o A couple of stepper motor driver applications.

2 files changed, 193 insertions, 0 deletions

diff --git a/apps/stepper1/CMakeLists.txt b/apps/stepper1/CMakeLists.txt
new file mode 100644
index 0000000..e09a093
--- /dev/null
+++ b/apps/stepper1/CMakeLists.txt
@@ -0,0 +1,19 @@
+add_executable(stepper1.elf stepper1.cpp
+        ${STM32F10X_STDPERIPH_LIB}/Libraries/CMSIS/CM3/CoreSupport/core_cm3.c
+        ${STM32F10X_STDPERIPH_LIB}/Libraries/CMSIS/CM3/DeviceSupport/ST/STM32F10x/system_stm32f10x.c
+        ${STM32F10X_STDPERIPH_LIB}/Libraries/STM32F10x_StdPeriph_Driver/src/misc.c
+        ${STM32F10X_STDPERIPH_LIB}/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_rcc.c
+        ${STM32F10X_STDPERIPH_LIB}/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_spi.c
+        ${STM32F10X_STDPERIPH_LIB}/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_gpio.c
+        ${STM32F10X_STDPERIPH_LIB}/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_dma.c
+        $<TARGET_OBJECTS:playground>
+        )
+
+target_include_directories(stepper1.elf PUBLIC
+        $<TARGET_PROPERTY:playground,INTERFACE_INCLUDE_DIRECTORIES>
+        )
+target_compile_definitions(stepper1.elf PUBLIC ${STM32F10X_STDPERIPH_DEFINES})
+target_link_libraries(stepper1.elf tinyprintf)
+
+set_target_properties(stepper1.elf PROPERTIES LINK_FLAGS "-nostartfiles -T${CMAKE_SOURCE_DIR}/cmake/stm32.ld")
+add_extra_commands(stepper1.elf)
diff --git a/apps/stepper1/stepper1.cpp b/apps/stepper1/stepper1.cpp
new file mode 100644
index 0000000..4ee8d88
--- /dev/null
+++ b/apps/stepper1/stepper1.cpp
@@ -0,0 +1,174 @@
+#include <stdint.h>
+#include <stm32f10x.h>
+#include <stm32f10x_rcc.h>
+#include <stm32f10x_gpio.h>
+#include <stm32f10x_dma.h>
+#include <misc.h>
+
+#include "debug.h"
+#include "tinyprintf.h"
+#include "playground.h"
+
+extern "C"
+__attribute__((naked, used))
+void HardFault_Handler_C(uint32_t *hardfault_args) {
+    dbg_printf("r0 = 0x%08lx (%lu)\n", hardfault_args[0], hardfault_args[0]);
+    dbg_printf("r1 = 0x%08lx (%lu)\n", hardfault_args[1], hardfault_args[1]);
+    dbg_printf("r2 = 0x%08lx (%lu)\n", hardfault_args[2], hardfault_args[2]);
+    dbg_printf("r3 = 0x%08lx (%lu)\n", hardfault_args[3], hardfault_args[3]);
+    dbg_printf("r12 = 0x%08lx (%lu)\n", hardfault_args[4], hardfault_args[4]);
+    dbg_printf("lr = 0x%08lx (%lu)\n", hardfault_args[5], hardfault_args[5]);
+    dbg_printf("pc = 0x%08lx (%lu)\n", hardfault_args[6], hardfault_args[6]);
+    dbg_printf("psr = 0x%08lx (%lu)\n", hardfault_args[7], hardfault_args[7]);
+    dbg_printf("\n");
+
+    halt();
+}
+
+volatile bool dma_busy;
+
+static uint32_t pwm_buffer[128];
+
+static uint16_t pwm_gpio_pin_a = GPIO_Pin_2;
+static uint16_t pwm_gpio_pin_b = GPIO_Pin_3;
+
+static
+void pwm_init() {
+    int on = true;
+    for (size_t i = 0; i < SizeOfArray(pwm_buffer); i++) {
+        pwm_buffer[i] = on ? 0xffffffff : 0;
+        on=!on;
+    }
+
+//    for (size_t i = 0; i < SizeOfArray(pwm_buffer) / 2; i++) {
+//        pwm_buffer[i] = 0xffffffff;
+//    }
+//
+//    for (size_t i = SizeOfArray(pwm_buffer) / 2; i < SizeOfArray(pwm_buffer); i++) {
+//        pwm_buffer[i] = 0;
+//    }
+}
+
+static
+void pwm_transfer_setup() {
+    DMA_Cmd(DMA1_Channel3, DISABLE);
+    DMA_DeInit(DMA1_Channel3);
+
