mirror of
https://github.com/EFeru/hoverboard-sideboard-hack-GD.git
synced 2025-07-27 09:39:33 +00:00
Merge pull request #10 from EmanuelFeru/hovercar-variant
Hovercar variant
This commit is contained in:
EmanuelFeru
GitHub
commit
b5de1a626d
21
.travis.yml
21
.travis.yml
@ -45,14 +45,13 @@ jobs:
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- export PATH=$HOME/arm-gcc-toolchain/bin:$PATH
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before_script: arm-none-eabi-gcc --version
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# # Not yet supportted, see https://community.platformio.org/t/build-gd32-project-with-platformio/11944
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# - name: platformio
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# script: platformio run
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# language: python
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# python:
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# - "2.7"
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# install:
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# - pip install -U platformio
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# - platformio update
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# cache:
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# - directories: "~/.platformio"
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- name: platformio
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script: platformio run
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language: python
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python:
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- "2.7"
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install:
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- pip install -U platformio
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- platformio update
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cache:
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- directories: "~/.platformio"
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60
Inc/config.h
60
Inc/config.h
@ -27,8 +27,9 @@
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// Ubuntu: define the desired build variant here if you want to use make in console
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// or use VARIANT environment variable for example like "make -e VARIANT=VARIANT_DEBUG". Select only one at a time.
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#if !defined(PLATFORMIO)
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// #define VARIANT_DEBUG // Variant for debugging and checking the capabilities of the side-board
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// #define VARIANT_HOVERBOARD // Variant for using the side-boards connected to the Hoverboard mainboard
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// #define VARIANT_DEBUG // Variant for debugging and checking the capabilities of the side-board
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// #define VARIANT_HOVERCAR // Variant for using the side-boards connected to the Hoverboard mainboard
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// #define VARIANT_HOVERBOARD // Variant for using the side-boards connected to the Hoverboard mainboard
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#endif
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/* ==================================== DO NOT TOUCH SETTINGS ==================================== */
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@ -40,7 +41,6 @@
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// #define PRINTF_FLOAT_SUPPORT // [-] Uncomment this for printf to support float on Serial Debug. It will increase code size! Better to avoid it!
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/* =============================================================================================== */
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/* ==================================== SETTINGS MPU-6050 ==================================== */
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#define MPU_SENSOR_ENABLE // [-] Enable flag for MPU-6050 sensor. Comment-out this flag to Disable the MPU sensor and reduce code size.
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#define MPU_DMP_ENABLE // [-] Enable flag for MPU-6050 DMP (Digital Motion Processing) functionality.
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@ -59,32 +59,57 @@
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#define DMP_SHAKE_REJECT_TIME 40 // [ms] Set shake rejection time. Sets the length of time that the gyro must be outside of the DMP_SHAKE_REJECT_THRESH before taps are rejected. A mandatory 60 ms is added to this parameter.
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#define DMP_SHAKE_REJECT_TIMEOUT 10 // [ms] Set shake rejection timeout. Sets the length of time after a shake rejection that the gyro must stay inside of the threshold before taps can be detected again. A mandatory 60 ms is added to this parameter.
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/* ==================================== SETTINGS USART ==================================== */
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#if defined(VARIANT_DEBUG)
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#define SERIAL_DEBUG // [-] Define for Serial Debug via the serial port
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#elif defined(VARIANT_HOVERBOARD)
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#define SERIAL_CONTROL // [-] Define for Serial Control via the serial port
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#define SERIAL_FEEDBACK // [-] Define for Serial Feedback via the serial port
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#endif
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#define USART_MAIN_BAUD 38400 // [bit/s] MAIN Serial Tx/Rx baud rate
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#define SERIAL_START_FRAME 0xABCD // [-] Start frame definition for reliable serial communication
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#define SERIAL_BUFFER_SIZE 64 // [bytes] Size of Serial Rx buffer. Make sure it is always larger than the 'Feedback' structure size
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#define SERIAL_TIMEOUT 600 // [-] Number of wrong received data for Serial timeout detection. Depends on DELAY_IN_MAIN_LOOP
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#define USART_MAIN_BAUD 115200 // [bit/s] MAIN Serial Tx/Rx baud rate
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#define USART_AUX_BAUD 115200 // [bit/s] AUX Serial Tx/Rx baud rate
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/* ==================================== SETTINGS AUX ==================================== */
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// #define AUX45_USE_GPIO // [-] Use AUX4, AUX5 as GPIO ports
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// #define AUX45_USE_I2C // [-] Use AUX4, AUX5 as I2C port
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#define AUX45_USE_USART // [-] Use AUX4, AUX5 as USART port
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#ifdef AUX45_USE_USART
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#define USART_AUX_BAUD 38400 // [bit/s] AUX Serial Tx/Rx baud rate
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#endif
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#ifdef AUX45_USE_I2C
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#define AUX_I2C_SPEED 100000 // [bit/s] Define I2C speed for communicating via AUX45 wires
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#endif
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/* ==================================== VARIANT DEBUG ==================================== */
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#ifdef VARIANT_DEBUG
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#define SERIAL_DEBUG // [-] Define for Serial Debug via the serial port
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#define SERIAL_AUX_RX // [-] Use AUX4, AUX5 as USART port
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// #define SERIAL_AUX_TX // [-] Use AUX4, AUX5 as USART port
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#define CONTROL_IBUS
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#define IBUS_NUM_CHANNELS 14 // Total number of IBUS channels to receive, even if they are not used.
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#define IBUS_LENGTH 0x20
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#define IBUS_COMMAND 0x40
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#endif
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/* ==================================== VARIANT HOVERCAR ==================================== */
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#ifdef VARIANT_HOVERCAR
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#define SERIAL_CONTROL // [-] Define for Serial Control via the serial port
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#define SERIAL_FEEDBACK // [-] Define for Serial Feedback via the serial port
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#define SERIAL_AUX_RX // [-] Use AUX4, AUX5 as USART port
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// #define SERIAL_AUX_TX // [-] Use AUX4, AUX5 as USART port
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#define CONTROL_IBUS
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#define IBUS_NUM_CHANNELS 14 // Total number of IBUS channels to receive, even if they are not used.
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#define IBUS_LENGTH 0x20
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#define IBUS_COMMAND 0x40
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#endif
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/* ==================================== VARIANT HOVERBOARD ==================================== */
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#ifdef VARIANT_HOVERBOARD
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#define SERIAL_CONTROL // [-] Define for Serial Control via the serial port
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#define SERIAL_FEEDBACK // [-] Define for Serial Feedback via the serial port
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#endif
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/* ==================================== VALIDATE SETTINGS ==================================== */
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#if defined(SERIAL_DEBUG) && defined(SERIAL_CONTROL)
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#error SERIAL_DEBUG and SERIAL_CONTROL not allowed. It is on the same cable.
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@ -94,7 +119,8 @@
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#error SERIAL_DEBUG and SERIAL_FEEDBACK not allowed. It is on the same cable.
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#endif
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#if defined(AUX45_USE_GPIO) && (defined(AUX45_USE_USART) || defined(AUX45_USE_I2C)) || (defined(AUX45_USE_USART) && defined(AUX45_USE_I2C))
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#if defined(AUX45_USE_GPIO) && (defined(SERIAL_AUX_RX) || defined(SERIAL_AUX_TX) || defined(AUX45_USE_I2C)) \
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|| ((defined(SERIAL_AUX_RX) || defined(SERIAL_AUX_TX)) && defined(AUX45_USE_I2C))
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#error AUX45_USE_(GPIO,USART,I2C) not allowed in the same time. It is on the same cable.
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#endif
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210
Inc/defines.h
210
Inc/defines.h
@ -28,156 +28,158 @@
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#include "util.h"
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#if defined(PRINTF_FLOAT_SUPPORT) && defined(SERIAL_DEBUG) && defined(__GNUC__)
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asm(".global _printf_float"); // this is the magic trick for printf to support float. Warning: It will increase code considerably! Better to avoid!
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asm(".global _printf_float"); // this is the magic trick for printf to support float. Warning: It will increase code considerably! Better to avoid!
