TH_5250mA = ((uint8_t)0x0D),
dSPIN_OCD_TH_5625mA = ((uint8_t)0x0E),
dSPIN_OCD_TH_6000mA = ((uint8_t)0x0F)
} dSPIN_OCD_TH_TypeDef;
/* dSPIN STEP_MODE register masks */
typedef enum {
dSPIN_STEP_MODE_STEP_SEL = ((uint8_t)0x07),
dSPIN_STEP_MODE_SYNC_SEL = ((uint8_t)0x70),
dSPIN_STEP_MODE_SYNC_EN = ((uint8_t)0x80)
} dSPIN_STEP_MODE_Masks_TypeDef;
/* dSPIN STEP_MODE register options */
/* dSPIN STEP_SEL options */
typedef enum {
dSPIN_STEP_SEL_1 = ((uint8_t)0x00),
dSPIN_STEP_SEL_1_2 = ((uint8_t)0x01),
dSPIN_STEP_SEL_1_4 = ((uint8_t)0x02),
dSPIN_STEP_SEL_1_8 = ((uint8_t)0x03),
dSPIN_STEP_SEL_1_16 = ((uint8_t)0x04),
dSPIN_STEP_SEL_1_32 = ((uint8_t)0x05),
dSPIN_STEP_SEL_1_64 = ((uint8_t)0x06),
dSPIN_STEP_SEL_1_128 = ((uint8_t)0x07)
} dSPIN_STEP_SEL_TypeDef;
/* dSPIN SYNC_SEL options */
typedef enum {
dSPIN_SYNC_SEL_DISABLED = ((uint8_t)0x00),
dSPIN_SYNC_SEL_1_2 = ((uint8_t)(dSPIN_SYNC_EN | 0x00)),
dSPIN_SYNC_SEL_1 = ((uint8_t)(dSPIN_SYNC_EN | 0x10)),
dSPIN_SYNC_SEL_2 = ((uint8_t)(dSPIN_SYNC_EN | 0x20)),
dSPIN_SYNC_SEL_4 = ((uint8_t)(dSPIN_SYNC_EN | 0x30)),
dSPIN_SYNC_SEL_8 = ((uint8_t)(dSPIN_SYNC_EN | 0x40)),
dSPIN_SYNC_SEL_16 = ((uint8_t)(dSPIN_SYNC_EN | 0x50)),
dSPIN_SYNC_SEL_32 = ((uint8_t)(dSPIN_SYNC_EN | 0x60)),
dSPIN_SYNC_SEL_64 = ((uint8_t)(dSPIN_SYNC_EN | 0x70))
} dSPIN_SYNC_SEL_TypeDef;
/* dSPIN ALARM_EN register options */
typedef enum {
dSPIN_ALARM_EN_OVERCURRENT = ((uint8_t)0x01),
dSPIN_ALARM_EN_THERMAL_SHUTDOWN = ((uint8_t)0x02),
dSPIN_ALARM_EN_THERMAL_WARNING = ((uint8_t)0x04),
dSPIN_ALARM_EN_UNDER_VOLTAGE = ((uint8_t)0x08),
dSPIN_ALARM_EN_STALL_DET_A = ((uint8_t)0x10),
dSPIN_ALARM_EN_STALL_DET_B = ((uint8_t)0x20),
dSPIN_ALARM_EN_SW_TURN_ON = ((uint8_t)0x40),
dSPIN_ALARM_EN_WRONG_NPERF_CMD = ((uint8_t)0x80)
} dSPIN_ALARM_EN_TypeDef;
/* dSPIN Config register masks */
typedef enum {
dSPIN_CONFIG_OSC_SEL = ((uint16_t)0x0007),
dSPIN_CONFIG_EXT_CLK = ((uint16_t)0x0008),
dSPIN_CONFIG_SW_MODE = ((uint16_t)0x0010),
dSPIN_CONFIG_EN_VSCOMP = ((uint16_t)0x0020),
dSPIN_CONFIG_OC_SD = ((uint16_t)0x0080),
dSPIN_CONFIG_POW_SR = ((uint16_t)0x0300),
dSPIN_CONFIG_F_PWM_DEC = ((uint16_t)0x1C00),
dSPIN_CONFIG_F_PWM_INT = ((uint16_t)0xE000)
} dSPIN_CONFIG_Masks_TypeDef;
/* dSPIN Config register options */
typedef enum {
dSPIN_CONFIG_INT_16MHZ = ((uint16_t)0x0000),
dSPIN_CONFIG_INT_16MHZ_OSCOUT_2MHZ = ((uint16_t)0x0008),
dSPIN_CONFIG_INT_16MHZ_OSCOUT_4MHZ = ((uint16_t)0x0009),
dSPIN_CONFIG_INT_16MHZ_OSCOUT_8MHZ = ((uint16_t)0x000A),
dSPIN_CONFIG_INT_16MHZ_OSCOUT_16MHZ = ((uint16_t)0x000B),
dSPIN_CONFIG_EXT_8MHZ_XTAL_DRIVE = ((uint16_t)0x0004),
dSPIN_CONFIG_EXT_16MHZ_XTAL_DRIVE = ((uint16_t)0x0005),
dSPIN_CONFIG_EXT_24MHZ_XTAL_DRIVE = ((uint16_t)0x0006),
dSPIN_CONFIG_EXT_32MHZ_XTAL_DRIVE = ((uint16_t)0x0007),
dSPIN_CONFIG_EXT_8MHZ_OSCOUT_INVERT = ((uint16_t)0x000C),
dSPIN_CONFIG_EXT_16MHZ_OSCOUT_INVERT = ((uint16_t)0x000D),
dSPIN_CONFIG_EXT_24MHZ_OSCOUT_INVERT = ((uint16_t)0x000E),
dSPIN_CONFIG_EXT_32MHZ_OSCOUT_INVERT = ((uint16_t)0x000F)
} dSPIN_CONFIG_OSC_MGMT_TypeDef;
typedef enum {
dSPIN_CONFIG_SW_HARD_STOP = ((uint16_t)0x0000),
dSPIN_CONFIG_SW_USER = ((uint16_t)0x0010)
} dSPIN_CONFIG_SW_MODE_TypeDef;
typedef enum {
dSPIN_CONFIG_VS_COMP_DISABLE = ((uint16_t)0x0000),
dSPIN_CONFIG_VS_COMP_ENABLE = ((uint16_t)0x0020)
} dSPIN_CONFIG_EN_VSCOMP_TypeDef;
typedef enum {
dSPIN_CONFIG_OC_SD_DISABLE = ((uint16_t)0x0000),
dSPIN_CONFIG_OC_SD_ENABLE = ((uint16_t)0x0080)
} dSPIN_CONFIG_OC_SD_TypeDef;
typedef enum {
dSPIN_CONFIG_SR_320V_us = ((uint16_t)0x0000),
dSPIN_CONFIG_SR_075V_us = ((uint16_t)0x0100),
dSPIN_CONFIG_SR_110V_us = ((uint16_t)0x0200),
dSPIN_CONFIG_SR_260V_us = ((uint16_t)0x0300)
} dSPIN_CONFIG_POW_SR_TypeDef;
typedef enum {
dSPIN_CONFIG_PWM_DIV_1 = (((uint16_t)0x00) << 13),
dSPIN_CONFIG_PWM_DIV_2 = (((uint16_t)0x01) << 13),
dSPIN_CONFIG_PWM_DIV_3 = (((uint16_t)0x02) << 13),
dSPIN_CONFIG_PWM_DIV_4 = (((uint16_t)0x03) << 13),
dSPIN_CONFIG_PWM_DIV_5 = (((uint16_t)0x04) << 13),
dSPIN_CONFIG_PWM_DIV_6 = (((uint16_t)0x05) << 13),
dSPIN_CONFIG_PWM_DIV_7 = (((uint16_t)0x06) << 13)
} dSPIN_CONFIG_F_PWM_INT_TypeDef;
typedef enum {
dSPIN_CONFIG_PWM_MUL_0_625 = (((uint16_t)0x00) << 10),
dSPIN_CONFIG_PWM_MUL_0_75 = (((uint16_t)0x01) << 10),
dSPIN_CONFIG_PWM_MUL_0_875 = (((uint16_t)0x02) << 10),
dSPIN_CONFIG_PWM_MUL_1 = (((uint16_t)0x03) << 10),
dSPIN_CONFIG_PWM_MUL_1_25 = (((uint16_t)0x04) << 10),
dSPIN_CONFIG_PWM_MUL_1_5 = (((uint16_t)0x05) << 10),
dSPIN_CONFIG_PWM_MUL_1_75 = (((uint16_t)0x06) << 10),
dSPIN_CONFIG_PWM_MUL_2 = (((uint16_t)0x07) << 10)
} dSPIN_CONFIG_F_PWM_DEC_TypeDef;
/* Status Register bit masks */
typedef enum {
dSPIN_STATUS_HIZ = (((uint16_t)0x0001)),
dSPIN_STATUS_BUSY = (((uint16_t)0x0002)),
dSPIN_STATUS_SW_F = (((uint16_t)0x0004)),
dSPIN_STATUS_SW_EVN = (((uint16_t)0x0008)),
dSPIN_STATUS_DIR = (((uint16_t)0x0010)),
dSPIN_STATUS_MOT_STATUS = (((uint16_t)0x0060)),
dSPIN_STATUS_NOTPERF_CMD = (((uint16_t)0x0080)),
dSPIN_STATUS_WRONG_CMD = (((uint16_t)0x0100)),
dSPIN_STATUS_UVLO = (((uint16_t)0x0200)),
dSPIN_STATUS_TH_WRN = (((uint16_t)0x0400)),
dSPIN_STATUS_TH_SD = (((uint16_t)0x0800)),
dSPIN_STATUS_OCD = (((uint16_t)0x1000)),
dSPIN_STATUS_STEP_LOSS_A = (((uint16_t)0x2000)),
dSPIN_STATUS_STEP_LOSS_B = (((uint16_t)0x4000)),
dSPIN_STATUS_SCK_MOD = (((uint16_t)0x8000))
} dSPIN_STATUS_Masks_TypeDef;
/* Status Register options */
typedef enum {
dSPIN_STATUS_MOT_STATUS_STOPPED = (((uint16_t)0x0000) << 5),
dSPIN_STATUS_MOT_STATUS_ACCELERATION = (((uint16_t)0x0001) << 5),
dSPIN_STATUS_MOT_STATUS_DECELERATION = (((uint16_t)0x0002) << 5),
dSPIN_STATUS_MOT_STATUS_CONST_SPD = (((uint16_t)0x0003) << 5)
} dSPIN_STATUS_TypeDef;
/* dSPIN internal register addresses */
typedef enum {
dSPIN_ABS_POS = ((uint8_t)0x01),
dSPIN_EL_POS = ((uint8_t)0x02),
dSPIN_MARK = ((uint8_t)0x03),
dSPIN_SPEED = ((uint8_t)0x04),
dSPIN_ACC = ((uint8_t)0x05),
dSPIN_DEC = ((uint8_t)0x06),
dSPIN_MAX_SPEED = ((uint8_t)0x07),
dSPIN_MIN_SPEED = ((uint8_t)0x08),
dSPIN_FS_SPD = ((uint8_t)0x15),
dSPIN_KVAL_HOLD = ((uint8_t)0x09),
dSPIN_KVAL_RUN = ((uint8_t)0x0A),
dSPIN_KVAL_ACC = ((uint8_t)0x0B),
dSPIN_KVAL_DEC = ((uint8_t)0x0C),
dSPIN_INT_SPD = ((uint8_t)0x0D),
dSPIN_ST_SLP = ((uint8_t)0x0E),
dSPIN_FN_SLP_ACC = ((uint8_t)0x0F),
dSPIN_FN_SLP_DEC = ((uint8_t)0x10),
dSPIN_K_THERM = ((uint8_t)0x11),
dSPIN_ADC_OUT = ((uint8_t)0x12),
dSPIN_OCD_TH = ((uint8_t)0x13),
dSPIN_STALL_TH = ((uint8_t)0x14),
dSPIN_STEP_MODE = ((uint8_t)0x16),
dSPIN_ALARM_EN = ((uint8_t)0x17),
dSPIN_CONFIG = ((uint8_t)0x18),
dSPIN_STATUS = ((uint8_t)0x19),
dSPIN_RESERVED_REG2 = ((uint8_t)0x1A),
dSPIN_RESERVED_REG1 = ((uint8_t)0x1B)
} dSPIN_Registers_TypeDef;
/* dSPIN command set */
typedef enum {
dSPIN_NOP = ((uint8_t)0x00),
dSPIN_SET_PARAM = ((uint8_t)0x00),
dSPIN_GET_PARAM = ((uint8_t)0x20),
dSPIN_RUN = ((uint8_t)0x50),
