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Commit 21f20e12 authored by Werner Sembach's avatar Werner Sembach
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README.md 0 → 100644
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inc/ADC.h 0 → 100755
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#pragma once
#include <stdint.h>
#ifdef __cplusplus
extern "C" {
#endif
void adc_init();
uint16_t adc_get(uint8_t channel);
#ifdef __cplusplus
}
#endif
inc/DCMotor.h 0 → 100755
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#pragma once
#include <stdint.h>
#define DC_LEFT 0
#define DC_RIGHT 1
#ifdef __cplusplus
extern "C" {
#endif
void dc_init();
void dc_set(uint8_t direction, uint8_t speed);
#ifdef __cplusplus
}
#endif
inc/ExternButton.h 0 → 100755
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#pragma once
#include <stdint.h>
#define BUTTON_PUSHED 1
#define BUTTON_RELEASED 0
#ifdef __cplusplus
extern "C" {
#endif
void button_init();
int button_get();
#ifdef __cplusplus
}
#endif
inc/ServoMotor.h 0 → 100755
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#pragma once
#include <stdint.h>
#define SERVO_0 0
#define SERVO_1 1
#define SERVO_2 2
#define SERVO_3 3
#ifdef __cplusplus
extern "C" {
#endif
void servo_init();
void servo_set(uint8_t servo, uint8_t position);
#ifdef __cplusplus
}
#endif
src/ADC.cpp 0 → 100755
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#include "ADC.h"
#include <libopencm3/stm32/adc.h>
#include <libopencm3/stm32/gpio.h>
#include <libopencm3/stm32/rcc.h>
extern "C" void adc_init() {
rcc_clock_setup_hse_3v3(&rcc_hse_8mhz_3v3[RCC_CLOCK_3V3_168MHZ]);
rcc_periph_clock_enable(RCC_ADC1);
gpio_mode_setup(GPIOC, GPIO_MODE_ANALOG, GPIO_PUPD_NONE, GPIO1);
adc_power_off(ADC1);
adc_disable_scan_mode(ADC1);
adc_set_sample_time_on_all_channels(ADC1, ADC_SMPR_SMP_3CYC);
adc_power_on(ADC1);
}
extern "C" uint16_t adc_get(uint8_t channel) {
uint8_t channel_array[16];
channel_array[0] = channel;
adc_set_regular_sequence(ADC1, 1, channel_array);
adc_start_conversion_regular(ADC1);
while (!adc_eoc(ADC1));
uint16_t reg16 = adc_read_regular(ADC1);
return reg16;
}
src/DCMotor.cpp 0 → 100755
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#include "DCMotor.h"
#include <cyg/hal/hal_arch.h>
#include <libopencm3/cm3/common.h>
#include <libopencm3/stm32/timer.h>
#include <libopencm3/stm32/f4/rcc.h>
#include <libopencm3/stm32/f4/gpio.h>
#define GPIO_B0 CYGHWR_HAL_STM32_PIN_ALTFN_OUT(B, 0, 2, PUSHPULL, NONE, LOW)
#define GPIO_B1 CYGHWR_HAL_STM32_PIN_ALTFN_OUT(B, 1, 2, PUSHPULL, NONE, LOW)
// The timer ticks per microsecond. Can be adjusted by measuring PWM on an oscilloscope.
#define PWM_TIMER_TICKS_PER_MICROSECOND 86.0
// PWM Frequency, default is 62 kHz
#define PWM_FREQUENCY_kHz 8
// PWM Period, set automatically by the options above
#define PWM_PERIOD ((1.0/PWM_FREQUENCY_kHz) * 1000.0 * PWM_TIMER_TICKS_PER_MICROSECOND / 2)
#define GPIO_C4 CYGHWR_HAL_STM32_PIN_OUT(C, 4, PUSHPULL, NONE, LOW)
#define GPIO_C5 CYGHWR_HAL_STM32_PIN_OUT(C, 5, PUSHPULL, NONE, LOW)
static void pwm_init(uint32_t timer, uint8_t channel, uint32_t period) {
// Function stolen from somewhere on stackoverflow
// Convert channel number to internal rep
enum tim_oc_id chan;
switch (channel) {
case 1:
chan = TIM_OC1;
break;
case 2:
chan = TIM_OC2;
break;
case 3:
chan = TIM_OC3;
break;
case 4:
chan = TIM_OC4;
break;
default:
chan = TIM_OC4;
break;
}
// Timer Base Configuration
// timer_reset(timer);
// clock division, Center-aligned mode selection, TIMx_CR1 DIR: Direction