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#endif
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/* =========================== Defines General =========================== */
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// #define _BV(bit) (1 << (bit))
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#define ARRAY_LEN(x) (uint32_t)(sizeof(x) / sizeof(*(x)))
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#define min(a, b) (((a) < (b)) ? (a) : (b))
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#define max(a, b) (((a) > (b)) ? (a) : (b))
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#define i2c_write i2c_writeBytes
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#define i2c_read i2c_readBytes
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#define delay_ms delay_1ms
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#define get_ms get_tick_count_ms
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#define log_i printf // redirect the log_i debug function to printf
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// #define _BV(bit) (1 << (bit))
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#define ARRAY_LEN(x) (uint32_t)(sizeof(x) / sizeof(*(x)))
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#define CLAMP(x, low, high) (((x) > (high)) ? (high) : (((x) < (low)) ? (low) : (x)))
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#define min(a, b) (((a) < (b)) ? (a) : (b))
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#define max(a, b) (((a) > (b)) ? (a) : (b))
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#define i2c_write i2c_writeBytes
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#define i2c_read i2c_readBytes
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#define delay_ms delay_1ms
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#define get_ms get_tick_count_ms
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#define log_i printf // redirect the log_i debug function to printf
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/* =========================== Defines LEDs =========================== */
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#define LED1_GPIO_Port GPIOA
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#define LED1_Pin GPIO_PIN_0 // RED
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#define LED2_GPIO_Port GPIOB
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#define LED2_Pin GPIO_PIN_9 // GREEN
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#define LED3_GPIO_Port GPIOB
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#define LED3_Pin GPIO_PIN_8 // YELLOW
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#define LED4_GPIO_Port GPIOB
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#define LED4_Pin GPIO_PIN_5 // BLUE1
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#define LED5_GPIO_Port GPIOB
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#define LED5_Pin GPIO_PIN_4 // BLUE2
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#define LED1_GPIO_Port GPIOA
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#define LED1_Pin GPIO_PIN_0 // RED
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#define LED2_GPIO_Port GPIOB
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#define LED2_Pin GPIO_PIN_9 // GREEN
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#define LED3_GPIO_Port GPIOB
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#define LED3_Pin GPIO_PIN_8 // YELLOW
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#define LED4_GPIO_Port GPIOB
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#define LED4_Pin GPIO_PIN_5 // BLUE1
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#define LED5_GPIO_Port GPIOB
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#define LED5_Pin GPIO_PIN_4 // BLUE2
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#define LED1_SET (0x01)
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#define LED2_SET (0x02)
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#define LED3_SET (0x04)
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#define LED4_SET (0x08)
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#define LED5_SET (0x10)
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#define LED1_SET (0x01)
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#define LED2_SET (0x02)
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#define LED3_SET (0x04)
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#define LED4_SET (0x08)
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#define LED5_SET (0x10)
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/* =========================== Defines SENSORS =========================== */
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#define SENSOR1_GPIO_Port GPIOA
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#define SENSOR1_Pin GPIO_PIN_4
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#define SENSOR2_GPIO_Port GPIOC
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#define SENSOR2_Pin GPIO_PIN_14
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#define SENSOR1_GPIO_Port GPIOA
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#define SENSOR1_Pin GPIO_PIN_4
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#define SENSOR2_GPIO_Port GPIOC
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#define SENSOR2_Pin GPIO_PIN_14
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/* =========================== Defines USART =========================== */
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#define USART_GPIO_PORT GPIOA
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#define USART_GPIO_CLK RCU_GPIOA
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#define USART_AF GPIO_AF_1
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#define USART_GPIO_PORT GPIOA
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#define USART_GPIO_CLK RCU_GPIOA
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#define USART_AF GPIO_AF_1
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// USART ports number
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#define USARTn 2
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#define USARTn 2
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// USART AUX, connected to USART0
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#define USART_AUX USART0
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#define USART0_CLK RCU_USART0
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#define USART0_TX_PIN GPIO_PIN_9
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#define USART0_RX_PIN GPIO_PIN_10
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#define USART0_TX_DMA_CH DMA_CH1
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#define USART0_RX_DMA_CH DMA_CH2
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#define USART0_TDATA_ADDRESS ((uint32_t)0x40013828) // USART0: 0x4001 3800 - 0x4001 3BFF, Rx offset: 0x28, Tx offset: 0x24
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#define USART0_RDATA_ADDRESS ((uint32_t)0x40013824)
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// USART to Auxiliary, connected to USART0
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#define USART_AUX USART0
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#define USART_AUX_CLK RCU_USART0
