diff options
Diffstat (limited to 'apps/stepper2/stepper2.cpp')
| -rw-r--r-- | apps/stepper2/stepper2.cpp | 241 |
1 files changed, 241 insertions, 0 deletions
diff --git a/apps/stepper2/stepper2.cpp b/apps/stepper2/stepper2.cpp new file mode 100644 index 0000000..75603ac --- /dev/null +++ b/apps/stepper2/stepper2.cpp @@ -0,0 +1,241 @@ +#include <stdint.h> +#include <stm32f10x.h> +#include <stm32f10x_rcc.h> +#include <stm32f10x_gpio.h> +#include <stm32f10x_dma.h> +#include <stm32f10x_tim.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; + +struct motor_t { + GPIO_TypeDef *gpio_port; + const uint16_t ah; + const uint16_t al; +}; + +static struct motor_t motor_a = { + gpio_port: GPIOA, + ah : GPIO_Pin_0, + al : GPIO_Pin_1, +}; + +TIM_TypeDef *pwm_timer = TIM2; + +struct apb_bus_1 { +}; +struct apb_bus_2 { +}; + +template<typename apb_bus> +class apb_ctrl { +public: + static void RCC_PeriphClockCmd(uint32_t peripherals, FunctionalState functionalState) { + RCC_PeriphClockCmd(apb_bus{}, peripherals, functionalState); + } + +private: + static void RCC_PeriphClockCmd(apb_bus_1, uint32_t peripherals, FunctionalState functionalState) { + RCC_APB1PeriphClockCmd(peripherals, functionalState); + } + + static void RCC_PeriphClockCmd(apb_bus_2, uint32_t peripherals, FunctionalState functionalState) { + RCC_APB2PeriphClockCmd(functionalState, functionalState); + } + +public: + static void RCC_PeriphResetCmd(uint32_t peripherals, FunctionalState functionalState) { + RCC_PeriphResetCmd(apb_bus{}, peripherals, functionalState); + } + +private: + static void RCC_PeriphResetCmd(apb_bus_1, uint32_t peripherals, FunctionalState functionalState) { + RCC_APB1PeriphResetCmd(peripherals, functionalState); + } + + static void RCC_PeriphResetCmd(apb_bus_2, uint32_t peripherals, FunctionalState functionalState) { + RCC_APB2PeriphResetCmd(functionalState, functionalState); + } +}; + +template<typename apb_bus, uint32_t peripheral> +class apb_device { +public: + static void reset() { + apb_ctrl<apb_bus>::RCC_PeriphResetCmd(peripheral, ENABLE); + apb_ctrl<apb_bus>::RCC_PeriphResetCmd(peripheral, DISABLE); + } + + static void enable() { + apb_ctrl<apb_bus>::RCC_PeriphClockCmd(peripheral, ENABLE); + } + + static void disable() { + apb_ctrl<apb_bus>::RCC_PeriphClockCmd(peripheral, DISABLE); + } +}; + +template<typename apb_bus, uint32_t peripheral> +class gpio_port : public apb_device<apb_bus, peripheral> { +public: +}; + +class gpio_port_a : public gpio_port<apb_bus_2, RCC_APB2Periph_GPIOA> { +}; + +class gpio_port_b : public gpio_port<apb_bus_2, RCC_APB2Periph_GPIOB> { +}; + +class gpio_port_c : public gpio_port<apb_bus_2, RCC_APB2Periph_GPIOC> { +}; + +class tim2 : public apb_device<apb_bus_1, RCC_APB1Periph_TIM2> { +}; + +void timer_init(TIM_TypeDef *tim, uint16_t period) { + RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE); +// tim2::reset(); +// tim2::enable(); + + TIM_TimeBaseInitTypeDef timerInitStructure; + TIM_TimeBaseStructInit(&timerInitStructure); + timerInitStructure.TIM_Prescaler = 0; + timerInitStructure.TIM_CounterMode = TIM_CounterMode_Up; + timerInitStructure.TIM_Period = period; + timerInitStructure.TIM_ClockDivision = TIM_CKD_DIV1; + timerInitStructure.TIM_RepetitionCounter = 0; + TIM_TimeBaseInit(tim, &timerInitStructure); +} + +void pwm_control(TIM_TypeDef *tim, uint16_t pulse) { + TIM_OCInitTypeDef outputChannelInit; + outputChannelInit.TIM_OCMode = TIM_OCMode_PWM1; + outputChannelInit.TIM_Pulse = pulse; + outputChannelInit.TIM_OutputState = TIM_OutputState_Enable; + outputChannelInit.TIM_OCPolarity = TIM_OCPolarity_High; + + TIM_OC1Init(tim, &outputChannelInit); + TIM_OC1PreloadConfig(tim, TIM_OCPreload_Enable); + + TIM_OC2Init(tim, &outputChannelInit); + TIM_OC2PreloadConfig(tim, TIM_OCPreload_Enable); +} + +void gpio_init(GPIO_TypeDef* gpio_port, uint16_t pins, bool use_af) { + GPIO_InitTypeDef init; + GPIO_StructInit(&init); + init.GPIO_Mode = use_af ? GPIO_Mode_AF_PP : GPIO_Mode_Out_PP; + init.GPIO_Pin = pins; + init.GPIO_Speed = GPIO_Speed_50MHz; + GPIO_Init(gpio_port, &init); +} + +volatile bool run = true; + +bool use_gpio = false; + +int main() { + SystemInit(); + + init_printf(nullptr, dbg_putc); + + dbg_printf("stepper2\n"); + + 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 + | RCC_APB2Periph_TIM1, + ENABLE); + + const uint16_t period = 1000; + + const int count_max = 10000; + int count = count_max - 1; + + uint16_t pulse = 500; + + gpio_init(motor_a.gpio_port, motor_a.ah | motor_a.al, !use_gpio); + timer_init(pwm_timer, period); + pwm_control(pwm_timer, pulse); + + TIM_ARRPreloadConfig(pwm_timer, ENABLE); + TIM_Cmd(pwm_timer, ENABLE); + + while (run) { + static bool on = false; + + if (use_gpio) { + if (on) { + GPIO_SetBits(motor_a.gpio_port, motor_a.ah); + GPIO_SetBits(motor_a.gpio_port, motor_a.al); + } else { + GPIO_ResetBits(motor_a.gpio_port, motor_a.ah); + GPIO_ResetBits(motor_a.gpio_port, motor_a.al); + } + on = !on; + } else { + count++; + + if (count == count_max) { + count = 0; + + pulse++; + + if (pulse > period) { + pulse = 0; + } + + pwm_timer->CCR1 = pulse; + pwm_timer->CCR2 = period - pulse; + } + } + } + + 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; + } +} |