timer_set_mode(timer, TIM_CR1_CKD_CK_INT, TIM_CR1_CMS_EDGE, TIM_CR1_DIR_UP);
timer_continuous_mode(timer); // Disables TIM_CR1_OPM (One pulse mode)
timer_set_period(timer, period); // Sets TIMx_ARR
timer_set_prescaler(timer, 1); // Adjusts speed of timer
timer_set_clock_division(timer, 0); // Adjusts speed of timer
timer_set_master_mode(timer, TIM_CR2_MMS_UPDATE); // Master Mode Selection
timer_enable_preload(timer); // Set ARPE bit in TIMx_CR1
// Channel-specific settings
timer_set_oc_value(timer, chan, 0); // sets TIMx_CCRx
timer_set_oc_mode(timer, chan, TIM_OCM_PWM1); // Sets PWM Mode 1
timer_enable_oc_preload(timer, chan); // Sets OCxPE in TIMx_CCMRx
timer_set_oc_polarity_high(timer, chan); // set desired polarity in TIMx_CCER
timer_enable_oc_output(timer, chan); // set CCxE bit in TIMx_CCER (enable output)
// Initialize all counters in the register
switch (timer) {
case TIM1:
TIM1_EGR |= TIM_EGR_UG;
break;
case TIM2:
TIM2_EGR |= TIM_EGR_UG;
break;
case TIM3:
TIM3_EGR |= TIM_EGR_UG;
break;
case TIM4:
TIM4_EGR |= TIM_EGR_UG;
break;
case TIM5:
TIM5_EGR |= TIM_EGR_UG;
break;
case TIM6:
TIM6_EGR |= TIM_EGR_UG;
break;
case TIM7:
TIM7_EGR |= TIM_EGR_UG;
break;
case TIM8:
TIM8_EGR |= TIM_EGR_UG;
break;
default:
break;
}
}
static void pwm_setup(void) {
rcc_periph_clock_enable(RCC_TIM3);
pwm_init(TIM3, 1, PWM_PERIOD);
pwm_init(TIM3, 2, PWM_PERIOD);
pwm_init(TIM3, 3, PWM_PERIOD);
pwm_init(TIM3, 4, PWM_PERIOD);
// PWM channels = PB0, PB1
// AHB1-bus ? _ gpIO Port D ENable
rcc_peripheral_enable_clock(&RCC_AHB1ENR, RCC_AHB1ENR_IOPBEN);
// AF = alternate function
gpio_mode_setup(GPIOB, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO0 | GPIO1);
// AF2 = TIM3_CH1..4
gpio_set_af(GPIOB, GPIO_AF2, GPIO0 | GPIO1);
timer_enable_counter(TIM3);
}
void dc_init() {
CYGHWR_HAL_STM32_GPIO_SET(GPIO_C4);
CYGHWR_HAL_STM32_GPIO_SET(GPIO_C5);
CYGHWR_HAL_STM32_GPIO_OUT(GPIO_C4, 1);
CYGHWR_HAL_STM32_GPIO_OUT(GPIO_C5, 1);
pwm_setup();
CYGHWR_HAL_STM32_GPIO_SET(GPIO_B0);
CYGHWR_HAL_STM32_GPIO_SET(GPIO_B1);
}
void dc_set(uint8_t direction, uint8_t speed){
if (direction == DC_RIGHT) {
timer_set_oc_value(TIM3, TIM_OC4, 0);
timer_set_oc_value(TIM3, TIM_OC3, speed * PWM_PERIOD / 255);
}
else if (direction == DC_LEFT) {
timer_set_oc_value(TIM3, TIM_OC3, 0);
timer_set_oc_value(TIM3, TIM_OC4, speed * PWM_PERIOD / 255);
}
}
src/ExternButton.cpp 0 → 100755
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#include "ExternButton.h"
#include <cyg/hal/hal_arch.h>
extern "C" void button_init() {
CYGHWR_HAL_STM32_GPIO_SET(CYGHWR_HAL_STM32_PIN_IN(D, 11, PULLUP));
}
extern "C" int button_get() {
int button;
CYGHWR_HAL_STM32_GPIO_IN(CYGHWR_HAL_STM32_PIN_IN(D, 11, PULLUP), &button);
return !button;
}
src/ServoMotor.cpp 0 → 100755
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View file @ 21f20e12
#include "ServoMotor.h"
#include <cyg/hal/hal_arch.h>
#include <libopencm3/cm3/common.h>
#include <libopencm3/stm32/timer.h>
#include <libopencm3/stm32/f4/rcc.h>
#include <libopencm3/stm32/f4/gpio.h>
#define GPIO_D12 CYGHWR_HAL_STM32_PIN_ALTFN_OUT(D,12, 2, PUSHPULL,NONE,LOW)
#define GPIO_D13 CYGHWR_HAL_STM32_PIN_ALTFN_OUT(D,13, 2, PUSHPULL,NONE,LOW)
#define GPIO_D14 CYGHWR_HAL_STM32_PIN_ALTFN_OUT(D,14, 2, PUSHPULL,NONE,LOW)
#define GPIO_D15 CYGHWR_HAL_STM32_PIN_ALTFN_OUT(D,15, 2, PUSHPULL,NONE,LOW)
// The timer ticks per microsecond. Can be adjusted by measuring PWM on an oscilloscope.
#define PWM_TIMER_TICKS_PER_MICROSECOND 86
// PWM Period. Must be more then maximum high time.