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#define USART_AUX_TX_PIN GPIO_PIN_9
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#define USART_AUX_RX_PIN GPIO_PIN_10
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// USART to Mainboard, connected to USART1
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#define USART_MAIN USART1
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#define USART_MAIN_CLK RCU_USART1
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#define USART_MAIN_TX_PIN GPIO_PIN_2
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#define USART_MAIN_RX_PIN GPIO_PIN_3
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// USART address for DMA defines
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#define USART0_TDATA_ADDRESS ((uint32_t)0x40013828) // USART0: 0x4001 3800 - 0x4001 3BFF
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#define USART0_RDATA_ADDRESS ((uint32_t)0x40013824)
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#define USART1_TDATA_ADDRESS ((uint32_t)0x40004428) // USART1: 0x4000 4400 - 0x4000 47FF
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#define USART1_RDATA_ADDRESS ((uint32_t)0x40004424)
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// USART MAIN, connected to USART1
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#define USART_MAIN USART1
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#define USART1_CLK RCU_USART1
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#define USART1_TX_PIN GPIO_PIN_2
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#define USART1_RX_PIN GPIO_PIN_3
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#define USART1_TX_DMA_CH DMA_CH3
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#define USART1_RX_DMA_CH DMA_CH4
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#define USART1_TDATA_ADDRESS ((uint32_t)0x40004428) // USART1: 0x4000 4400 - 0x4000 47FF, Rx offset: 0x28, Tx offset: 0x24
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#define USART1_RDATA_ADDRESS ((uint32_t)0x40004424)
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#define PRINT_AUX (0x01)
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/* =========================== Defines AUX =========================== */
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#define AUX1_PU_GPIO_Port GPIOC
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#define AUX1_PU_Pin GPIO_PIN_15
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#define AUX2_GPIO_Port GPIOA
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#define AUX2_Pin GPIO_PIN_1
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#define AUX3_GPIO_Port GPIOB
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#define AUX3_Pin GPIO_PIN_10
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#define AUX1_PU_GPIO_Port GPIOC
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#define AUX1_PU_Pin GPIO_PIN_15
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#define AUX2_GPIO_Port GPIOA
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#define AUX2_Pin GPIO_PIN_1
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#define AUX3_GPIO_Port GPIOB
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#define AUX3_Pin GPIO_PIN_10
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#ifdef AUX45_USE_GPIO
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#define AUX4_GPIO_Port GPIOA
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#define AUX4_Pin GPIO_PIN_10
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#define AUX5_GPIO_Port GPIOA
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#define AUX5_Pin GPIO_PIN_9
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#define AUX4_GPIO_Port GPIOA
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#define AUX4_Pin GPIO_PIN_10
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#define AUX5_GPIO_Port GPIOA
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#define AUX5_Pin GPIO_PIN_9
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#endif
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/* =========================== Defines I2C =========================== */
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typedef enum {READ = 0, WRITE = !READ} i2c_cmd;
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#define MPU_I2C I2C0
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#define MPU_RCU_I2C RCU_I2C0
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#define MPU_SCL_GPIO_Port GPIOB
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#define MPU_SCL_Pin GPIO_PIN_6
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#define MPU_SDA_GPIO_Port GPIOB
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#define MPU_SDA_Pin GPIO_PIN_7
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#define I2C_OWN_ADDRESS7 0x24
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#define MPU_I2C I2C0
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#define MPU_RCU_I2C RCU_I2C0
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#define MPU_SCL_GPIO_Port GPIOB
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#define MPU_SCL_Pin GPIO_PIN_6
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#define MPU_SDA_GPIO_Port GPIOB
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#define MPU_SDA_Pin GPIO_PIN_7
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#define I2C_OWN_ADDRESS7 0x24
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#ifdef AUX45_USE_I2C
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#define AUX_I2C I2C1
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#define AUX_RCU_I2C RCU_I2C1
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#define AUX_SCL_GPIO_Port GPIOA
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#define AUX_SCL_Pin GPIO_PIN_9
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#define AUX_SDA_GPIO_Port GPIOA
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#define AUX_SDA_Pin GPIO_PIN_10
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#define AUX_I2C_OWN_ADDRESS7 0x34
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#define AUX_I2C I2C1
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#define AUX_RCU_I2C RCU_I2C1
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#define AUX_SCL_GPIO_Port GPIOA
|
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#define AUX_SCL_Pin GPIO_PIN_9
|
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#define AUX_SDA_GPIO_Port GPIOA
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#define AUX_SDA_Pin GPIO_PIN_10
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#define AUX_I2C_OWN_ADDRESS7 0x34
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#endif
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/* =========================== Defines MPU-6050 =========================== */
|
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#define RAD2DEG 57.295779513082323 // RAD2DEG = 180/pi. Example: angle[deg] = angle[rad] * RAD2DEG
|
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#define q30 1073741824 // 1073741824 = 2^30
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#define ACCEL_ON (0x01)
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#define GYRO_ON (0x02)
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#define COMPASS_ON (0x04)