+    DMA_InitTypeDef dmaInit;
+    DMA_StructInit(&dmaInit);
+
+    dmaInit.DMA_M2M = DMA_M2M_Enable;
+    dmaInit.DMA_Mode = DMA_Mode_Normal;
+    dmaInit.DMA_Priority = DMA_Priority_VeryHigh;
+
+    dmaInit.DMA_DIR = DMA_DIR_PeripheralDST;
+
+    dmaInit.DMA_PeripheralBaseAddr = reinterpret_cast<uint32_t>(&GPIOA->ODR);
+    dmaInit.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Word;
+    dmaInit.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
+
+    dmaInit.DMA_MemoryBaseAddr = reinterpret_cast<uint32_t>(pwm_buffer);
+    dmaInit.DMA_MemoryDataSize = DMA_MemoryDataSize_Word;
+    dmaInit.DMA_MemoryInc = DMA_MemoryInc_Enable;
+
+    dmaInit.DMA_BufferSize = SizeOfArray(pwm_buffer);
+    DMA_Init(DMA1_Channel3, &dmaInit);
+    DMA_ITConfig(DMA1_Channel3, DMA_IT_TC | DMA_IT_TE, ENABLE);
+
+    dma_busy = true;
+
+    DMA_Cmd(DMA1_Channel3, ENABLE);
+}
+
+void gpio_a_setup() {
+    RCC_APB2PeriphResetCmd(RCC_APB2Periph_GPIOA, ENABLE);
+    RCC_APB2PeriphResetCmd(RCC_APB2Periph_GPIOA, DISABLE);
+
+    GPIO_InitTypeDef init;
+    GPIO_StructInit(&init);
+    init.GPIO_Mode = GPIO_Mode_Out_PP;
+    init.GPIO_Pin = pwm_gpio_pin_a | pwm_gpio_pin_b;
+    GPIO_Init(GPIOA, &init);
+}
+
+void gpio_a_loop() {
+    static bool on = false;
+    if (on) {
+        GPIO_SetBits(GPIOA, pwm_gpio_pin_a);
+        GPIO_SetBits(GPIOA, pwm_gpio_pin_b);
+    } else {
+        GPIO_ResetBits(GPIOA, pwm_gpio_pin_a);
+        GPIO_ResetBits(GPIOA, pwm_gpio_pin_b);
+    }
+    on = !on;
+}
+
+volatile bool run = true;
+
+bool use_dma = true;
+
+int main() {
+    SystemInit();
+
+    init_printf(nullptr, dbg_putc);
+
+    dbg_printf("stepper1\n");
+
+    RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);
+
+    NVIC_PriorityGroupConfig(NVIC_PriorityGroup_0);
+    NVIC_InitTypeDef NVIC_InitStruct = {
+            NVIC_IRQChannel: DMA1_Channel3_IRQn,
+            NVIC_IRQChannelPreemptionPriority: 0,
+            NVIC_IRQChannelSubPriority: 0,
+            NVIC_IRQChannelCmd: ENABLE,
+    };
+    NVIC_Init(&NVIC_InitStruct);
+    NVIC_EnableIRQ(DMA1_Channel3_IRQn);
+
+    RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO
+                           | RCC_APB2Periph_GPIOA
+//                           | RCC_APB2Periph_GPIOB
+//                           | RCC_APB2Periph_GPIOC
+//                           | RCC_APB2Periph_ADC1
+//                           | RCC_APB2Periph_ADC2
+//                           | RCC_APB2Periph_ADC3,
+            , ENABLE);
+
+    /* ***************************************** */
+
+    gpio_a_setup();
+
+    pwm_init();
+
+    while (run) {
+        if (use_dma) {
+//            dbg_printf("dma setup...");
+            pwm_transfer_setup();
+//            dbg_printf("done\n");
+
+            int count = 0;
+            while (dma_busy) {
+                count++;
+            }
+
+//            dbg_printf("dma tx done: count=%d\n", count);
+        } else {
+            gpio_a_loop();
+        }
+    }
+
+    return 0;
+}
+
+extern "C"
+void DMA1_Channel3_IRQHandler() {
+    ITStatus tc = DMA_GetITStatus(DMA1_IT_TC3);
+    ITStatus te = DMA_GetITStatus(DMA1_IT_TE3);
+    ITStatus ht = DMA_GetITStatus(DMA1_IT_HT3);
+
+    if (tc || te || ht) {
+        DMA_ClearITPendingBit(DMA1_IT_GL3);
+        dma_busy = false;
+    }
+}