dSPIN_STEP_CLOCK = ((uint8_t)0x58),
dSPIN_MOVE = ((uint8_t)0x40),
dSPIN_GO_TO = ((uint8_t)0x60),
dSPIN_GO_TO_DIR = ((uint8_t)0x68),
dSPIN_GO_UNTIL = ((uint8_t)0x82),
dSPIN_GO_UNTIL_ACT_CPY = ((uint8_t)0x8A),
dSPIN_RELEASE_SW = ((uint8_t)0x92),
dSPIN_GO_HOME = ((uint8_t)0x70),
dSPIN_GO_MARK = ((uint8_t)0x78),
dSPIN_RESET_POS = ((uint8_t)0xD8),
dSPIN_RESET_DEVICE = ((uint8_t)0xC0),
dSPIN_SOFT_STOP = ((uint8_t)0xB0),
dSPIN_HARD_STOP = ((uint8_t)0xB8),
dSPIN_SOFT_HIZ = ((uint8_t)0xA0),
dSPIN_HARD_HIZ = ((uint8_t)0xA8),
dSPIN_GET_STATUS = ((uint8_t)0xD0),
dSPIN_RESERVED_CMD2 = ((uint8_t)0xEB),
dSPIN_RESERVED_CMD1 = ((uint8_t)0xF8)
} dSPIN_Commands_TypeDef;
/* dSPIN direction options */
typedef enum {
FWD = ((uint8_t)0x01),
REV = ((uint8_t)0x00)
} dSPIN_Direction_TypeDef;
/* dSPIN action options */
typedef enum {
ACTION_RESET = ((uint8_t)0x00),
ACTION_COPY = ((uint8_t)0x08)
} dSPIN_Action_TypeDef;
/**
* @}
*/
#endif /* defined(L6470) */
#if defined(L6472)
/**
* @brief dSPIN Init structure definition
*/
typedef struct {
uint32_t ABS_POS;
uint16_t EL_POS;
uint32_t MARK;
uint32_t SPEED;
uint16_t ACC;
uint16_t DEC;
uint16_t MAX_SPEED;
uint16_t MIN_SPEED;
uint16_t FS_SPD;
uint8_t TVAL_HOLD;
uint8_t TVAL_RUN;
uint8_t TVAL_ACC;
uint8_t TVAL_DEC;
uint16_t RESERVED_3;
uint8_t T_FAST;
uint8_t TON_MIN;
uint8_t TOFF_MIN;
uint8_t RESERVED_2;
uint8_t ADC_OUT;
uint8_t OCD_TH;
uint8_t RESERVED_1;
uint8_t STEP_MODE;
uint8_t ALARM_EN;
uint16_t CONFIG;
} dSPIN_RegsStruct_TypeDef;
/* dSPIN maximum fall step times */
typedef enum {
dSPIN_FAST_STEP_2us = ((uint8_t)0x00),
dSPIN_FAST_STEP_4us = ((uint8_t)0x01),
dSPIN_FAST_STEP_6us = ((uint8_t)0x02),
dSPIN_FAST_STEP_8us = ((uint8_t)0x03),
dSPIN_FAST_STEP_10us = ((uint8_t)0x04),
dSPIN_FAST_STEP_12us = ((uint8_t)0x05),
dSPIN_FAST_STEP_14us = ((uint8_t)0x06),
dSPIN_FAST_STEP_16us = ((uint8_t)0x07),
dSPIN_FAST_STEP_18us = ((uint8_t)0x08),
dSPIN_FAST_STEP_20us = ((uint8_t)0x09),
dSPIN_FAST_STEP_22us = ((uint8_t)0x0A),
dSPIN_FAST_STEP_24s = ((uint8_t)0x0B),
dSPIN_FAST_STEP_26us = ((uint8_t)0x0C),
dSPIN_FAST_STEP_28us = ((uint8_t)0x0D),
dSPIN_FAST_STEP_30us = ((uint8_t)0x0E),
dSPIN_FAST_STEP_32us = ((uint8_t)0x0F)
} dSPIN_FAST_STEP_TypeDef;
/* dSPIN maximum fast decay times */
typedef enum {
dSPIN_TOFF_FAST_2us = (((uint8_t)0x00) << 4),
dSPIN_TOFF_FAST_4us = (((uint8_t)0x01) << 4),
dSPIN_TOFF_FAST_6us = (((uint8_t)0x02) << 4),
dSPIN_TOFF_FAST_8us = (((uint8_t)0x03) << 4),
dSPIN_TOFF_FAST_10us = (((uint8_t)0x04) << 4),
dSPIN_TOFF_FAST_12us = (((uint8_t)0x05) << 4),
dSPIN_TOFF_FAST_14us = (((uint8_t)0x06) << 4),
dSPIN_TOFF_FAST_16us = (((uint8_t)0x07) << 4),
dSPIN_TOFF_FAST_18us = (((uint8_t)0x08) << 4),
dSPIN_TOFF_FAST_20us = (((uint8_t)0x09) << 4),
dSPIN_TOFF_FAST_22us = (((uint8_t)0x0A) << 4),
dSPIN_TOFF_FAST_24us = (((uint8_t)0x0B) << 4),
dSPIN_TOFF_FAST_26us = (((uint8_t)0x0C) << 4),
dSPIN_TOFF_FAST_28us = (((uint8_t)0x0D) << 4),
dSPIN_TOFF_FAST_30us = (((uint8_t)0x0E) << 4),
dSPIN_TOFF_FAST_32us = (((uint8_t)0x0F) << 4)
} dSPIN_TOFF_FAST_TypeDef;
/* dSPIN overcurrent threshold options */
typedef enum {
dSPIN_OCD_TH_375mA = ((uint8_t)0x00),
dSPIN_OCD_TH_750mA = ((uint8_t)0x01),
dSPIN_OCD_TH_1125mA = ((uint8_t)0x02),
dSPIN_OCD_TH_1500mA = ((uint8_t)0x03),
dSPIN_OCD_TH_1875mA = ((uint8_t)0x04),
dSPIN_OCD_TH_2250mA = ((uint8_t)0x05),
dSPIN_OCD_TH_2625mA = ((uint8_t)0x06),
dSPIN_OCD_TH_3000mA = ((uint8_t)0x07),
dSPIN_OCD_TH_3375mA = ((uint8_t)0x08),
dSPIN_OCD_TH_3750mA = ((uint8_t)0x09),
dSPIN_OCD_TH_4125mA = ((uint8_t)0x0A),
dSPIN_OCD_TH_4500mA = ((uint8_t)0x0B),
dSPIN_OCD_TH_4875mA = ((uint8_t)0x0C),
dSPIN_OCD_TH_5250mA = ((uint8_t)0x0D),
dSPIN_OCD_TH_5625mA = ((uint8_t)0x0E),
dSPIN_OCD_TH_6000mA = ((uint8_t)0x0F)
} dSPIN_OCD_TH_TypeDef;
/* dSPIN STEP_MODE register masks */
typedef enum {
dSPIN_STEP_MODE_STEP_SEL = ((uint8_t)0x07),
dSPIN_STEP_MODE_SYNC_SEL = ((uint8_t)0x70),
dSPIN_STEP_MODE_SYNC_EN = ((uint8_t)0x80)
} dSPIN_STEP_MODE_Masks_TypeDef;
/* dSPIN STEP_MODE register options */
/* dSPIN STEP_SEL options */
typedef enum {
dSPIN_STEP_SEL_1 = ((uint8_t)(dSPIN_STEP_MODE_BIT3 | 0x00)),
dSPIN_STEP_SEL_1_2 = ((uint8_t)(dSPIN_STEP_MODE_BIT3 | 0x01)),
dSPIN_STEP_SEL_1_4 = ((uint8_t)(dSPIN_STEP_MODE_BIT3 | 0x02)),
dSPIN_STEP_SEL_1_8 = ((uint8_t)(dSPIN_STEP_MODE_BIT3 | 0x03)),
dSPIN_STEP_SEL_1_16 = ((uint8_t)(dSPIN_STEP_MODE_BIT3 | 0x04))
} dSPIN_STEP_SEL_TypeDef;
/* dSPIN SYNC_SEL options */
typedef enum {
dSPIN_SYNC_SEL_DISABLED = ((uint8_t)0x00),
dSPIN_SYNC_SEL_1_2 = ((uint8_t)(dSPIN_SYNC_EN | 0x00)),
dSPIN_SYNC_SEL_1 = ((uint8_t)(dSPIN_SYNC_EN | 0x10)),
dSPIN_SYNC_SEL_2 = ((uint8_t)(dSPIN_SYNC_EN | 0x20)),
dSPIN_SYNC_SEL_4 = ((uint8_t)(dSPIN_SYNC_EN | 0x30)),
dSPIN_SYNC_SEL_8 = ((uint8_t)(dSPIN_SYNC_EN | 0x40))
} dSPIN_SYNC_SEL_TypeDef;
/* dSPIN ALARM_EN register options */
typedef enum {
dSPIN_ALARM_EN_OVERCURRENT = ((uint8_t)0x01),
dSPIN_ALARM_EN_THERMAL_SHUTDOWN = ((uint8_t)0x02),
dSPIN_ALARM_EN_THERMAL_WARNING = ((uint8_t)0x04),
dSPIN_ALARM_EN_UNDER_VOLTAGE = ((uint8_t)0x08),
dSPIN_ALARM_EN_SW_TURN_ON = ((uint8_t)0x40),
dSPIN_ALARM_EN_WRONG_NPERF_CMD = ((uint8_t)0x80)
} dSPIN_ALARM_EN_TypeDef;
/* dSPIN Config register masks */
typedef enum {
dSPIN_CONFIG_OSC_SEL = ((uint16_t)0x0007),
dSPIN_CONFIG_EXT_CLK = ((uint16_t)0x0008),
dSPIN_CONFIG_SW_MODE = ((uint16_t)0x0010),
dSPIN_CONFIG_EN_VSCOMP = ((uint16_t)0x0020),
dSPIN_CONFIG_OC_SD = ((uint16_t)0x0080),
dSPIN_CONFIG_POW_SR = ((uint16_t)0x0300),
dSPIN_CONFIG_TSW = ((uint16_t)0x7C00),
dSPIN_CONFIG_PRED_EN = ((uint16_t)0x8000)
} dSPIN_CONFIG_Masks_TypeDef;
/* dSPIN Config register options */
typedef enum {
dSPIN_CONFIG_INT_16MHZ = ((uint16_t)0x0000),
dSPIN_CONFIG_INT_16MHZ_OSCOUT_2MHZ = ((uint16_t)0x0008),
dSPIN_CONFIG_INT_16MHZ_OSCOUT_4MHZ = ((uint16_t)0x0009),
dSPIN_CONFIG_INT_16MHZ_OSCOUT_8MHZ = ((uint16_t)0x000A),
dSPIN_CONFIG_INT_16MHZ_OSCOUT_16MHZ = ((uint16_t)0x000B),
dSPIN_CONFIG_EXT_8MHZ_XTAL_DRIVE = ((uint16_t)0x0004),
dSPIN_CONFIG_EXT_16MHZ_XTAL_DRIVE = ((uint16_t)0x0005),
dSPIN_CONFIG_EXT_24MHZ_XTAL_DRIVE = ((uint16_t)0x0006),
dSPIN_CONFIG_EXT_32MHZ_XTAL_DRIVE = ((uint16_t)0x0007),
dSPIN_CONFIG_EXT_8MHZ_OSCOUT_INVERT = ((uint16_t)0x000C),
dSPIN_CONFIG_EXT_16MHZ_OSCOUT_INVERT = ((uint16_t)0x000D),
dSPIN_CONFIG_EXT_24MHZ_OSCOUT_INVERT = ((uint16_t)0x000E),
dSPIN_CONFIG_EXT_32MHZ_OSCOUT_INVERT = ((uint16_t)0x000F)
} dSPIN_CONFIG_OSC_MGMT_TypeDef;
typedef enum {
dSPIN_CONFIG_SW_HARD_STOP = ((uint16_t)0x0000),
dSPIN_CONFIG_SW_USER = ((uint16_t)0x0010)
} dSPIN_CONFIG_SW_MODE_TypeDef;
typedef enum {
dSPIN_CONFIG_TQ_REG_TVAL_USED = ((uint16_t)0x0000),
dSPIN_CONFIG_TQ_REG_ADC_OUT = ((uint16_t)0x0020)
} dSPIN_CONFIG_EN_TQREG_TypeDef;
typedef enum {
dSPIN_CONFIG_OC_SD_DISABLE = ((uint16_t)0x0000),
dSPIN_CONFIG_OC_SD_ENABLE = ((uint16_t)0x0080)