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#define RAD2DEG 57.295779513082323 // RAD2DEG = 180/pi. Example: angle[deg] = angle[rad] * RAD2DEG
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#define q30 1073741824 // 1073741824 = 2^30
|
||||
#define ACCEL_ON (0x01)
|
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#define GYRO_ON (0x02)
|
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#define COMPASS_ON (0x04)
|
||||
|
||||
#define PRINT_ACCEL (0x01)
|
||||
#define PRINT_GYRO (0x02)
|
||||
#define PRINT_QUAT (0x04)
|
||||
#define PRINT_EULER (0x08)
|
||||
#define PRINT_TEMP (0x10)
|
||||
#define PRINT_PEDO (0x20)
|
||||
#define PRINT_ACCEL (0x01)
|
||||
#define PRINT_GYRO (0x02)
|
||||
#define PRINT_QUAT (0x04)
|
||||
#define PRINT_EULER (0x08)
|
||||
#define PRINT_TEMP (0x10)
|
||||
#define PRINT_PEDO (0x20)
|
||||
|
||||
typedef struct{
|
||||
int16_t x;
|
||||
int16_t y;
|
||||
int16_t z;
|
||||
int16_t x;
|
||||
int16_t y;
|
||||
int16_t z;
|
||||
} Gyro;
|
||||
|
||||
typedef struct{
|
||||
int16_t x;
|
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int16_t y;
|
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int16_t z;
|
||||
int16_t x;
|
||||
int16_t y;
|
||||
int16_t z;
|
||||
} Accel;
|
||||
|
||||
typedef struct{
|
||||
int32_t w;
|
||||
int32_t x;
|
||||
int32_t y;
|
||||
int32_t z;
|
||||
int32_t w;
|
||||
int32_t x;
|
||||
int32_t y;
|
||||
int32_t z;
|
||||
} Quaternion;
|
||||
|
||||
typedef struct{
|
||||
int16_t roll;
|
||||
int16_t pitch;
|
||||
int16_t yaw;
|
||||
int16_t roll;
|
||||
int16_t pitch;
|
||||
int16_t yaw;
|
||||
} Euler;
|
||||
|
||||
typedef struct {
|
||||
Gyro gyro;
|
||||
Accel accel;
|
||||
Quaternion quat;
|
||||
Euler euler;
|
||||
int16_t temp;
|
||||
Gyro gyro;
|
||||
Accel accel;
|
||||
Quaternion quat;
|
||||
Euler euler;
|
||||
int16_t temp;
|
||||
} MPU_Data;
|
||||
|
||||
#endif // DEFINES_H
|
||||
|
||||
@ -38,6 +38,8 @@ void PendSV_Handler(void);
|
||||
/* SysTick handle function */
|
||||
void SysTick_Handler(void);
|
||||
/* USART0 handle function */
|
||||
void USART0_IRQHandler(void);
|
||||
/* USART1 handle function */
|
||||
void USART1_IRQHandler(void);
|
||||
/* I2C0 event handle function */
|
||||
void I2C0_EV_IRQHandler(void);
|
||||
|
||||
@ -24,12 +24,12 @@
|
||||
#include "config.h"
|
||||
|
||||
/* Interrupt function declarations */
|
||||
void I2C0_EventIRQ_Handler(void); // handle I2C0 event interrupt request
|
||||
void I2C0_ErrorIRQ_Handler(void); // handle I2C0 error interrupt request
|
||||
void I2C0_EventIRQ_Handler(void); // handle I2C0 event interrupt request
|
||||
void I2C0_ErrorIRQ_Handler(void); // handle I2C0 error interrupt request
|
||||
|
||||
#ifdef AUX45_USE_I2C
|
||||
void I2C1_EventIRQ_Handler(void); // handle I2C1 event interrupt request
|
||||
void I2C1_ErrorIRQ_Handler(void); // handle I2C1 error interrupt request
|
||||
void I2C1_EventIRQ_Handler(void); // handle I2C1 event interrupt request
|
||||
void I2C1_ErrorIRQ_Handler(void); // handle I2C1 error interrupt request
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
@ -54,7 +54,6 @@
|
||||
|
||||
/* Set up APIs */
|
||||
int mpu_init(void);
|
||||
int mpu_init_slave(void);
|
||||
int mpu_set_bypass(unsigned char bypass_on);
|
||||
|
||||
/* Configuration APIs */
|
||||
@ -104,18 +103,13 @@ int mpu_get_compass_reg(short *data, unsigned long *timestamp);
|
||||
int mpu_get_temperature(long *data, unsigned long *timestamp);
|
||||
|
||||
int mpu_get_int_status(short *status);
|
||||
int mpu_read_fifo(short *gyro, short *accel, unsigned long *timestamp,
|
||||
unsigned char *sensors, unsigned char *more);
|
||||
int mpu_read_fifo_stream(unsigned short length, unsigned char *data,
|
||||
unsigned char *more);
|
||||
int mpu_read_fifo(short *gyro, short *accel, unsigned long *timestamp, unsigned char *sensors, unsigned char *more);
|
||||
int mpu_read_fifo_stream(unsigned short length, unsigned char *data, unsigned char *more);
|
||||
int mpu_reset_fifo(void);
|
||||
|
||||
int mpu_write_mem(unsigned short mem_addr, unsigned short length,
|
||||
unsigned char *data);
|
||||
int mpu_read_mem(unsigned short mem_addr, unsigned short length,
|
||||
unsigned char *data);
|
||||
int mpu_load_firmware(unsigned short length, const unsigned char *firmware,
|
||||
unsigned short start_addr, unsigned short sample_rate);
|
||||
int mpu_write_mem(unsigned short mem_addr, unsigned short length, unsigned char *data);
|
||||
int mpu_read_mem(unsigned short mem_addr, unsigned short length, unsigned char *data);
|
||||
int mpu_load_firmware(unsigned short length, const unsigned char *firmware, unsigned short start_addr, unsigned short sample_rate);
|
||||
|
||||
int mpu_reg_dump(void);
|
||||
int mpu_read_reg(unsigned char reg, unsigned char *data);
|
||||
@ -139,9 +133,13 @@ void mpu_calc_euler_angles(void);
|
||||
void mpu_tap_func(unsigned char direction, unsigned char count);
|
||||
void mpu_android_orient_func(unsigned char orientation);
|
||||
|
||||
/* Handle user input commands */
|
||||
void mpu_handle_input(char c);
|
||||
/* MPU Print data */
|
||||
void mpu_print_to_console(void);
|
||||
|
||||
#endif // MPU_SENSOR_ENABLE
|
||||
|
||||
/* Handle user input commands */
|
||||
void mpu_handle_input(char c);
|
||||
|
||||
#endif // MPU6050_H
|
||||
|
||||
|
||||
55
Inc/util.h
55
Inc/util.h
@ -23,18 +23,19 @@
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
|
||||
/* Rx Structures USART */
|
||||
/* Tx structure USART MAIN */
|
||||
#ifdef SERIAL_CONTROL
|
||||
typedef struct{
|
||||
uint16_t start;
|
||||
int16_t roll;
|
||||
int16_t pitch;
|
||||
int16_t yaw;
|
||||
uint16_t sensors;
|
||||
int16_t pitch; // Angle
|
||||
int16_t dPitch; // Angle derivative
|
||||
int16_t cmd1; // RC Channel 1
|
||||
int16_t cmd2; // RC Channel 2
|
||||
uint16_t sensors; // RC Switches and Optical sideboard sensors
|
||||
uint16_t checksum;
|
||||
} SerialSideboard;
|
||||
#endif
|
||||
/* Rx structure USART MAIN */
|
||||
#ifdef SERIAL_FEEDBACK
|
||||
typedef struct{
|
||||
uint16_t start;
|
||||
@ -49,16 +50,45 @@ typedef struct{
|
||||
} SerialFeedback;
|
||||
#endif
|
||||
|
||||
/* Tx structure USART AUX */
|
||||
#ifdef SERIAL_AUX_TX
|
||||
typedef struct{
|
||||
uint16_t start;
|
||||
int16_t signal1;
|
||||
int16_t signal2;
|
||||
uint16_t checksum;
|
||||
} SerialAuxTx;
|
||||
#endif
|
||||
/* Rx structure USART AUX */
|
||||
#ifdef SERIAL_AUX_RX
|
||||
#ifdef CONTROL_IBUS
|
||||
typedef struct{
|
||||
uint8_t start;
|
||||
uint8_t type;
|
||||
uint8_t channels[IBUS_NUM_CHANNELS*2];
|
||||
uint8_t checksuml;
|
||||
uint8_t checksumh;
|
||||
} SerialCommand;
|
||||
#endif
|
||||
#endif
|
||||
|
||||
/* general functions */
|
||||
void consoleLog(char *message);
|
||||
void toggle_led(uint32_t gpio_periph, uint32_t pin);
|
||||
void intro_demo_led(uint32_t tDelay);
|
||||
uint8_t switch_check(uint16_t ch, uint8_t type);
|
||||
|
||||
/* input initialization function */
|
||||
void input_init(void);
|
||||
|
||||
/* usart read functions */
|
||||
void usart_rx_check(void);
|
||||
/* handle functions */
|
||||
void handle_mpu6050(void);
|
||||
void handle_sensors(void);
|
||||
void handle_usart(void);
|
||||
void handle_leds(void);
|
||||
|
||||
/* usart1 read functions */
|
||||
void usart1_rx_check(void);
|
||||
#ifdef SERIAL_DEBUG
|
||||
void usart_process_debug(uint8_t *userCommand, uint32_t len);
|
||||
#endif
