diff options
Diffstat (limited to 'apps/stepper1/stepper1.cpp')
| -rw-r--r-- | apps/stepper1/stepper1.cpp | 174 |
1 files changed, 174 insertions, 0 deletions
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; + } +} |