} dSPIN_CONFIG_OC_SD_TypeDef;
typedef enum {
dSPIN_CONFIG_SR_320V_us = ((uint16_t)0x0000),
dSPIN_CONFIG_SR_075V_us = ((uint16_t)0x0100),
dSPIN_CONFIG_SR_110V_us = ((uint16_t)0x0200),
dSPIN_CONFIG_SR_260V_us = ((uint16_t)0x0300)
} dSPIN_CONFIG_POW_SR_TypeDef;
typedef enum {
dSPIN_CONFIG_PRED_DISABLE = ((uint16_t)0x0000),
dSPIN_CONFIG_PRED_ENABLE = ((uint16_t)0x8000)
} dSPIN_CONFIG_PRED_EN_TypeDef;
typedef enum {
dSPIN_CONFIG_TSW_004us = (((uint16_t)0x01) << 10),
dSPIN_CONFIG_TSW_008us = (((uint16_t)0x02) << 10),
dSPIN_CONFIG_TSW_012us = (((uint16_t)0x03) << 10),
dSPIN_CONFIG_TSW_016us = (((uint16_t)0x04) << 10),
dSPIN_CONFIG_TSW_020us = (((uint16_t)0x05) << 10),
dSPIN_CONFIG_TSW_024us = (((uint16_t)0x06) << 10),
dSPIN_CONFIG_TSW_028us = (((uint16_t)0x07) << 10),
dSPIN_CONFIG_TSW_032us = (((uint16_t)0x08) << 10),
dSPIN_CONFIG_TSW_036us = (((uint16_t)0x09) << 10),
dSPIN_CONFIG_TSW_040us = (((uint16_t)0x0A) << 10),
dSPIN_CONFIG_TSW_044us = (((uint16_t)0x0B) << 10),
dSPIN_CONFIG_TSW_048us = (((uint16_t)0x0C) << 10),
dSPIN_CONFIG_TSW_052us = (((uint16_t)0x0D) << 10),
dSPIN_CONFIG_TSW_056us = (((uint16_t)0x0E) << 10),
dSPIN_CONFIG_TSW_060us = (((uint16_t)0x0F) << 10),
dSPIN_CONFIG_TSW_064us = (((uint16_t)0x10) << 10),
dSPIN_CONFIG_TSW_068us = (((uint16_t)0x11) << 10),
dSPIN_CONFIG_TSW_072us = (((uint16_t)0x12) << 10),
dSPIN_CONFIG_TSW_076us = (((uint16_t)0x13) << 10),
dSPIN_CONFIG_TSW_080us = (((uint16_t)0x14) << 10),
dSPIN_CONFIG_TSW_084us = (((uint16_t)0x15) << 10),
dSPIN_CONFIG_TSW_088us = (((uint16_t)0x16) << 10),
dSPIN_CONFIG_TSW_092us = (((uint16_t)0x17) << 10),
dSPIN_CONFIG_TSW_096us = (((uint16_t)0x18) << 10),
dSPIN_CONFIG_TSW_100us = (((uint16_t)0x19) << 10),
dSPIN_CONFIG_TSW_104us = (((uint16_t)0x1A) << 10),
dSPIN_CONFIG_TSW_108us = (((uint16_t)0x1B) << 10),
dSPIN_CONFIG_TSW_112us = (((uint16_t)0x1C) << 10),
dSPIN_CONFIG_TSW_116us = (((uint16_t)0x1D) << 10),
dSPIN_CONFIG_TSW_120us = (((uint16_t)0x1E) << 10),
dSPIN_CONFIG_TSW_124us = (((uint16_t)0x1F) << 10)
} dSPIN_CONFIG_TSW_TypeDef;
/* Status Register bit masks */
typedef enum {
dSPIN_STATUS_HIZ = (((uint16_t)0x0001)),
dSPIN_STATUS_BUSY = (((uint16_t)0x0002)),
dSPIN_STATUS_SW_F = (((uint16_t)0x0004)),
dSPIN_STATUS_SW_EVN = (((uint16_t)0x0008)),
dSPIN_STATUS_DIR = (((uint16_t)0x0010)),
dSPIN_STATUS_MOT_STATUS = (((uint16_t)0x0060)),
dSPIN_STATUS_NOTPERF_CMD = (((uint16_t)0x0080)),
dSPIN_STATUS_WRONG_CMD = (((uint16_t)0x0100)),
dSPIN_STATUS_UVLO = (((uint16_t)0x0200)),
dSPIN_STATUS_TH_WRN = (((uint16_t)0x0400)),
dSPIN_STATUS_TH_SD = (((uint16_t)0x0800)),
dSPIN_STATUS_OCD = (((uint16_t)0x1000)),
dSPIN_STATUS_SCK_MOD = (((uint16_t)0x8000))
} dSPIN_STATUS_Masks_TypeDef;
/* Status Register options */
typedef enum {
dSPIN_STATUS_MOT_STATUS_STOPPED = (((uint16_t)0x0000) << 5),
dSPIN_STATUS_MOT_STATUS_ACCELERATION = (((uint16_t)0x0001) << 5),
dSPIN_STATUS_MOT_STATUS_DECELERATION = (((uint16_t)0x0002) << 5),
dSPIN_STATUS_MOT_STATUS_CONST_SPD = (((uint16_t)0x0003) << 5)
} dSPIN_STATUS_TypeDef;
/* dSPIN internal register addresses */
typedef enum {
dSPIN_ABS_POS = ((uint8_t)0x01),
dSPIN_EL_POS = ((uint8_t)0x02),
dSPIN_MARK = ((uint8_t)0x03),
dSPIN_SPEED = ((uint8_t)0x04),
dSPIN_ACC = ((uint8_t)0x05),
dSPIN_DEC = ((uint8_t)0x06),
dSPIN_MAX_SPEED = ((uint8_t)0x07),
dSPIN_MIN_SPEED = ((uint8_t)0x08),
dSPIN_FS_SPD = ((uint8_t)0x15),
dSPIN_TVAL_HOLD = ((uint8_t)0x09),
dSPIN_TVAL_RUN = ((uint8_t)0x0A),
dSPIN_TVAL_ACC = ((uint8_t)0x0B),
dSPIN_TVAL_DEC = ((uint8_t)0x0C),
dSPIN_RESERVED_REG5 = ((uint8_t)0x0D),
dSPIN_T_FAST = ((uint8_t)0x0E),
dSPIN_TON_MIN = ((uint8_t)0x0F),
dSPIN_TOFF_MIN = ((uint8_t)0x10),
dSPIN_RESERVED_REG4 = ((uint8_t)0x11),
dSPIN_ADC_OUT = ((uint8_t)0x12),
dSPIN_OCD_TH = ((uint8_t)0x13),
dSPIN_RESERVED_REG3 = ((uint8_t)0x14),
dSPIN_STEP_MODE = ((uint8_t)0x16),
dSPIN_ALARM_EN = ((uint8_t)0x17),
dSPIN_CONFIG = ((uint8_t)0x18),
dSPIN_STATUS = ((uint8_t)0x19),
dSPIN_RESERVED_REG2 = ((uint8_t)0x1A),
dSPIN_RESERVED_REG1 = ((uint8_t)0x1B)
} dSPIN_Registers_TypeDef;
/* dSPIN command set */
typedef enum {
dSPIN_NOP = ((uint8_t)0x00),
dSPIN_SET_PARAM = ((uint8_t)0x00),
dSPIN_GET_PARAM = ((uint8_t)0x20),
dSPIN_RUN = ((uint8_t)0x50),
dSPIN_STEP_CLOCK = ((uint8_t)0x58),
dSPIN_MOVE = ((uint8_t)0x40),
dSPIN_GO_TO = ((uint8_t)0x60),
dSPIN_GO_TO_DIR = ((uint8_t)0x68),
dSPIN_GO_UNTIL = ((uint8_t)0x82),
dSPIN_GO_UNTIL_ACT_CPY = ((uint8_t)0x8A),
dSPIN_RELEASE_SW = ((uint8_t)0x92),
dSPIN_GO_HOME = ((uint8_t)0x70),
dSPIN_GO_MARK = ((uint8_t)0x78),
dSPIN_RESET_POS = ((uint8_t)0xD8),
dSPIN_RESET_DEVICE = ((uint8_t)0xC0),
dSPIN_SOFT_STOP = ((uint8_t)0xB0),
dSPIN_HARD_STOP = ((uint8_t)0xB8),
dSPIN_SOFT_HIZ = ((uint8_t)0xA0),
dSPIN_HARD_HIZ = ((uint8_t)0xA8),
dSPIN_GET_STATUS = ((uint8_t)0xD0),
dSPIN_RESERVED_CMD2 = ((uint8_t)0xEB),
dSPIN_RESERVED_CMD1 = ((uint8_t)0xF8)
} dSPIN_Commands_TypeDef;
/* dSPIN direction options */
typedef enum {
FWD = ((uint8_t)0x01),
REV = ((uint8_t)0x00)
} dSPIN_Direction_TypeDef;
/* dSPIN action options */
typedef enum {
ACTION_RESET = ((uint8_t)0x00),
ACTION_COPY = ((uint8_t)0x08)
} dSPIN_Action_TypeDef;
/**
* @}
*/
#endif /* defined(L6472) */
/* Exported macro ------------------------------------------------------------*/
#define Speed_Steps_to_Par(steps) ((uint32_t)(((steps)*67.108864)+0.5)) /* Speed conversion, range 0 to 15625 steps/s */
#define AccDec_Steps_to_Par(steps) ((uint16_t)(((steps)*0.068719476736)+0.5)) /* Acc/Dec rates conversion, range 14.55 to 59590 steps/s2 */
#define MaxSpd_Steps_to_Par(steps) ((uint16_t)(((steps)*0.065536)+0.5)) /* Max Speed conversion, range 15.25 to 15610 steps/s */
#define MinSpd_Steps_to_Par(steps) ((uint16_t)(((steps)*4.194304)+0.5)) /* Min Speed conversion, range 0 to 976.3 steps/s */
#define FSSpd_Steps_to_Par(steps) ((uint16_t)((steps)*0.065536)) /* Full Step Speed conversion, range 7.63 to 15625 steps/s */
#if defined(L6470)
#define IntSpd_Steps_to_Par(steps) ((uint16_t)(((steps)*4.194304)+0.5)) /* Intersect Speed conversion, range 0 to 3906 steps/s */
#define Kval_Perc_to_Par(perc) ((uint8_t)(((perc)/0.390625)+0.5)) /* KVAL conversions, range 0.4% to 99.6% */
#define BEMF_Slope_Perc_to_Par(perc) ((uint8_t)(((perc)/0.00156862745098)+0.5)) /* BEMF compensation slopes, range 0 to 0.4% s/step */
#define KTherm_to_Par(KTherm) ((uint8_t)(((KTherm - 1)/0.03125)+0.5)) /* K_THERM compensation conversion, range 1 to 1.46875 */
#define StallTh_to_Par(StallTh) ((uint8_t)(((StallTh - 31.25)/31.25)+0.5)) /* Stall Threshold conversion, range 31.25mA to 4000mA */
#endif /* defined(L6470) */
#if defined(L6472)
#define Tval_Current_to_Par(Tval) ((uint8_t)(((Tval - 31.25)/31.25)+0.5)) /* Torque regulation DAC current conversion, range 31.25mA to 4000mA */
#define Tmin_Time_to_Par(Tmin) ((uint8_t)(((Tmin - 0.5)*2)+0.5)) /* Minimum time conversion, range 0.5us to 64us */