|
||||
@ -66,6 +96,15 @@ void usart_process_debug(uint8_t *userCommand, uint32_t len);
|
||||
void usart_process_data(SerialFeedback *Feedback_in, SerialFeedback *Feedback_out);
|
||||
#endif
|
||||
|
||||
/* usart0 read functions */
|
||||
void usart0_rx_check(void);
|
||||
#ifdef SERIAL_AUX_RX
|
||||
void usart_process_command(SerialCommand *command_in, SerialCommand *command_out);
|
||||
#endif
|
||||
|
||||
/* AUX Serial Print data */
|
||||
void aux_print_to_console(void);
|
||||
|
||||
/* i2c write/read functions */
|
||||
int8_t i2c_writeBytes(uint8_t slaveAddr, uint8_t regAddr, uint8_t length, uint8_t *data);
|
||||
int8_t i2c_writeByte (uint8_t slaveAddr, uint8_t regAddr, uint8_t data);
|
||||
|
||||
@ -168,6 +168,153 @@
|
||||
</TargetOption>
|
||||
</Target>
|
||||
|
||||
<Target>
|
||||
<TargetName>VARIANT_HOVERCAR</TargetName>
|
||||
<ToolsetNumber>0x4</ToolsetNumber>
|
||||
<ToolsetName>ARM-ADS</ToolsetName>
|
||||
<TargetOption>
|
||||
<CLKADS>8000000</CLKADS>
|
||||
<OPTTT>
|
||||
<gFlags>1</gFlags>
|
||||
<BeepAtEnd>0</BeepAtEnd>
|
||||
<RunSim>1</RunSim>
|
||||
<RunTarget>0</RunTarget>
|
||||
<RunAbUc>0</RunAbUc>
|
||||
</OPTTT>
|
||||
<OPTHX>
|
||||
<HexSelection>1</HexSelection>
|
||||
<FlashByte>65535</FlashByte>
|
||||
<HexRangeLowAddress>0</HexRangeLowAddress>
|
||||
<HexRangeHighAddress>0</HexRangeHighAddress>
|
||||
<HexOffset>0</HexOffset>
|
||||
</OPTHX>
|
||||
<OPTLEX>
|
||||
<PageWidth>79</PageWidth>
|
||||
<PageLength>66</PageLength>
|
||||
<TabStop>8</TabStop>
|
||||
<ListingPath>.\Listings\</ListingPath>
|
||||
</OPTLEX>
|
||||
<ListingPage>
|
||||
<CreateCListing>1</CreateCListing>
|
||||
<CreateAListing>1</CreateAListing>
|
||||
<CreateLListing>1</CreateLListing>
|
||||
<CreateIListing>0</CreateIListing>
|
||||
<AsmCond>1</AsmCond>
|
||||
<AsmSymb>1</AsmSymb>
|
||||
<AsmXref>0</AsmXref>
|
||||
<CCond>1</CCond>
|
||||
<CCode>0</CCode>
|
||||
<CListInc>0</CListInc>
|
||||
<CSymb>0</CSymb>
|
||||
<LinkerCodeListing>0</LinkerCodeListing>
|
||||
</ListingPage>
|
||||
<OPTXL>
|
||||
<LMap>1</LMap>
|
||||
<LComments>1</LComments>
|
||||
<LGenerateSymbols>1</LGenerateSymbols>
|
||||
<LLibSym>1</LLibSym>
|
||||
<LLines>1</LLines>
|
||||
<LLocSym>1</LLocSym>
|
||||
<LPubSym>1</LPubSym>
|
||||
<LXref>0</LXref>
|
||||
<LExpSel>0</LExpSel>
|
||||
</OPTXL>
|
||||
<OPTFL>
|
||||
<tvExp>1</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<IsCurrentTarget>0</IsCurrentTarget>
|
||||
</OPTFL>
|
||||
<CpuCode>0</CpuCode>
|
||||
<DebugOpt>
|
||||
<uSim>0</uSim>
|
||||
<uTrg>1</uTrg>
|
||||
<sLdApp>1</sLdApp>
|
||||
<sGomain>1</sGomain>
|
||||
<sRbreak>1</sRbreak>
|
||||
<sRwatch>1</sRwatch>
|
||||
<sRmem>1</sRmem>
|
||||
<sRfunc>1</sRfunc>
|
||||
<sRbox>1</sRbox>
|
||||
<tLdApp>1</tLdApp>
|
||||
<tGomain>1</tGomain>
|
||||
<tRbreak>1</tRbreak>
|
||||
<tRwatch>1</tRwatch>
|
||||
<tRmem>1</tRmem>
|
||||
<tRfunc>0</tRfunc>
|
||||
<tRbox>1</tRbox>
|
||||
<tRtrace>1</tRtrace>
|
||||
<sRSysVw>1</sRSysVw>
|
||||
<tRSysVw>1</tRSysVw>
|
||||
<sRunDeb>0</sRunDeb>
|
||||
<sLrtime>0</sLrtime>
|
||||
<bEvRecOn>1</bEvRecOn>
|
||||
<nTsel>5</nTsel>
|
||||
<sDll></sDll>
|
||||
<sDllPa></sDllPa>
|
||||
<sDlgDll></sDlgDll>
|
||||
<sDlgPa></sDlgPa>
|
||||
<sIfile></sIfile>
|
||||
<tDll></tDll>
|
||||
<tDllPa></tDllPa>
|
||||
<tDlgDll></tDlgDll>
|
||||
<tDlgPa></tDlgPa>
|
||||
<tIfile></tIfile>
|
||||
<pMon>STLink\ST-LINKIII-KEIL_SWO.dll</pMon>
|
||||
</DebugOpt>
|
||||
<TargetDriverDllRegistry>
|
||||
<SetRegEntry>
|
||||
<Number>0</Number>
|
||||
<Key>ST-LINKIII-KEIL_SWO</Key>
|
||||
<Name>-U -O207 -S0 -C0 -A0 -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC800 -FN1 -FF0GD32F1x0_32 -FS08000000 -FL08000</Name>
|
||||
</SetRegEntry>
|
||||
<SetRegEntry>
|
||||
<Number>0</Number>
|
||||
<Key>UL2CM3</Key>
|
||||
<Name>UL2CM3(-O207 -S0 -C0 -FO7 -FD20000000 -FC800 -FN1 -FF0GD32F1x0_32 -FS08000000 -FL08000)</Name>
|
||||
</SetRegEntry>
|
||||
</TargetDriverDllRegistry>
|
||||
<Breakpoint/>
|
||||
<Tracepoint>
|
||||
<THDelay>0</THDelay>
|
||||
</Tracepoint>
|
||||
<DebugFlag>
|
||||
<trace>0</trace>
|
||||
<periodic>0</periodic>
|
||||
<aLwin>0</aLwin>
|
||||
<aCover>0</aCover>
|
||||
<aSer1>0</aSer1>
|
||||
<aSer2>0</aSer2>
|
||||
<aPa>0</aPa>
|
||||
<viewmode>0</viewmode>
|
||||
<vrSel>0</vrSel>
|
||||
<aSym>0</aSym>
|
||||
<aTbox>0</aTbox>
|
||||
<AscS1>0</AscS1>
|
||||
<AscS2>0</AscS2>
|
||||
<AscS3>0</AscS3>
|
||||
<aSer3>0</aSer3>
|
||||
<eProf>0</eProf>
|
||||
<aLa>0</aLa>
|
||||
<aPa1>0</aPa1>
|
||||
<AscS4>0</AscS4>
|
||||
<aSer4>0</aSer4>
|
||||
<StkLoc>0</StkLoc>
|
||||
<TrcWin>0</TrcWin>
|
||||
<newCpu>0</newCpu>
|
||||
<uProt>0</uProt>
|
||||
</DebugFlag>
|
||||
<LintExecutable></LintExecutable>
|
||||
<LintConfigFile></LintConfigFile>
|
||||
<bLintAuto>0</bLintAuto>
|
||||
<bAutoGenD>0</bAutoGenD>
|
||||
<LntExFlags>0</LntExFlags>
|
||||
<pMisraName></pMisraName>
|
||||
<pszMrule></pszMrule>
|
||||
<pSingCmds></pSingCmds>
|
||||
<pMultCmds></pMultCmds>
|
||||
</TargetOption>
|
||||
</Target>
|
||||
|
||||
<Target>
|
||||
<TargetName>VARIANT_HOVERBOARD</TargetName>
|
||||
<ToolsetNumber>0x4</ToolsetNumber>
|
||||
|
||||
@ -622,6 +622,622 @@
|
||||
</Group>
|
||||
</Groups>
|
||||
</Target>
|
||||
<Target>
|
||||
<TargetName>VARIANT_HOVERCAR</TargetName>
|
||||
<ToolsetNumber>0x4</ToolsetNumber>
|
||||
<ToolsetName>ARM-ADS</ToolsetName>
|
||||
<pCCUsed>5060422::V5.06 update 4 (build 422)::ARMCC</pCCUsed>
|
||||
<TargetOption>
|
||||
<TargetCommonOption>
|
||||
<Device>GD32F130C6</Device>
|
||||
<Vendor>GigaDevice</Vendor>
|
||||
<Cpu>IRAM(0x20000000-0x20000FFF) IROM(0x08000000-0x08007FFF) CLOCK(8000000) CPUTYPE("Cortex-M3")</Cpu>
|
||||
<FlashUtilSpec></FlashUtilSpec>
|
||||
<StartupFile>"Startup\GD\GD32F1x0\startup_gd32f1x0.s" ("GD32F1x0 Startup Code")</StartupFile>
|
||||
<FlashDriverDll>UL2CM3(-O207 -S0 -C0 -FO7 -FD20000000 -FC800 -FN1 -FF0GD32F1x0_32 -FS08000000 -FL08000)</FlashDriverDll>
|
||||
<DeviceId>7715</DeviceId>
|
||||
<RegisterFile>gd32f1x0.h</RegisterFile>
|
||||
<MemoryEnv></MemoryEnv>
|
||||
<Cmp></Cmp>
|
||||
<Asm></Asm>
|
||||
<Linker></Linker>
|
||||
<OHString></OHString>
|
||||
<InfinionOptionDll></InfinionOptionDll>
|
||||
<SLE66CMisc></SLE66CMisc>
|
||||
<SLE66AMisc></SLE66AMisc>
|
||||
<SLE66LinkerMisc></SLE66LinkerMisc>
|
||||
<SFDFile>SFD\GD\GD32F1x0\GD32F1x0.SFR</SFDFile>
|
||||
<bCustSvd>0</bCustSvd>
|
||||
<UseEnv>0</UseEnv>
|
||||
<BinPath></BinPath>
|
||||
<IncludePath></IncludePath>
|
||||
<LibPath></LibPath>
|
||||
<RegisterFilePath>GD\GD32F1x0\</RegisterFilePath>
|
||||
<DBRegisterFilePath>GD\GD32F1x0\</DBRegisterFilePath>
|
||||
<TargetStatus>
|
||||
<Error>0</Error>
|
||||
<ExitCodeStop>0</ExitCodeStop>
|
||||
<ButtonStop>0</ButtonStop>
|
||||
<NotGenerated>0</NotGenerated>
|
||||
<InvalidFlash>1</InvalidFlash>
|
||||
</TargetStatus>
|
||||
<OutputDirectory>.\Objects\</OutputDirectory>
|
||||
<OutputName>firmware</OutputName>
|
||||
<CreateExecutable>1</CreateExecutable>
|
||||
<CreateLib>0</CreateLib>
|
||||
<CreateHexFile>1</CreateHexFile>
|
||||
<DebugInformation>1</DebugInformation>
|
||||
<BrowseInformation>1</BrowseInformation>
|
||||
<ListingPath>.\Listings\</ListingPath>
|
||||
<HexFormatSelection>1</HexFormatSelection>
|
||||
<Merge32K>0</Merge32K>
|
||||
<CreateBatchFile>0</CreateBatchFile>
|
||||
<BeforeCompile>
|
||||
<RunUserProg1>0</RunUserProg1>
|
||||
<RunUserProg2>0</RunUserProg2>
|
||||
