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