#endif /* defined(L6472) */
/* Exported functions ------------------------------------------------------- */
void dSPIN_Delay(__IO uint32_t nCount);
void dSPIN_Gpio_Toggle(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin);
void dSPIN_Led_Check(void);
void dSPIN_Reset_And_Standby(void);
void dSPIN_Peripherals_Init(void);
void dSPIN_PWM_Enable(uint16_t Period);
void dSPIN_PWM_DISABLE(void);
void dSPIN_Interrupt_Channel_Config(void);
void dSPIN_Flag_Interrupt_GPIO_Config(void);
void dSPIN_Busy_Interrupt_GPIO_Config(void);
void dSPIN_Busy_Interrupt_GPIO_DeConfig(void);
void dSPIN_Buttons_Interrupts_GPIO_Config(void);
void dSPIN_Switch_Motor_Interrupt_Config(void);
/* Config */
void dSPIN_Regs_Struct_Reset(dSPIN_RegsStruct_TypeDef* dSPIN_RegsStruct);
void dSPIN_Registers_Set(dSPIN_RegsStruct_TypeDef* dSPIN_RegsStruct);
/* Commands */
void dSPIN_Nop(void);
void dSPIN_Run(dSPIN_Direction_TypeDef direction, uint32_t speed);
void dSPIN_Step_Clock(dSPIN_Direction_TypeDef direction);
void dSPIN_Move(dSPIN_Direction_TypeDef direction, uint32_t n_step);
void dSPIN_Go_To(uint32_t abs_pos);
void dSPIN_Go_To_Dir(dSPIN_Direction_TypeDef direction, uint32_t abs_pos);
void dSPIN_Go_Until(dSPIN_Action_TypeDef action, dSPIN_Direction_TypeDef direction, uint32_t speed);
void dSPIN_Release_SW(dSPIN_Action_TypeDef action, dSPIN_Direction_TypeDef direction);
void dSPIN_Go_Home(void);
void dSPIN_Go_Mark(void);
void dSPIN_Reset_Pos(void);
void dSPIN_Reset_Device(void);
void dSPIN_Soft_Stop(void);
void dSPIN_Hard_Stop(void);
void dSPIN_Soft_HiZ(void);
void dSPIN_Hard_HiZ(void);
/* Low level commands */
void dSPIN_Set_Param(dSPIN_Registers_TypeDef param, uint32_t value);
uint32_t dSPIN_Get_Param(dSPIN_Registers_TypeDef param);
/* Low level stuff */
uint16_t dSPIN_Get_Status(void);
uint8_t dSPIN_Busy_HW(void);
uint8_t dSPIN_Busy_SW(void);
uint8_t dSPIN_Flag(void);
uint8_t dSPIN_Write_Byte(uint8_t byte);
/* TRASH */
void dSPIN_Write_Daisy_Chain_Bytes(uint8_t *pTxByte, uint8_t *pRxByte, uint8_t nBytes);
void dSPIN_All_Slaves_Registers_Set(uint8_t slaves_number, dSPIN_RegsStruct_TypeDef *dSPIN_RegsStructArray);
void dSPIN_All_Slaves_Set_Param(uint8_t slaves_number, uint8_t *pParam, uint32_t *pValue);
void dSPIN_All_Slaves_Get_Param(uint8_t slaves_number, uint8_t *pParam, uint32_t *pValue);
void dSPIN_One_Slave_Move(uint8_t slaveNumber, uint8_t slaves_number, dSPIN_Direction_TypeDef direction, uint32_t n_step);
void dSPIN_One_Slave_Run(uint8_t slaveNumber, uint8_t slaves_number, dSPIN_Direction_TypeDef direction, uint32_t speed);
void dSPIN_One_Slave_Send_Command(uint8_t slaveNumber, uint8_t slaves_number, uint8_t param, uint32_t value);
void dSPIN_All_Slaves_Send_Command(uint8_t slaves_number, uint8_t *pParam, uint32_t *pValue);
void dSPIN_All_Slaves_Get_Status(uint8_t slaves_number, uint32_t *pValue);
uint8_t dSPIN_One_Or_More_Slaves_Busy_SW(uint8_t slaves_number);
/** @} */
#endif /* __DSPIN_H */
/******************* (C) COPYRIGHT 2013 STMicroelectronics *****END OF FILE****/

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/**
******************************************************************************
* @file dspin_config.h
* @author IPC Rennes
* @version V2.0
* @date octobre 15, 2013
* @brief Header with configuration parameters for dspin.c module
* @note (C) COPYRIGHT 2013 STMicroelectronics
******************************************************************************
* @copy
*
* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE
* TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY
* DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING
* FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE
* CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
*
* <h2><center>&copy; COPYRIGHT 2013 STMicroelectronics</center></h2>
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __DSPIN_CONFIG_H
#define __DSPIN_CONFIG_H
/* Includes ------------------------------------------------------------------*/
#include "stm32f10x.h"
#include "dspin.h"
/* Exported constants --------------------------------------------------------*/
/****************************************************************************/
/***************** DSPIN chip type ******************************************/
/****************************************************************************/
#define L6470 (1)
/****************************************************************************/
/***************** Operation Mode Choice ************************************/
/***************** 1 if daisy chain for one device or more, else 0 **********/
/****************************************************************************/
#define DAISY_CHAIN (0)
/****************************************************************************/
/******************Daisy Chain Mode *****************************************/
/****************************************************************************/
///* Exported constants --------------------------------------------------------*/
// /**************************** Slaves numbering ******************************/
// /* Number of dPIN slaves */
#define NUMBER_OF_SLAVES (1)
// /* Devices */
// /* The first device of the chain receives the last byte transmitted by the master */
// /* The last device of the chain receives the first byte transmitted by the master */
#define DEVICE_1 (NUMBER_OF_SLAVES-1)
//#if (DEVICE_1>0)
// #define DEVICE_2 (NUMBER_OF_SLAVES-2)
//#else
// #define DEVICE_2 (DEVICE_1)
//#endif
//#if (DEVICE_2>0)
// #define DEVICE_3 (NUMBER_OF_SLAVES-3)
//#else
// #define DEVICE_3 (DEVICE_2)
//#endif
//#if (DEVICE_3>0)
// #define DEVICE_4 (NUMBER_OF_SLAVES-4)
//#else
// #define DEVICE_4 (DEVICE_3)
//#endif
//#if (DEVICE_4>0)
// #define DEVICE_5 (NUMBER_OF_SLAVES-5)
//#else
// #define DEVICE_5 (DEVICE_4)
//#endif
//#if (DEVICE_5>0)
// #define DEVICE_6 (NUMBER_OF_SLAVES-6)
//#else
// #define DEVICE_6 (DEVICE_5)
//#endif
//#if (DEVICE_6>0)
// #define DEVICE_7 (NUMBER_OF_SLAVES-7)
//#else
// #define DEVICE_7 (DEVICE_6)
//#endif
//#if (DEVICE_7>0)
// #define DEVICE_8 (NUMBER_OF_SLAVES-8)
//#else
// #define DEVICE_8 (DEVICE_7)
//#endif
// /****************************************************************************/
// /***** #define dSPIN_CONF_PARAM_XXX (DEVICE_N, DEVICE_N-1, ..., DEVICE_1) ***/
// /****************************************************************************/
// /**************************** Speed Profile *********************************/
// /* Register : ACC */
// /* Acceleration rate in step/s2, range 14.55 to 59590 steps/s2 */
// #define dSPIN_DC_CONF_PARAM_ACC {2008.164}
// /* Register : DEC */
// /* Deceleration rate in step/s2, range 14.55 to 59590 steps/s2 */
// #define dSPIN_DC_CONF_PARAM_DEC {2008.164}