<UserProg1Name></UserProg1Name>
|
||||
<UserProg2Name></UserProg2Name>
|
||||
<UserProg1Dos16Mode>0</UserProg1Dos16Mode>
|
||||
<UserProg2Dos16Mode>0</UserProg2Dos16Mode>
|
||||
<nStopU1X>0</nStopU1X>
|
||||
<nStopU2X>0</nStopU2X>
|
||||
</BeforeCompile>
|
||||
<BeforeMake>
|
||||
<RunUserProg1>0</RunUserProg1>
|
||||
<RunUserProg2>0</RunUserProg2>
|
||||
<UserProg1Name></UserProg1Name>
|
||||
<UserProg2Name></UserProg2Name>
|
||||
<UserProg1Dos16Mode>0</UserProg1Dos16Mode>
|
||||
<UserProg2Dos16Mode>0</UserProg2Dos16Mode>
|
||||
<nStopB1X>0</nStopB1X>
|
||||
<nStopB2X>0</nStopB2X>
|
||||
</BeforeMake>
|
||||
<AfterMake>
|
||||
<RunUserProg1>1</RunUserProg1>
|
||||
<RunUserProg2>0</RunUserProg2>
|
||||
<UserProg1Name>$K\ARM\ARMCC\bin\fromelf.exe --bin --output=.\Objects\@L.bin !L</UserProg1Name>
|
||||
<UserProg2Name></UserProg2Name>
|
||||
<UserProg1Dos16Mode>0</UserProg1Dos16Mode>
|
||||
<UserProg2Dos16Mode>0</UserProg2Dos16Mode>
|
||||
<nStopA1X>0</nStopA1X>
|
||||
<nStopA2X>0</nStopA2X>
|
||||
</AfterMake>
|
||||
<SelectedForBatchBuild>0</SelectedForBatchBuild>
|
||||
<SVCSIdString></SVCSIdString>
|
||||
</TargetCommonOption>
|
||||
<CommonProperty>
|
||||
<UseCPPCompiler>0</UseCPPCompiler>
|
||||
<RVCTCodeConst>0</RVCTCodeConst>
|
||||
<RVCTZI>0</RVCTZI>
|
||||
<RVCTOtherData>0</RVCTOtherData>
|
||||
<ModuleSelection>0</ModuleSelection>
|
||||
<IncludeInBuild>1</IncludeInBuild>
|
||||
<AlwaysBuild>0</AlwaysBuild>
|
||||
<GenerateAssemblyFile>0</GenerateAssemblyFile>
|
||||
<AssembleAssemblyFile>0</AssembleAssemblyFile>
|
||||
<PublicsOnly>0</PublicsOnly>
|
||||
<StopOnExitCode>3</StopOnExitCode>
|
||||
<CustomArgument></CustomArgument>
|
||||
<IncludeLibraryModules></IncludeLibraryModules>
|
||||
<ComprImg>1</ComprImg>
|
||||
</CommonProperty>
|
||||
<DllOption>
|
||||
<SimDllName>SARMCM3.DLL</SimDllName>
|
||||
<SimDllArguments> -REMAP</SimDllArguments>
|
||||
<SimDlgDll>DCM.DLL</SimDlgDll>
|
||||
<SimDlgDllArguments>-pCM3</SimDlgDllArguments>
|
||||
<TargetDllName>SARMCM3.DLL</TargetDllName>
|
||||
<TargetDllArguments></TargetDllArguments>
|
||||
<TargetDlgDll>TCM.DLL</TargetDlgDll>
|
||||
<TargetDlgDllArguments>-pCM3</TargetDlgDllArguments>
|
||||
</DllOption>
|
||||
<DebugOption>
|
||||
<OPTHX>
|
||||
<HexSelection>1</HexSelection>
|
||||
<HexRangeLowAddress>0</HexRangeLowAddress>
|
||||
<HexRangeHighAddress>0</HexRangeHighAddress>
|
||||
<HexOffset>0</HexOffset>
|
||||
<Oh166RecLen>16</Oh166RecLen>
|
||||
</OPTHX>
|
||||
<Simulator>
|
||||
<UseSimulator>0</UseSimulator>
|
||||
<LoadApplicationAtStartup>1</LoadApplicationAtStartup>
|
||||
<RunToMain>1</RunToMain>
|
||||
<RestoreBreakpoints>1</RestoreBreakpoints>
|
||||
<RestoreWatchpoints>1</RestoreWatchpoints>
|
||||
<RestoreMemoryDisplay>1</RestoreMemoryDisplay>
|
||||
<RestoreFunctions>1</RestoreFunctions>
|
||||
<RestoreToolbox>1</RestoreToolbox>
|
||||
<LimitSpeedToRealTime>0</LimitSpeedToRealTime>
|
||||
<RestoreSysVw>1</RestoreSysVw>
|
||||
</Simulator>
|
||||
<Target>
|
||||
<UseTarget>1</UseTarget>
|
||||
<LoadApplicationAtStartup>1</LoadApplicationAtStartup>
|
||||
<RunToMain>1</RunToMain>
|
||||
<RestoreBreakpoints>1</RestoreBreakpoints>
|
||||
<RestoreWatchpoints>1</RestoreWatchpoints>
|
||||
<RestoreMemoryDisplay>1</RestoreMemoryDisplay>
|
||||
<RestoreFunctions>0</RestoreFunctions>
|
||||
<RestoreToolbox>1</RestoreToolbox>
|
||||
<RestoreTracepoints>1</RestoreTracepoints>
|
||||
<RestoreSysVw>1</RestoreSysVw>
|
||||
</Target>
|
||||
<RunDebugAfterBuild>0</RunDebugAfterBuild>
|
||||
<TargetSelection>5</TargetSelection>
|
||||
<SimDlls>
|
||||
<CpuDll></CpuDll>
|
||||
<CpuDllArguments></CpuDllArguments>
|
||||
<PeripheralDll></PeripheralDll>
|
||||
<PeripheralDllArguments></PeripheralDllArguments>
|
||||
<InitializationFile></InitializationFile>
|
||||
</SimDlls>
|
||||
<TargetDlls>
|
||||
<CpuDll></CpuDll>
|
||||
<CpuDllArguments></CpuDllArguments>
|
||||
<PeripheralDll></PeripheralDll>
|
||||
<PeripheralDllArguments></PeripheralDllArguments>
|
||||
<InitializationFile></InitializationFile>
|
||||
<Driver>STLink\ST-LINKIII-KEIL_SWO.dll</Driver>
|
||||
</TargetDlls>
|
||||
</DebugOption>
|
||||
<Utilities>
|
||||
<Flash1>
|
||||
<UseTargetDll>1</UseTargetDll>
|
||||
<UseExternalTool>0</UseExternalTool>
|
||||
<RunIndependent>0</RunIndependent>
|
||||
<UpdateFlashBeforeDebugging>1</UpdateFlashBeforeDebugging>
|
||||
<Capability>1</Capability>
|
||||
<DriverSelection>4096</DriverSelection>
|
||||
</Flash1>
|
||||
<bUseTDR>1</bUseTDR>
|
||||
<Flash2>BIN\UL2CM3.DLL</Flash2>
|
||||
<Flash3>"" ()</Flash3>
|
||||
<Flash4></Flash4>
|
||||
<pFcarmOut></pFcarmOut>
|
||||
<pFcarmGrp></pFcarmGrp>
|
||||
<pFcArmRoot></pFcArmRoot>
|
||||
<FcArmLst>0</FcArmLst>
|
||||
</Utilities>
|
||||
<TargetArmAds>
|
||||
<ArmAdsMisc>
|
||||
<GenerateListings>0</GenerateListings>
|
||||
<asHll>1</asHll>
|
||||
<asAsm>1</asAsm>
|
||||
<asMacX>1</asMacX>
|
||||
<asSyms>1</asSyms>
|
||||
<asFals>1</asFals>
|
||||
<asDbgD>1</asDbgD>
|
||||
<asForm>1</asForm>
|
||||
<ldLst>0</ldLst>
|
||||
<ldmm>1</ldmm>
|
||||
<ldXref>1</ldXref>
|
||||
<BigEnd>0</BigEnd>
|
||||
<AdsALst>1</AdsALst>
|
||||
<AdsACrf>1</AdsACrf>
|
||||
<AdsANop>0</AdsANop>
|
||||
<AdsANot>0</AdsANot>
|
||||
<AdsLLst>1</AdsLLst>
|
||||
<AdsLmap>1</AdsLmap>
|
||||
<AdsLcgr>1</AdsLcgr>
|
||||
<AdsLsym>1</AdsLsym>
|
||||
<AdsLszi>1</AdsLszi>
|
||||
<AdsLtoi>1</AdsLtoi>
|
||||
<AdsLsun>1</AdsLsun>
|
||||
<AdsLven>1</AdsLven>
|
||||
<AdsLsxf>1</AdsLsxf>
|
||||
<RvctClst>0</RvctClst>
|
||||
<GenPPlst>0</GenPPlst>
|
||||
<AdsCpuType>"Cortex-M3"</AdsCpuType>
|
||||
<RvctDeviceName></RvctDeviceName>
|
||||
<mOS>0</mOS>
|
||||
<uocRom>0</uocRom>
|
||||
<uocRam>0</uocRam>
|
||||
<hadIROM>1</hadIROM>
|
||||
<hadIRAM>1</hadIRAM>
|
||||
<hadXRAM>0</hadXRAM>
|
||||
<uocXRam>0</uocXRam>
|
||||
<RvdsVP>0</RvdsVP>
|
||||
<hadIRAM2>0</hadIRAM2>
|
||||
<hadIROM2>0</hadIROM2>
|
||||
<StupSel>8</StupSel>
|
||||
<useUlib>1</useUlib>
|
||||
<EndSel>0</EndSel>
|
||||
<uLtcg>0</uLtcg>
|
||||
<nSecure>0</nSecure>
|
||||
<RoSelD>3</RoSelD>
|
||||
<RwSelD>3</RwSelD>
|
||||
<CodeSel>0</CodeSel>
|
||||
<OptFeed>0</OptFeed>
|
||||
<NoZi1>0</NoZi1>
|
||||
<NoZi2>0</NoZi2>
|
||||
<NoZi3>0</NoZi3>
|
||||
<NoZi4>0</NoZi4>
|
||||
<NoZi5>0</NoZi5>
|
||||
<Ro1Chk>0</Ro1Chk>
|
||||
<Ro2Chk>0</Ro2Chk>
|
||||
<Ro3Chk>0</Ro3Chk>
|
||||
<Ir1Chk>1</Ir1Chk>
|
||||
<Ir2Chk>0</Ir2Chk>
|
||||
<Ra1Chk>0</Ra1Chk>
|
||||
<Ra2Chk>0</Ra2Chk>
|
||||
<Ra3Chk>0</Ra3Chk>
|
||||
<Im1Chk>1</Im1Chk>
|
||||
<Im2Chk>0</Im2Chk>
|
||||
<OnChipMemories>
|
||||
<Ocm1>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</Ocm1>
|
||||
<Ocm2>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</Ocm2>
|
||||
<Ocm3>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</Ocm3>
|
||||
<Ocm4>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</Ocm4>
|
||||
<Ocm5>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</Ocm5>
|
||||
<Ocm6>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</Ocm6>
|
||||
<IRAM>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x20000000</StartAddress>
|
||||
<Size>0x1000</Size>
|
||||
</IRAM>
|
||||
<IROM>
|
||||
<Type>1</Type>
|
||||
<StartAddress>0x8000000</StartAddress>
|
||||
<Size>0x8000</Size>
|
||||
</IROM>
|
||||
<XRAM>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</XRAM>
|
||||
<OCR_RVCT1>
|
||||
<Type>1</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</OCR_RVCT1>
|
||||
<OCR_RVCT2>
|