#define PWM_PERIOD (3000 * PWM_TIMER_TICKS_PER_MICROSECOND)
static void pwm_init(uint32_t timer, uint8_t channel, uint32_t period) {
// Function stolen from somewhere on stackoverflow
// Convert channel number to internal rep
enum tim_oc_id chan;
switch (channel) {
case 1:
chan = TIM_OC1;
break;
case 2:
chan = TIM_OC2;
break;
case 3:
chan = TIM_OC3;
break;
case 4:
chan = TIM_OC4;
break;
default:
chan = TIM_OC4;
break;
}
// Timer Base Configuration
// timer_reset(timer);
// clock division, Center-aligned mode selection, TIMx_CR1 DIR: Direction
timer_set_mode(timer, TIM_CR1_CKD_CK_INT, TIM_CR1_CMS_EDGE, TIM_CR1_DIR_UP);
timer_continuous_mode(timer); // Disables TIM_CR1_OPM (One pulse mode)
timer_set_period(timer, period); // Sets TIMx_ARR
timer_set_prescaler(timer, 1); // Adjusts speed of timer
timer_set_clock_division(timer, 0); // Adjusts speed of timer
timer_set_master_mode(timer, TIM_CR2_MMS_UPDATE); // Master Mode Selection
timer_enable_preload(timer); // Set ARPE bit in TIMx_CR1
// Channel-specific settings
timer_set_oc_value(timer, chan, 0); // sets TIMx_CCRx
timer_set_oc_mode(timer, chan, TIM_OCM_PWM1); // Sets PWM Mode 1
timer_enable_oc_preload(timer, chan); // Sets OCxPE in TIMx_CCMRx
timer_set_oc_polarity_high(timer, chan); // set desired polarity in TIMx_CCER
timer_enable_oc_output(timer, chan); // set CCxE bit in TIMx_CCER (enable output)
// Initialize all counters in the register
switch (timer) {
case TIM1:
TIM1_EGR |= TIM_EGR_UG;
break;
case TIM2:
TIM2_EGR |= TIM_EGR_UG;
break;
case TIM3:
TIM3_EGR |= TIM_EGR_UG;
break;
case TIM4:
TIM4_EGR |= TIM_EGR_UG;
break;
case TIM5:
TIM5_EGR |= TIM_EGR_UG;
break;
case TIM6:
TIM6_EGR |= TIM_EGR_UG;
break;
case TIM7:
TIM7_EGR |= TIM_EGR_UG;
break;
case TIM8:
TIM8_EGR |= TIM_EGR_UG;
break;
}
}
static void pwm_setup(void) {
rcc_periph_clock_enable(RCC_TIM4);
pwm_init(TIM4, 1, PWM_PERIOD);
pwm_init(TIM4, 2, PWM_PERIOD);
pwm_init(TIM4, 3, PWM_PERIOD);
pwm_init(TIM4, 4, PWM_PERIOD);
// LED channels = PD12..15
// AHB1-bus ? _ gpIO Port D ENable
rcc_peripheral_enable_clock(&RCC_AHB1ENR, RCC_AHB1ENR_IOPDEN);
// AF = alternate function
gpio_mode_setup(GPIOD, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO12 | GPIO13 | GPIO14 | GPIO15);
// AF2 = TIM4_CH1..4
gpio_set_af(GPIOD, GPIO_AF2, GPIO12 | GPIO13 | GPIO14 | GPIO15);
timer_enable_counter(TIM4);
}
extern "C" void servo_init() {
pwm_setup();
CYGHWR_HAL_STM32_GPIO_SET(GPIO_D12);
CYGHWR_HAL_STM32_GPIO_SET(GPIO_D13);
CYGHWR_HAL_STM32_GPIO_SET(GPIO_D14);
CYGHWR_HAL_STM32_GPIO_SET(GPIO_D15);
}
extern "C" void servo_set(uint8_t servo, uint8_t position) {
switch (servo) {
case SERVO_0:
timer_set_oc_value(TIM4, TIM_OC1, 150 * PWM_TIMER_TICKS_PER_MICROSECOND + (position * 325 * PWM_TIMER_TICKS_PER_MICROSECOND / 255));
break;
case SERVO_1:
timer_set_oc_value(TIM4, TIM_OC2, 150 * PWM_TIMER_TICKS_PER_MICROSECOND + (position * 325 * PWM_TIMER_TICKS_PER_MICROSECOND / 255));
break;
case SERVO_2:
timer_set_oc_value(TIM4, TIM_OC3, 150 * PWM_TIMER_TICKS_PER_MICROSECOND + (position * 325 * PWM_TIMER_TICKS_PER_MICROSECOND / 255));
break;
case SERVO_3:
timer_set_oc_value(TIM4, TIM_OC4, 150 * PWM_TIMER_TICKS_PER_MICROSECOND + (position * 325 * PWM_TIMER_TICKS_PER_MICROSECOND / 255));
break;
default:
break;
}
}
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