// /* Register : MAX_SPEED */
// /* Maximum speed in step/s, range 15.25 to 15610 steps/s */
// #define dSPIN_DC_CONF_PARAM_MAX_SPEED {991.821}
// /* Register : MIN_SPEED */
// /* Minimum speed in step/s, range 0 to 976.3 steps/s */
// #define dSPIN_DC_CONF_PARAM_MIN_SPEED {0}
// /* Register : FS_SPD */
// /* Full step speed in step/s, range 7.63 to 15625 steps/s */
// #define dSPIN_DC_CONF_PARAM_FS_SPD {595.093}
// /************************ Phase Current Control *****************************/
// /* Register : KVAL_HOLD */
// /* Hold duty cycle (torque) in %, range 0 to 99.6% */
// #define dSPIN_DC_CONF_PARAM_KVAL_HOLD {16.02}
// /* Register : KVAL_RUN */
// /* Run duty cycle (torque) in %, range 0 to 99.6% */
// #define dSPIN_DC_CONF_PARAM_KVAL_RUN {16.02}
// /* Register : KVAL_ACC */
// /* Acceleration duty cycle (torque) in %, range 0 to 99.6% */
// #define dSPIN_DC_CONF_PARAM_KVAL_ACC {16.02}
// /* Register : KVAL_DEC */
// /* Deceleration duty cycle (torque) in %, range 0 to 99.6% */
// #define dSPIN_DC_CONF_PARAM_KVAL_DEC {16.02}
// /* Register : CONFIG - field : EN_VSCOMP */
// /* Motor Supply Voltage Compensation enabling , enum dSPIN_CONFIG_EN_VSCOMP_TypeDef */
// #define dSPIN_DC_CONF_PARAM_VS_COMP {dSPIN_CONFIG_VS_COMP_DISABLE}
// /* Register : MIN_SPEED - field : LSPD_OPT */
// /* Low speed optimization bit, enum dSPIN_LSPD_OPT_TypeDef */
// #define dSPIN_DC_CONF_PARAM_LSPD_BIT {dSPIN_LSPD_OPT_OFF}
// /* Register : K_THERM */
// /* Thermal compensation param, range 1 to 1.46875 */
// #define dSPIN_DC_CONF_PARAM_K_THERM {1}
// /* Register : INT_SPEED */
// /* Intersect speed settings for BEMF compensation in steps/s, range 0 to 3906 steps/s */
// #define dSPIN_DC_CONF_PARAM_INT_SPD {61.512}
// /* Register : ST_SLP */
// /* BEMF start slope settings for BEMF compensation in % step/s, range 0 to 0.4% s/step */
// #define dSPIN_DC_CONF_PARAM_ST_SLP {0.03815}
// /* Register : FN_SLP_ACC */
// /* BEMF final acc slope settings for BEMF compensation in % step/s, range 0 to 0.4% s/step */
// #define dSPIN_DC_CONF_PARAM_FN_SLP_ACC {0.06256}
// /* Register : FN_SLP_DEC */
// /* BEMF final dec slope settings for BEMF compensation in % step/s, range 0 to 0.4% s/step */
// #define dSPIN_DC_CONF_PARAM_FN_SLP_DEC {0.06256}
// /* Register : CONFIG - field : F_PWM_INT */
// /* PWM Frequency Integer division, enum dSPIN_CONFIG_F_PWM_INT_TypeDef */
// #define dSPIN_DC_CONF_PARAM_PWM_DIV {dSPIN_CONFIG_PWM_DIV_2}
// /* Register : CONFIG - field : F_PWM_DEC */
// /* PWM Frequency Integer Multiplier, enum dSPIN_CONFIG_F_PWM_INT_TypeDef */
// #define dSPIN_DC_CONF_PARAM_PWM_MUL {dSPIN_CONFIG_PWM_MUL_1}
// /******************************* Others *************************************/
// /* Register : OCD_TH */
// /* Overcurrent threshold settings via enum dSPIN_OCD_TH_TypeDef */
// #define dSPIN_DC_CONF_PARAM_OCD_TH {dSPIN_OCD_TH_3375mA}
// /* Register : STALL_TH */
// /* Stall threshold settings in mA, range 31.25mA to 4000mA */
// #define dSPIN_DC_CONF_PARAM_STALL_TH {2031.25}
// /* Register : ALARM_EN */
// /* Alarm settings via bitmap enum dSPIN_ALARM_EN_TypeDef */
// #define dSPIN_DC_CONF_PARAM_ALARM_EN {dSPIN_ALARM_EN_OVERCURRENT | dSPIN_ALARM_EN_THERMAL_SHUTDOWN | dSPIN_ALARM_EN_THERMAL_WARNING | dSPIN_ALARM_EN_UNDER_VOLTAGE | dSPIN_ALARM_EN_STALL_DET_A | dSPIN_ALARM_EN_STALL_DET_B | dSPIN_ALARM_EN_SW_TURN_ON | dSPIN_ALARM_EN_WRONG_NPERF_CMD}
// /* Register : STEP_MODE - field : STEP_MODE */
// /* Step mode settings via enum dSPIN_STEP_SEL_TypeDef */
// #define dSPIN_DC_CONF_PARAM_STEP_MODE {dSPIN_STEP_SEL_1_128}
// /* Register : STEP_MODE - Field : SYNC_MODE and SYNC_EN */
// /* Synch. Mode settings via enum dSPIN_SYNC_SEL_TypeDef */
// #define dSPIN_DC_CONF_PARAM_SYNC_MODE {dSPIN_SYNC_SEL_DISABLED}
// /* Register : CONFIG - field : POW_SR */
// /* Slew rate, enum dSPIN_CONFIG_POW_SR_TypeDef */
// #define dSPIN_DC_CONF_PARAM_SR {dSPIN_CONFIG_SR_110V_us}
// /* Register : CONFIG - field : OC_SD */
// /* Over current shutwdown enabling, enum dSPIN_CONFIG_OC_SD_TypeDef */
// #define dSPIN_DC_CONF_PARAM_OC_SD {dSPIN_CONFIG_OC_SD_DISABLE}
// /* Register : CONFIG - field : SW_MODE */
// /* External switch hard stop interrupt mode, enum dSPIN_CONFIG_SW_MODE_TypeDef */
// #define dSPIN_DC_CONF_PARAM_SW_MODE {dSPIN_CONFIG_SW_HARD_STOP}
// /* Register : CONFIG - field : OSC_CLK_SEL */
// /* Clock setting , enum dSPIN_CONFIG_OSC_MGMT_TypeDef */
// #define dSPIN_DC_CONF_PARAM_CLOCK_SETTING {dSPIN_CONFIG_INT_16MHZ_OSCOUT_2MHZ}
/* Exported types ------------------------------------------------------------*/
/* Exported macro ------------------------------------------------------------*/
/* Exported functions ------------------------------------------------------- */
/****************************************************************************/
/******************No Daisy Chain Mode **************************************/
/****************************************************************************/
/* Exported constants --------------------------------------------------------*/
/**************************** Speed Profile *********************************/
/* Register : ACC */
/* Acceleration rate in step/s2, range 14.55 to 59590 steps/s2 */
#define dSPIN_CONF_PARAM_ACC 500//(2008.164)
/* Register : DEC */
/* Deceleration rate in step/s2, range 14.55 to 59590 steps/s2 */
#define dSPIN_CONF_PARAM_DEC 500//(2008.164)
/* Register : MAX_SPEED */
/* Maximum speed in step/s, range 15.25 to 15610 steps/s */
#define dSPIN_CONF_PARAM_MAX_SPEED 220//(991.821)
/* Register : MIN_SPEED */
/* Minimum speed in step/s, range 0 to 976.3 steps/s */
#define dSPIN_CONF_PARAM_MIN_SPEED (0)
/* Register : FS_SPD */
/* Full step speed in step/s, range 7.63 to 15625 steps/s */
#define dSPIN_CONF_PARAM_FS_SPD (595.093)
/************************ Phase Current Control *****************************/
/* Register : KVAL_HOLD */
/* Hold duty cycle (torque) in %, range 0 to 99.6% */
#define dSPIN_CONF_PARAM_KVAL_HOLD 10//(16.02)
/* Register : KVAL_RUN */
/* Run duty cycle (torque) in %, range 0 to 99.6% */
#define dSPIN_CONF_PARAM_KVAL_RUN 30//(16.02)
/* Register : KVAL_ACC */
/* Acceleration duty cycle (torque) in %, range 0 to 99.6% */
#define dSPIN_CONF_PARAM_KVAL_ACC 30//(16.02)
/* Register : KVAL_DEC */
/* Deceleration duty cycle (torque) in %, range 0 to 99.6% */
#define dSPIN_CONF_PARAM_KVAL_DEC 30//(16.02)
/* Register : CONFIG - field : EN_VSCOMP */
/* Motor Supply Voltage Compensation enabling , enum dSPIN_CONFIG_EN_VSCOMP_TypeDef */
#define dSPIN_CONF_PARAM_VS_COMP (dSPIN_CONFIG_VS_COMP_DISABLE)
/* Register : MIN_SPEED - field : LSPD_OPT */
/* Low speed optimization bit, enum dSPIN_LSPD_OPT_TypeDef */
#define dSPIN_CONF_PARAM_LSPD_BIT (dSPIN_LSPD_OPT_ON) // ??