||||
<Type>1</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</OCR_RVCT2>
|
||||
<OCR_RVCT3>
|
||||
<Type>1</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</OCR_RVCT3>
|
||||
<OCR_RVCT4>
|
||||
<Type>1</Type>
|
||||
<StartAddress>0x8000000</StartAddress>
|
||||
<Size>0x8000</Size>
|
||||
</OCR_RVCT4>
|
||||
<OCR_RVCT5>
|
||||
<Type>1</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</OCR_RVCT5>
|
||||
<OCR_RVCT6>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</OCR_RVCT6>
|
||||
<OCR_RVCT7>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</OCR_RVCT7>
|
||||
<OCR_RVCT8>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</OCR_RVCT8>
|
||||
<OCR_RVCT9>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x20000000</StartAddress>
|
||||
<Size>0x1000</Size>
|
||||
</OCR_RVCT9>
|
||||
<OCR_RVCT10>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</OCR_RVCT10>
|
||||
</OnChipMemories>
|
||||
<RvctStartVector></RvctStartVector>
|
||||
</ArmAdsMisc>
|
||||
<Cads>
|
||||
<interw>1</interw>
|
||||
<Optim>4</Optim>
|
||||
<oTime>0</oTime>
|
||||
<SplitLS>0</SplitLS>
|
||||
<OneElfS>1</OneElfS>
|
||||
<Strict>0</Strict>
|
||||
<EnumInt>0</EnumInt>
|
||||
<PlainCh>0</PlainCh>
|
||||
<Ropi>0</Ropi>
|
||||
<Rwpi>0</Rwpi>
|
||||
<wLevel>2</wLevel>
|
||||
<uThumb>0</uThumb>
|
||||
<uSurpInc>0</uSurpInc>
|
||||
<uC99>1</uC99>
|
||||
<useXO>0</useXO>
|
||||
<v6Lang>1</v6Lang>
|
||||
<v6LangP>1</v6LangP>
|
||||
<vShortEn>1</vShortEn>
|
||||
<vShortWch>1</vShortWch>
|
||||
<v6Lto>0</v6Lto>
|
||||
<v6WtE>0</v6WtE>
|
||||
<v6Rtti>0</v6Rtti>
|
||||
<VariousControls>
|
||||
<MiscControls></MiscControls>
|
||||
<Define>USE_STDPERIPH_DRIVER,GD32F130_150,VARIANT_HOVERCAR</Define>
|
||||
<Undefine></Undefine>
|
||||
<IncludePath>..\Inc;..\Drivers\CMSIS\Include;..\Drivers\CMSIS;..\Drivers\GD32F1x0_standard_peripheral\Include</IncludePath>
|
||||
</VariousControls>
|
||||
</Cads>
|
||||
<Aads>
|
||||
<interw>1</interw>
|
||||
<Ropi>0</Ropi>
|
||||
<Rwpi>0</Rwpi>
|
||||
<thumb>0</thumb>
|
||||
<SplitLS>0</SplitLS>
|
||||
<SwStkChk>0</SwStkChk>
|
||||
<NoWarn>0</NoWarn>
|
||||
<uSurpInc>0</uSurpInc>
|
||||
<useXO>0</useXO>
|
||||
<uClangAs>0</uClangAs>
|
||||
<VariousControls>
|
||||
<MiscControls></MiscControls>
|
||||
<Define></Define>
|
||||
<Undefine></Undefine>
|
||||
<IncludePath></IncludePath>
|
||||
</VariousControls>
|
||||
</Aads>
|
||||
<LDads>
|
||||
<umfTarg>1</umfTarg>
|
||||
<Ropi>0</Ropi>
|
||||
<Rwpi>0</Rwpi>
|
||||
<noStLib>0</noStLib>
|
||||
<RepFail>1</RepFail>
|
||||
<useFile>0</useFile>
|
||||
<TextAddressRange>0x08000000</TextAddressRange>
|
||||
<DataAddressRange>0x20000000</DataAddressRange>
|
||||
<pXoBase></pXoBase>
|
||||
<ScatterFile>.\Objects\sideboard-hack.sct</ScatterFile>
|
||||
<IncludeLibs></IncludeLibs>
|
||||
<IncludeLibsPath></IncludeLibsPath>
|
||||
<Misc></Misc>
|
||||
<LinkerInputFile></LinkerInputFile>
|
||||
<DisabledWarnings></DisabledWarnings>
|
||||
</LDads>
|
||||
</TargetArmAds>
|
||||
</TargetOption>
|
||||
<Groups>
|
||||
<Group>
|
||||
<GroupName>Startup</GroupName>
|
||||
<Files>
|
||||
<File>
|
||||
<FileName>startup_gd32f1x0.s</FileName>
|
||||
<FileType>2</FileType>
|
||||
<FilePath>.\startup_gd32f1x0.s</FilePath>
|
||||
</File>
|
||||
</Files>
|
||||
</Group>
|
||||
<Group>
|
||||
<GroupName>CMSIS</GroupName>
|
||||
<Files>
|
||||
<File>
|
||||
<FileName>system_gd32f1x0.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\CMSIS\Source\system_gd32f1x0.c</FilePath>
|
||||
</File>
|
||||
</Files>
|
||||
</Group>
|
||||
<Group>
|
||||
<GroupName>Peripheral</GroupName>
|
||||
<Files>
|
||||
<File>
|
||||
<FileName>gd32f1x0_adc.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\GD32F1x0_standard_peripheral\Source\gd32f1x0_adc.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>gd32f1x0_can.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\GD32F1x0_standard_peripheral\Source\gd32f1x0_can.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>gd32f1x0_cec.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\GD32F1x0_standard_peripheral\Source\gd32f1x0_cec.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>gd32f1x0_cmp.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\GD32F1x0_standard_peripheral\Source\gd32f1x0_cmp.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>gd32f1x0_crc.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\GD32F1x0_standard_peripheral\Source\gd32f1x0_crc.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>gd32f1x0_dac.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\GD32F1x0_standard_peripheral\Source\gd32f1x0_dac.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>gd32f1x0_dbg.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\GD32F1x0_standard_peripheral\Source\gd32f1x0_dbg.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>gd32f1x0_dma.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\GD32F1x0_standard_peripheral\Source\gd32f1x0_dma.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>gd32f1x0_exti.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\GD32F1x0_standard_peripheral\Source\gd32f1x0_exti.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>gd32f1x0_fmc.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\GD32F1x0_standard_peripheral\Source\gd32f1x0_fmc.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>gd32f1x0_fwdgt.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\GD32F1x0_standard_peripheral\Source\gd32f1x0_fwdgt.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>gd32f1x0_gpio.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\GD32F1x0_standard_peripheral\Source\gd32f1x0_gpio.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>gd32f1x0_i2c.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\GD32F1x0_standard_peripheral\Source\gd32f1x0_i2c.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>gd32f1x0_ivref.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\GD32F1x0_standard_peripheral\Source\gd32f1x0_ivref.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>gd32f1x0_misc.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\GD32F1x0_standard_peripheral\Source\gd32f1x0_misc.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>gd32f1x0_opa.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\GD32F1x0_standard_peripheral\Source\gd32f1x0_opa.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>gd32f1x0_pmu.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\GD32F1x0_standard_peripheral\Source\gd32f1x0_pmu.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>gd32f1x0_rcu.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\GD32F1x0_standard_peripheral\Source\gd32f1x0_rcu.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>gd32f1x0_rtc.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\GD32F1x0_standard_peripheral\Source\gd32f1x0_rtc.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>gd32f1x0_slcd.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\GD32F1x0_standard_peripheral\Source\gd32f1x0_slcd.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>gd32f1x0_spi.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\GD32F1x0_standard_peripheral\Source\gd32f1x0_spi.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>gd32f1x0_syscfg.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\GD32F1x0_standard_peripheral\Source\gd32f1x0_syscfg.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>gd32f1x0_timer.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\GD32F1x0_standard_peripheral\Source\gd32f1x0_timer.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>gd32f1x0_tsi.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\GD32F1x0_standard_peripheral\Source\gd32f1x0_tsi.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>gd32f1x0_usart.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\GD32F1x0_standard_peripheral\Source\gd32f1x0_usart.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>gd32f1x0_wwdgt.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\GD32F1x0_standard_peripheral\Source\gd32f1x0_wwdgt.c</FilePath>