/* Register : K_THERM */
/* Thermal compensation param, range 1 to 1.46875 */
#define dSPIN_CONF_PARAM_K_THERM (1)
/* Register : INT_SPEED */
/* Intersect speed settings for BEMF compensation in steps/s, range 0 to 3906 steps/s */
#define dSPIN_CONF_PARAM_INT_SPD (61.512)
/* Register : ST_SLP */
/* BEMF start slope settings for BEMF compensation in % step/s, range 0 to 0.4% s/step */
#define dSPIN_CONF_PARAM_ST_SLP (0.03815)
/* Register : FN_SLP_ACC */
/* BEMF final acc slope settings for BEMF compensation in % step/s, range 0 to 0.4% s/step */
#define dSPIN_CONF_PARAM_FN_SLP_ACC (0.06256)
/* Register : FN_SLP_DEC */
/* BEMF final dec slope settings for BEMF compensation in % step/s, range 0 to 0.4% s/step */
#define dSPIN_CONF_PARAM_FN_SLP_DEC (0.06256)
/* Register : CONFIG - field : F_PWM_INT */
/* PWM Frequency Integer division, enum dSPIN_CONFIG_F_PWM_INT_TypeDef */
#define dSPIN_CONF_PARAM_PWM_DIV (dSPIN_CONFIG_PWM_DIV_2)
/* Register : CONFIG - field : F_PWM_DEC */
/* PWM Frequency Integer Multiplier, enum dSPIN_CONFIG_F_PWM_INT_TypeDef */
#define dSPIN_CONF_PARAM_PWM_MUL (dSPIN_CONFIG_PWM_MUL_1)
/******************************* Others *************************************/
/* Register : OCD_TH */
/* Overcurrent threshold settings via enum dSPIN_OCD_TH_TypeDef */
#define dSPIN_CONF_PARAM_OCD_TH (dSPIN_OCD_TH_3375mA)
/* Register : STALL_TH */
/* Stall threshold settings in mA, range 31.25mA to 4000mA */
#define dSPIN_CONF_PARAM_STALL_TH (2031.25)
/* Register : ALARM_EN */
/* Alarm settings via bitmap enum dSPIN_ALARM_EN_TypeDef */
#define dSPIN_CONF_PARAM_ALARM_EN (dSPIN_ALARM_EN_OVERCURRENT | dSPIN_ALARM_EN_THERMAL_SHUTDOWN | dSPIN_ALARM_EN_THERMAL_WARNING | dSPIN_ALARM_EN_UNDER_VOLTAGE | dSPIN_ALARM_EN_STALL_DET_A | dSPIN_ALARM_EN_STALL_DET_B | dSPIN_ALARM_EN_SW_TURN_ON | dSPIN_ALARM_EN_WRONG_NPERF_CMD)
/* Register : STEP_MODE - field : STEP_MODE */
/* Step mode settings via enum dSPIN_STEP_SEL_TypeDef */
#define dSPIN_CONF_PARAM_STEP_MODE (dSPIN_STEP_SEL_1_128)
/* Register : STEP_MODE - Field : SYNC_MODE and SYNC_EN */
/* Synch. Mode settings via enum dSPIN_SYNC_SEL_TypeDef */
#define dSPIN_CONF_PARAM_SYNC_MODE (dSPIN_SYNC_SEL_DISABLED)
/* Register : CONFIG - field : POW_SR */
/* Slew rate, enum dSPIN_CONFIG_POW_SR_TypeDef */
#define dSPIN_CONF_PARAM_SR (dSPIN_CONFIG_SR_110V_us)
/* Register : CONFIG - field : OC_SD */
/* Over current shutwdown enabling, enum dSPIN_CONFIG_OC_SD_TypeDef */
#define dSPIN_CONF_PARAM_OC_SD (dSPIN_CONFIG_OC_SD_DISABLE)
/* Register : CONFIG - field : SW_MODE */
/* External switch hard stop interrupt mode, enum dSPIN_CONFIG_SW_MODE_TypeDef */
#define dSPIN_CONF_PARAM_SW_MODE (dSPIN_CONFIG_SW_HARD_STOP)
/* Register : CONFIG - field : OSC_CLK_SEL */
/* Clock setting , enum dSPIN_CONFIG_OSC_MGMT_TypeDef */
#define dSPIN_CONF_PARAM_CLOCK_SETTING (dSPIN_CONFIG_INT_16MHZ_OSCOUT_2MHZ)
/* Exported types ------------------------------------------------------------*/
/* Exported macro ------------------------------------------------------------*/
/* Exported functions ------------------------------------------------------- */
#endif /* __DSPIN_CONFIG_H */
/******************* (C) COPYRIGHT 2013 STMicroelectronics *****END OF FILE****/

143
project/hw_init.c
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@ -1,6 +1,8 @@
#include "hw_init.h"
#include "dspin.h"
#include "com/iface_usart.h"
#include "com/iface_noop.h"
#include "com/com_fileio.h"
#include "com/datalink.h"
@ -14,8 +16,8 @@
static void conf_gpio(void);
static void conf_usart(void);
static void conf_systick(void);
static void conf_subsystems(void);
static void conf_irq_prios(void);
static void conf_dspin(void);
// ---- Public functions ----------
@ -28,7 +30,16 @@ void hw_init(void)
conf_usart();
conf_systick();
conf_irq_prios();
conf_subsystems();
conf_dspin();
// task scheduler subsystem
timebase_init(15, 15);
// event and task queues
queues_init(15, 15);
// initialize SBMP for ESP8266
dlnk_init();
}
@ -36,32 +47,82 @@ void hw_init(void)
static void conf_dspin(void)
{
dSPIN_Peripherals_Init();
dSPIN_Reset_And_Standby();
dSPIN_RegsStruct_TypeDef dSPIN_RegsStruct;
/* Structure initialization by default values, in order to avoid blank records */
dSPIN_Regs_Struct_Reset(&dSPIN_RegsStruct);
/* Acceleration rate settings to dSPIN_CONF_PARAM_ACC in steps/s2, range 14.55 to 59590 steps/s2 */
dSPIN_RegsStruct.ACC = AccDec_Steps_to_Par(dSPIN_CONF_PARAM_ACC);
/* Deceleration rate settings to dSPIN_CONF_PARAM_DEC in steps/s2, range 14.55 to 59590 steps/s2 */
dSPIN_RegsStruct.DEC = AccDec_Steps_to_Par(dSPIN_CONF_PARAM_DEC);
/* Maximum speed settings to dSPIN_CONF_PARAM_MAX_SPEED in steps/s, range 15.25 to 15610 steps/s */
dSPIN_RegsStruct.MAX_SPEED = MaxSpd_Steps_to_Par(dSPIN_CONF_PARAM_MAX_SPEED);
/* Full step speed settings dSPIN_CONF_PARAM_FS_SPD in steps/s, range 7.63 to 15625 steps/s */
dSPIN_RegsStruct.FS_SPD = FSSpd_Steps_to_Par(dSPIN_CONF_PARAM_FS_SPD);
/* Minimum speed settings to dSPIN_CONF_PARAM_MIN_SPEED in steps/s, range 0 to 976.3 steps/s */
dSPIN_RegsStruct.MIN_SPEED = dSPIN_CONF_PARAM_LSPD_BIT | MinSpd_Steps_to_Par(dSPIN_CONF_PARAM_MIN_SPEED);
/* Acceleration duty cycle (torque) settings to dSPIN_CONF_PARAM_KVAL_ACC in %, range 0 to 99.6% */
dSPIN_RegsStruct.KVAL_ACC = Kval_Perc_to_Par(dSPIN_CONF_PARAM_KVAL_ACC);
/* Deceleration duty cycle (torque) settings to dSPIN_CONF_PARAM_KVAL_DEC in %, range 0 to 99.6% */
dSPIN_RegsStruct.KVAL_DEC = Kval_Perc_to_Par(dSPIN_CONF_PARAM_KVAL_DEC);
/* Run duty cycle (torque) settings to dSPIN_CONF_PARAM_KVAL_RUN in %, range 0 to 99.6% */
dSPIN_RegsStruct.KVAL_RUN = Kval_Perc_to_Par(dSPIN_CONF_PARAM_KVAL_RUN);
/* Hold duty cycle (torque) settings to dSPIN_CONF_PARAM_KVAL_HOLD in %, range 0 to 99.6% */
dSPIN_RegsStruct.KVAL_HOLD = Kval_Perc_to_Par(dSPIN_CONF_PARAM_KVAL_HOLD);
/* Thermal compensation param settings to dSPIN_CONF_PARAM_K_THERM, range 1 to 1.46875 */
dSPIN_RegsStruct.K_THERM = KTherm_to_Par(dSPIN_CONF_PARAM_K_THERM);
/* Intersect speed settings for BEMF compensation to dSPIN_CONF_PARAM_INT_SPD in steps/s, range 0 to 3906 steps/s */
dSPIN_RegsStruct.INT_SPD = IntSpd_Steps_to_Par(dSPIN_CONF_PARAM_INT_SPD);
/* BEMF start slope settings for BEMF compensation to dSPIN_CONF_PARAM_ST_SLP in % step/s, range 0 to 0.4% s/step */
dSPIN_RegsStruct.ST_SLP = BEMF_Slope_Perc_to_Par(dSPIN_CONF_PARAM_ST_SLP);
/* BEMF final acc slope settings for BEMF compensation to dSPIN_CONF_PARAM_FN_SLP_ACC in% step/s, range 0 to 0.4% s/step */
dSPIN_RegsStruct.FN_SLP_ACC = BEMF_Slope_Perc_to_Par(dSPIN_CONF_PARAM_FN_SLP_ACC);
/* BEMF final dec slope settings for BEMF compensation to dSPIN_CONF_PARAM_FN_SLP_DEC in% step/s, range 0 to 0.4% s/step */
dSPIN_RegsStruct.FN_SLP_DEC = BEMF_Slope_Perc_to_Par(dSPIN_CONF_PARAM_FN_SLP_DEC);
/* Stall threshold settings to dSPIN_CONF_PARAM_STALL_TH in mA, range 31.25 to 4000mA */
dSPIN_RegsStruct.STALL_TH = StallTh_to_Par(dSPIN_CONF_PARAM_STALL_TH);
/* Set Config register according to config parameters */
/* clock setting, switch hard stop interrupt mode, */
/* supply voltage compensation, overcurrent shutdown */
/* slew-rate , PWM frequency */
dSPIN_RegsStruct.CONFIG = (uint16_t)dSPIN_CONF_PARAM_CLOCK_SETTING |
(uint16_t)dSPIN_CONF_PARAM_SW_MODE |
(uint16_t)dSPIN_CONF_PARAM_VS_COMP |
(uint16_t)dSPIN_CONF_PARAM_OC_SD |
(uint16_t)dSPIN_CONF_PARAM_SR |
(uint16_t)dSPIN_CONF_PARAM_PWM_DIV |
(uint16_t)dSPIN_CONF_PARAM_PWM_MUL;
/* Overcurrent threshold settings to dSPIN_CONF_PARAM_OCD_TH in mA */
dSPIN_RegsStruct.OCD_TH = dSPIN_CONF_PARAM_OCD_TH;
/* Alarm settings to dSPIN_CONF_PARAM_ALARM_EN */
dSPIN_RegsStruct.ALARM_EN = dSPIN_CONF_PARAM_ALARM_EN;
/* Step mode and sycn mode settings via dSPIN_CONF_PARAM_SYNC_MODE and dSPIN_CONF_PARAM_STEP_MODE */
dSPIN_RegsStruct.STEP_MODE = (uint8_t)dSPIN_CONF_PARAM_SYNC_MODE |
(uint8_t)dSPIN_CONF_PARAM_STEP_MODE;
/* Program all dSPIN registers */
dSPIN_Registers_Set(&dSPIN_RegsStruct);
dSPIN_Go_Home(); // apply the idle current
}
static void conf_irq_prios(void)
{
NVIC_SetPriorityGrouping(0); // 0 bits for sub-priority
// SysTick - highest prio, used for timeouts
NVIC_SetPriority(SysTick_IRQn, 0); // SysTick - for timeouts
NVIC_SetPriority(USART2_IRQn, 6); // USART - datalink
// NVIC_SetPriority(USART2_IRQn, 6); // USART - datalink
NVIC_SetPriority(USART1_IRQn, 10); // USART - debug
// FIXME check , probably bad ports
}
/**
* @brief Configure SW subsystems
*/
static void conf_subsystems(void)
{
// task scheduler subsystem
timebase_init(15, 15);
// event and task queues
queues_init(15, 15);
// initialize SBMP for ESP8266
dlnk_init();
}
@ -72,31 +133,17 @@ static void conf_gpio(void)
{
GPIO_InitTypeDef gpio_cnf;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
// Red LED
gpio_cnf.GPIO_Pin = GPIO_Pin_13;
gpio_cnf.GPIO_Mode = GPIO_Mode_Out_PP;
gpio_cnf.GPIO_Speed = GPIO_Speed_10MHz;
GPIO_Init(GPIOC, &gpio_cnf);
// colorled | sonar trig
gpio_cnf.GPIO_Pin = GPIO_Pin_12|GPIO_Pin_13;
gpio_cnf.GPIO_Mode = GPIO_Mode_Out_PP;
gpio_cnf.GPIO_Speed = GPIO_Speed_10MHz;
GPIO_Init(GPIOB, &gpio_cnf);
gpio_cnf.GPIO_Pin = GPIO_Pin_14;
gpio_cnf.GPIO_Mode = GPIO_Mode_IPD;
gpio_cnf.GPIO_Speed = GPIO_Speed_10MHz;
GPIO_Init(GPIOB, &gpio_cnf);
// A0-sonar trig | UART2 - debug, UART1 - esp
gpio_cnf.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_3 | GPIO_Pin_9 | GPIO_Pin_10;
// UART1
GPIO_StructInit(&gpio_cnf);
gpio_cnf.GPIO_Pin = GPIO_Pin_9;
gpio_cnf.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_Init(GPIOA, &gpio_cnf);
gpio_cnf.GPIO_Pin = GPIO_Pin_10;
gpio_cnf.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(GPIOA, &gpio_cnf);
}
@ -106,12 +153,20 @@ static void conf_gpio(void)
static void conf_usart(void)
{
// Debug interface, working as stdout/stderr.
debug_iface = usart_iface_init(USART2, 115200, 256, 256);
// debug_iface = usart_iface_init(USART1, 115200, 256, 256);
// setvbuf(stdout, NULL, _IONBF, 0);
// setvbuf(stderr, NULL, _IONBF, 0);
// debug_iface->file = stdout;
// dev null
debug_iface = noop_iface_init();
setvbuf(stdout, NULL, _IONBF, 0);
setvbuf(stderr, NULL, _IONBF, 0);
debug_iface->file = stdout;
// Datalink iface
// we have only one UART available - will be used for ESP8266
data_iface = usart_iface_init(USART1, 460800, 256, 256);
}

129
project/main.c
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@ -1,69 +1,136 @@
#include "main.h"
#include "hw_init.h"
#include "com/datalink.h"
#include "com/debug.h"
#include "com/com_fileio.h"
#include "com/com_iface.h"
#include "bus/event_queue.h"
#include "bus/event_handler.h"
#include "utils/timebase.h"
#include "utils/debounce.h"
#include "colorled.h"
#include "display.h"
#include <math.h>
#include <sbmp.h>
void poll_subsystems(void)
#include "dspin.h"
#include "blinky.h"
// 7.5deg motor -> 48 full steps. We use 128 step mode -> 6144 = full circle
#define STEPS_360 6144
static void poll_subsystems(void);
static void conf_buttons(void);
int main(void)
{
// poll serial buffers (runs callback)
com_poll(debug_iface);
com_poll(data_iface);
hw_init();
conf_buttons();
// run queued tasks
tq_poll();
banner("*** STM32F105 stepper motor demo ***");
banner_info("(c) Ondrej Hruska, 2016");
banner_info("Katedra mereni K338, CVUT FEL");
// handle queued events
Event evt;
// Intro animation
led_blink(LED_SPARE, 200);
delay_ms(100);
led_blink(LED_ERROR, 200);
delay_ms(100);
led_blink(LED_BUSY, 200);
delay_ms(100);
led_toggle(LED_READY);
until_timeout(2) { // take 2 ms max
if (eq_take(&evt)) {
run_event_handler(&evt);
} else {
break;
// Green LED starts flashing...
ms_time_t t = ms_now();
while (1) {
poll_subsystems();
// blink to indicate we're working OK
if (ms_loop_elapsed(&t, 500)) {
led_toggle(LED_READY);
}
}
}
void blinky(void* arg)
void left_btn_click(void)
{
(void)arg;
GPIOC->ODR ^= 1<<13;
led_blink(LED_BUSY, 500);
dSPIN_Move(FWD, STEPS_360/4);
}
void right_btn_click(void)
{
led_blink(LED_ERROR, 250);
dSPIN_Move(REV, STEPS_360/4);
}
int main(void)
void dlnk_rx(SBMP_Datagram *dg)
{
hw_init();
display_init();
banner("*** STM32F103K8T6 RGB LED demo ***");
banner_info("(c) Ondrej Hruska, 2016");
banner_info("Katedra mereni K338, CVUT FEL");
(void)dg;
PayloadParser pp = pp_start(dg->payload, dg->length);
add_periodic_task(blinky, NULL, 500, false);
switch (dg->type) {
case DG_MOTOR_HOME:
dSPIN_Go_Home();
break;
while (1) {
poll_subsystems();
case DG_MOTOR_GOTO:;
int32_t pos = pp_i32(&pp);
dSPIN_Go_To(pos);
break;
}
}
void dlnk_rx(SBMP_Datagram *dg)
static void conf_buttons(void)
{
dbg("Rx dg type %d", dg->type);
debounce_init(2);
// setup debouncer
debo_init_t debo = {};
debo.debo_time = 10;
debo.invert = true;
// button A
debo.GPIOx = BUTTON_A_Port;
debo.pin = BUTTON_A_Pin;
debo.rising_cb = left_btn_click;
debo_register_pin(&debo);
// Button B
debo.GPIOx = BUTTON_B_Port;
debo.pin = BUTTON_B_Pin;
debo.rising_cb = right_btn_click;
debo_register_pin(&debo);
add_periodic_task(debo_periodic_task, NULL, 10, true);
}
static void poll_subsystems(void)
{
// poll serial buffers (runs callback)
com_poll(debug_iface);
com_poll(data_iface);
// run queued tasks
tq_poll();
// handle queued events
Event evt;
until_timeout(2) { // take 2 ms max
if (eq_take(&evt)) {
run_event_handler(&evt);
} else {
break;
}
}
}

321
project/stm32f10x_it.c
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@ -24,6 +24,9 @@
/* Includes ------------------------------------------------------------------*/
#include "stm32f10x_it.h"
#include "utils/timebase.h"
#include "main.h"
#include "dspin.h"
#include "dspin_config.h"
/** @addtogroup STM32F10x_StdPeriph_Template
* @{
@ -57,10 +60,9 @@ void NMI_Handler(void)
void __attribute__((noreturn))
HardFault_Handler(void)
{
/* Go to infinite loop when Hard Fault exception occurs */
while (1)
{
}
/* Go to infinite loop when Hard Fault exception occurs */
while (1) {
}
}
/**
@ -71,10 +73,9 @@ HardFault_Handler(void)
void __attribute__((noreturn))
MemManage_Handler(void)
{
/* Go to infinite loop when Memory Manage exception occurs */
while (1)
{
}
/* Go to infinite loop when Memory Manage exception occurs */
while (1) {
}
}
/**
@ -85,10 +86,9 @@ MemManage_Handler(void)
void __attribute__((noreturn))
BusFault_Handler(void)
{
/* Go to infinite loop when Bus Fault exception occurs */
while (1)
{
}
/* Go to infinite loop when Bus Fault exception occurs */
while (1) {
}
}
/**
@ -99,10 +99,9 @@ BusFault_Handler(void)
void __attribute__((noreturn))
UsageFault_Handler(void)
{
/* Go to infinite loop when Usage Fault exception occurs */
while (1)
{
}
/* Go to infinite loop when Usage Fault exception occurs */
while (1) {
}
}
/**
@ -149,14 +148,298 @@ void SysTick_Handler(void)
/* file (startup_stm32f10x_xx.s). */
/******************************************************************************/
/******************************************************************************/
/* STM32F10x Peripherals Interrupt Handlers */
/******************************************************************************/
/**
* @brief This function handles RCC interrupt request.
* @param None
* @retval None
*/
void RCC_IRQHandler(void)
{
if (RCC_GetITStatus(RCC_IT_HSERDY) != RESET) {
/* Clear HSERDY interrupt pending bit */
RCC_ClearITPendingBit(RCC_IT_HSERDY);
/* Check if the HSE clock is still available */
if (RCC_GetFlagStatus(RCC_FLAG_HSERDY) != RESET) {
#ifdef SYSCLK_HSE
/* Select HSE as system clock source */
RCC_SYSCLKConfig(RCC_SYSCLKSource_HSE);
#else
/* Enable PLL: once the PLL is ready the PLLRDY interrupt is generated */
RCC_PLLCmd(ENABLE);
#endif /* SYSCLK_HSE */
}
}
if (RCC_GetITStatus(RCC_IT_PLLRDY) != RESET) {
/* Clear PLLRDY interrupt pending bit */
RCC_ClearITPendingBit(RCC_IT_PLLRDY);
/* Check if the PLL is still locked */
if (RCC_GetFlagStatus(RCC_FLAG_PLLRDY) != RESET) {
/* Select PLL as system clock source */
RCC_SYSCLKConfig(RCC_SYSCLKSource_PLLCLK);
}
}
}
#if defined(STEVAL_PCC009V2)
/**
* @brief This function handles External interrupt Line 2 request.
* @param None
* @retval None
*/
void EXTI2_IRQHandler(void)
{
if (EXTI_GetITStatus(EXTI_Line2) != RESET) {
/* Clear the EXTI line 2 pending bit */
EXTI_ClearITPendingBit(EXTI_Line2);
if (daisy_chain != 0) {
if (number_of_slaves > 1) {
cmdArray[DEVICE_1] = dSPIN_SOFT_HIZ;
cmdArray[DEVICE_2] = dSPIN_SOFT_HIZ;
dSPIN_All_Slaves_Send_Command(number_of_slaves, cmdArray, 0);
} else {
/* Wait just in case the motor is accelerating or decelerating */
while (dSPIN_Busy_HW());
dSPIN_All_Slaves_Get_Status(number_of_slaves, rspArray);
dSPIN_rxdata = rspArray[DEVICE_1] & dSPIN_STATUS_MOT_STATUS;
if (dSPIN_rxdata == dSPIN_STATUS_MOT_STATUS_CONST_SPD) {
cmdArray[DEVICE_1] = dSPIN_SOFT_STOP;
dSPIN_All_Slaves_Send_Command(number_of_slaves, cmdArray, 0);
} else if (dSPIN_rxdata == dSPIN_STATUS_MOT_STATUS_STOPPED) {
dSPIN_One_Slave_Run(DEVICE_1, number_of_slaves, FWD, Speed_Steps_to_Par(MAX_SPEED[DEVICE_1]) >> 2);
} else {
assert_param(0);
}
}
} else {
/* Wait just in case the motor is accelerating or decelerating */
while (dSPIN_Busy_HW());
dSPIN_rxdata = dSPIN_Get_Status() & dSPIN_STATUS_MOT_STATUS;
if (dSPIN_rxdata == dSPIN_STATUS_MOT_STATUS_CONST_SPD) {
dSPIN_Soft_HiZ();
} else if (dSPIN_rxdata == dSPIN_STATUS_MOT_STATUS_STOPPED) {
dSPIN_Run(FWD, Speed_Steps_to_Par(((uint16_t)(dSPIN_CONF_PARAM_MAX_SPEED)) >> 2));
} else {
assert_param(0);
}
}
}
}
/**
* @brief This function handles External interrupt Line 3 request.
* @param None
* @retval None
*/
void EXTI3_IRQHandler(void)
{
if (EXTI_GetITStatus(EXTI_Line3) != RESET) {
/* Clear the EXTI line 3 pending bit */
EXTI_ClearITPendingBit(EXTI_Line3);
/* Wait until the motor is not busy */
while (dSPIN_Busy_HW());
if (daisy_chain != 0) {
if (number_of_slaves > 1) {
dSPIN_One_Slave_Run(DEVICE_2, number_of_slaves, FWD, Speed_Steps_to_Par(MAX_SPEED[DEVICE_2]));
} else {
/* Read current speed parameter from dSPIN */
cmdArray[DEVICE_1] = dSPIN_SPEED;
dSPIN_All_Slaves_Get_Param(number_of_slaves, cmdArray, rspArray);
/* Halve the motor speed */
dSPIN_One_Slave_Run(DEVICE_1, number_of_slaves, FWD, rspArray[DEVICE_1] >> 1);
}
} else {
/* Read current speed parameter from dSPIN */
dSPIN_rxdata = dSPIN_Get_Param(dSPIN_SPEED);
/* Halve the motor speed */
dSPIN_Run(FWD, dSPIN_rxdata >> 1);
}
}
}
/**
* @brief This function handles External lines 9 to 5 interrupt request.
* @param None
* @retval None
*/
void EXTI9_5_IRQHandler(void)
{
if (EXTI_GetITStatus(EXTI_Line6) != RESET) {
/* Clear the EXTI line 6 pending bit */
EXTI_ClearITPendingBit(EXTI_Line6);
/* Wait until the motor is not busy */
while (dSPIN_Busy_HW());
if (daisy_chain != 0) {
if (number_of_slaves > 1) {
dSPIN_One_Slave_Run(DEVICE_1, number_of_slaves, FWD, Speed_Steps_to_Par(MAX_SPEED[DEVICE_1]));
} else {
/* Read current speed parameter from dSPIN */
cmdArray[DEVICE_1] = dSPIN_SPEED;
dSPIN_All_Slaves_Get_Param(number_of_slaves, cmdArray, rspArray);
/* Double the motor speed */
dSPIN_One_Slave_Run(DEVICE_1, number_of_slaves, FWD, rspArray[DEVICE_1] << 1);
}
} else {
/* Read current speed parameter from dSPIN */
dSPIN_rxdata = dSPIN_Get_Param(dSPIN_SPEED);
/* Double the motor speed */
dSPIN_Run(FWD, dSPIN_rxdata << 1);
}
}
}
/**
* @brief This function handles External lines 15 to 10 interrupt request.
* @param None
* @retval None
*/
void EXTI15_10_IRQHandler(void)
{
if (EXTI_GetITStatus(EXTI_Line10) != RESET) {
/* Clear the EXTI line 10 pending bit */
EXTI_ClearITPendingBit(EXTI_Line10);
if (GPIO_ReadInputDataBit(dSPIN_BUSY_Port, dSPIN_BUSY_Pin) == Bit_RESET) {
GPIO_SetBits(POWER_LED_Port, POWER_LED_Pin);
} else {
GPIO_ResetBits(POWER_LED_Port, POWER_LED_Pin);
}
}
if (EXTI_GetITStatus(EXTI_Line11) != RESET) {
/* Clear the EXTI line 11 pending bit */
EXTI_ClearITPendingBit(EXTI_Line11);
if (GPIO_ReadInputDataBit(dSPIN_FLAG_Port, dSPIN_FLAG_Pin) == Bit_RESET) {
GPIO_SetBits(STATUS_LED_Port, STATUS_LED_Pin);
} else {
GPIO_ResetBits(STATUS_LED_Port, STATUS_LED_Pin);
}
}
}
#endif /* defined(STEVAL_PCC009V2) */
#if defined(ST_DSPIN_6470H_DISCOVERY)
/**
* @brief This function handles External interrupt Line 0 request.
* @param None
* @retval None
*/
void EXTI0_IRQHandler(void)
{
if (EXTI_GetITStatus(EXTI_Line0) != RESET) {
/* Clear the EXTI line 0 pending bit */
EXTI_ClearITPendingBit(EXTI_Line0);
GPIO_ResetBits(dSPIN_SW_Port, dSPIN_SW_Pin);
dSPIN_Delay(0x00010000);
GPIO_SetBits(dSPIN_SW_Port, dSPIN_SW_Pin);
}
}
/**
* @brief This function handles External interrupt Line 1 request.
* @param None
* @retval None
*/
void EXTI1_IRQHandler(void)
{
uint32_t dSPIN_rxdata;
if (EXTI_GetITStatus(EXTI_Line1) != RESET) {
/* Clear the EXTI line 1 pending bit */
EXTI_ClearITPendingBit(EXTI_Line1);
/* Wait just in case the motor is accelerating or decelerating */
while (dSPIN_Busy_HW());
dSPIN_rxdata = dSPIN_Get_Status() & dSPIN_STATUS_MOT_STATUS;
/* Accelerate if the motor is already running at constant speed */
if (dSPIN_rxdata == dSPIN_STATUS_MOT_STATUS_CONST_SPD) {
/* Read current speed parameter from dSPIN */
dSPIN_rxdata = dSPIN_Get_Param(dSPIN_SPEED);
/* Double the motor speed */
dSPIN_Run(FWD, dSPIN_rxdata << 1);
}
/* Start the motor */
else if (dSPIN_rxdata == dSPIN_STATUS_MOT_STATUS_STOPPED) {
dSPIN_Run(FWD, Speed_Steps_to_Par(((uint16_t)(dSPIN_CONF_PARAM_MAX_SPEED)) >> 2));
/* Warns the user that the motor is running by switching ON a LED */
GPIO_SetBits(LED_SPARE_Port, LED_SPARE_Pin);
}
/* Unexpected motor status */
else {
assert_param(0);
}
}
}
/**
* @brief This function handles PPP interrupt request.
* @brief This function handles External interrupt Line 2 request.
* @param None
* @retval None
*/
/*void PPP_IRQHandler(void)
void EXTI2_IRQHandler(void)
{
}*/
uint32_t dSPIN_rxdata;
if (EXTI_GetITStatus(EXTI_Line2) != RESET) {
/* Clear the EXTI line 2 pending bit */
EXTI_ClearITPendingBit(EXTI_Line2);
/* Wait just in case the motor is accelerating or decelerating */
while (dSPIN_Busy_HW());
dSPIN_rxdata = dSPIN_Get_Status() & dSPIN_STATUS_MOT_STATUS;
/* Decelerate if the motor is already running at constant speed */
if (dSPIN_rxdata == dSPIN_STATUS_MOT_STATUS_CONST_SPD) {
/* Read current speed parameter from dSPIN */
dSPIN_rxdata = dSPIN_Get_Param(dSPIN_SPEED);
if ((dSPIN_rxdata >> 1) > Speed_Steps_to_Par(dSPIN_CONF_PARAM_MIN_SPEED)) {
/* Halve the motor speed */
dSPIN_Run(FWD, dSPIN_rxdata >> 1);
} else {
/* Disable the power bridges after a smooth stop */
dSPIN_Soft_HiZ();
/* Warns the user that the motor is stopped by switching off a LED */
GPIO_ResetBits(LED_SPARE_Port, LED_SPARE_Pin);
}
}
/* Unexpected motor status */
else if (dSPIN_rxdata != dSPIN_STATUS_MOT_STATUS_STOPPED) {
assert_param(0);
}
}
}
/**
* @brief This function handles External lines 15 to 10 interrupt request.
* @param None
* @retval None
*/
void EXTI15_10_IRQHandler(void)
{
if (EXTI_GetITStatus(EXTI_Line10) != RESET) {
/* Clear the EXTI line 10 pending bit */
EXTI_ClearITPendingBit(EXTI_Line10);
if (GPIO_ReadInputDataBit(dSPIN_FLAG_Port, dSPIN_FLAG_Pin) == Bit_RESET) {
GPIO_SetBits(STATUS_LED_Port, STATUS_LED_Pin);
} else {
GPIO_ResetBits(STATUS_LED_Port, STATUS_LED_Pin);
}
}
if (EXTI_GetITStatus(EXTI_Line11) != RESET) {
/* Clear the EXTI line 11 pending bit */
EXTI_ClearITPendingBit(EXTI_Line11);
if (GPIO_ReadInputDataBit(dSPIN_BUSY_Port, dSPIN_BUSY_Pin) == Bit_RESET) {
GPIO_SetBits(LED_BUSY_Port, LED_BUSY_Pin);
} else {
GPIO_ResetBits(LED_BUSY_Port, LED_BUSY_Pin);
}
}
}
#endif /* defined(ST_DSPIN_6470H_DISCOVERY) */
/**
* @}

14
project/utils/debounce.c
Unescape View File

@ -3,6 +3,8 @@
#include "timebase.h"
#include "malloc_safe.h"
#include "com/debug.h"
// ms debounce time
#define DEF_DEBO_TIME 20
@ -90,8 +92,10 @@ debo_id_t debo_register_pin(debo_init_t *init)
/** Callback that must be called every 1 ms */
void debo_periodic_task(void)
void debo_periodic_task(void *arg)
{
(void)arg;
for (size_t i = 0; i < debo_slot_count; i++) {
debo_slot_t *slot = &debo_slots[i];
if (slot->id == DEBO_PIN_NONE) continue; // unused
@ -102,20 +106,20 @@ void debo_periodic_task(void)
if (slot->state != state) {
if (state == 0) {
// falling
if (slot->counter_0++ == slot->debo_time) {
if (slot->counter_0++ >= slot->debo_time) {
slot->state = 0;
if (slot->falling_cb != NULL) {
slot->falling_cb();
}
}
} else {
// rising
if (slot->counter_1++ == slot->debo_time) {
if (slot->counter_1++ >= slot->debo_time) {
slot->state = 1;
if (slot->rising_cb != NULL) {
slot->rising_cb();
}

2
project/utils/debounce.h
Unescape View File

@ -24,7 +24,7 @@ void debounce_init(size_t pin_count);
/**
* @brief 1 ms periodic callback for debouncer. Must be registered to timebase.
*/
void debo_periodic_task(void);
void debo_periodic_task(void*);
typedef struct {

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