|
||||
</File>
|
||||
</Files>
|
||||
</Group>
|
||||
<Group>
|
||||
<GroupName>Src</GroupName>
|
||||
<Files>
|
||||
<File>
|
||||
<FileName>gd32f1x0_it.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Src\gd32f1x0_it.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>main.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Src\main.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>setup.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Src\setup.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>systick.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Src\systick.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>util.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Src\util.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>i2c_it.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Src\i2c_it.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>mpu6050.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Src\mpu6050.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>mpu6050_dmp.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Src\mpu6050_dmp.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>config.h</FileName>
|
||||
<FileType>5</FileType>
|
||||
<FilePath>..\Inc\config.h</FilePath>
|
||||
</File>
|
||||
</Files>
|
||||
</Group>
|
||||
</Groups>
|
||||
</Target>
|
||||
<Target>
|
||||
<TargetName>VARIANT_HOVERBOARD</TargetName>
|
||||
<ToolsetNumber>0x4</ToolsetNumber>
|
||||
|
||||
31
README.md
31
README.md
@ -16,6 +16,7 @@ Table of Contents
|
||||
* [Example Variants ](#example-variants)
|
||||
* [Flashing](#flashing)
|
||||
* [3D Visualization Demo](#3d-visualization-demo)
|
||||
* [Wiring iBUS Receiver](#wiring-ibus-receiver)
|
||||
* [Contributions](#contributions)
|
||||
|
||||
---
|
||||
@ -49,8 +50,9 @@ For more details see the [MPU-6050 datasheet](/docs/1_MPU-6000-Datasheet.pdf) an
|
||||
## Example Variants
|
||||
|
||||
This firmware offers currently these variants (selectable in [platformio.ini](/platformio.ini) or [config.h](/Inc/config.h)):
|
||||
- **VARIANT_DEBUG**: In this variant the user can interact with sideboard by sending commands via a Serial Monitor to observe and check the capabilities of the sideboard.
|
||||
- **VARIANT_HOVERBOARD**: In this variant the sideboard is communicating with the mainboard of a hoverboard using the [FOC firmware repository](https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC).
|
||||
- **VARIANT_DEBUG**: In this variant the user can interact with sideboard by sending commands via a Serial Monitor to observe and check the capabilities of the sideboard
|
||||
- **VARIANT_HOVERCAR**: This variant can be used for Hovercar build. An RC receiver with iBUS protocol can be connected to the AUX serial Rx pin (see [schematic](#wiring-ibus-receiver))
|
||||
- **VARIANT_HOVERBOARD**: In this variant the sideboard is communicating with the mainboard of a hoverboard using the [FOC firmware repository](https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC)
|
||||
|
||||
Of course the firmware can be further customized for other needs or projects.
|
||||
|
||||
@ -66,24 +68,11 @@ To build and flash choose one of the following methods:
|
||||
|
||||
### Method 1: Using Platformio IDE
|
||||
|
||||
Because the [GD32F130C6T6](/docs/GD32F130xx-Datasheet_Rev3.3.pdf) is not yet supported by [PlatformIO](https://platformio.org/), we have to make two extra steps. These steps can be skipped once the board is supported (see [this thread](https://community.platformio.org/t/build-gd32-project-with-platformio/11944)).
|
||||
|
||||
- go to your PlatformIO home folder (Windows: `C:\Users\<user>\.platformio`, Unix/Max: `/home/<user>/.platformio`). Then go into `packages`. If the folder `framework-spl` exists, delete it.
|
||||
|
||||
- unpack the `framework-spl.zip` in the `packages` folder so that the directory structure is now:
|
||||
```
|
||||
packages/
|
||||
| - framework-spl/
|
||||
| |-- gd32/
|
||||
| |-- platformio/
|
||||
| |-- stm32/
|
||||
| |-- package.json
|
||||
```
|
||||
(This folder contains the `GD32F1x0_Firmware_Library_v3.1.0` files)
|
||||
|
||||
- open the project folder in the IDE of choice (vscode or Atom)
|
||||
- press the 'PlatformIO:Build' or the 'PlatformIO:Upload' button (bottom left in vscode).
|
||||
|
||||
Note the [GD32F130C6T6](/docs/GD32F130xx-Datasheet_Rev3.3.pdf) is now supported by [PlatformIO](https://platformio.org/), see [https://github.com/maxgerhardt/pio-gd32f130c6](https://github.com/maxgerhardt/pio-gd32f130c6).
|
||||
|
||||
### Method 2: Using Keil uVision
|
||||
|
||||
- in [Keil uVision](https://www.keil.com/download/product/), open the [sideboard-hack.uvproj](/MDK-ARM/)
|
||||
@ -116,6 +105,14 @@ By [converting Quaternions to Euler angles](https://en.wikipedia.org/wiki/Conver
|
||||
|
||||
|
||||
|
||||
---
|
||||
## Wiring iBUS Receiver
|
||||
|
||||
An RC transmitter (Flysky [FS-i6S](https://www.banggood.com/custlink/3KvdPnfDPc) or [FS-i6X](https://www.banggood.com/custlink/KmDy5swKPD)) can be connected to the sideboard using an [FS-iA6B](https://www.banggood.com/custlink/KD3RFswKcT) receiver as shown in the following schematic:
|
||||
|
||||
|
||||
|
||||
|
||||
---
|
||||
## Contributions
|
||||
|
||||
|
||||
@ -118,10 +118,24 @@ void PendSV_Handler(void)
|
||||
*/
|
||||
void SysTick_Handler(void)
|
||||
{
|
||||
tick_count_increment();
|
||||
tick_count_increment();
|
||||
delay_decrement();
|
||||
}
|
||||
|
||||
/*!
|
||||
\brief this function handles the USART0 interrupt request
|
||||
\param[in] none
|
||||
\param[out] none
|
||||
\retval none
|
||||
*/
|
||||
void USART0_IRQHandler(void)
|
||||
{
|
||||
if(RESET != usart_interrupt_flag_get(USART0, USART_INT_FLAG_IDLE)) { // Check for IDLE line interrupt
|
||||
usart_flag_clear(USART0, USART_FLAG_IDLE); // Clear IDLE line flag (otherwise it will continue to enter interrupt)
|
||||
usart0_rx_check(); // Check for data to process
|
||||
}
|
||||
}
|
||||
|
||||
/*!
|
||||
\brief this function handles the USART1 interrupt request
|
||||
\param[in] none
|
||||
@ -132,7 +146,7 @@ void USART1_IRQHandler(void)
|
||||
{
|
||||
if(RESET != usart_interrupt_flag_get(USART1, USART_INT_FLAG_IDLE)) { // Check for IDLE line interrupt
|
||||
usart_flag_clear(USART1, USART_FLAG_IDLE); // Clear IDLE line flag (otherwise it will continue to enter interrupt)
|
||||
usart_rx_check(); // Check for data to process
|
||||
usart1_rx_check(); // Check for data to process
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
344
Src/i2c_it.c
344
Src/i2c_it.c
@ -47,116 +47,116 @@ extern volatile int8_t i2c_aux_nRABytes;
|
||||
|
||||
void I2C0_EventIRQ_Handler(void)
|
||||
{
|
||||
uint16_t k;
|
||||
if (i2c_ReadWriteCmd == WRITE) { // check for WRITE command
|
||||
uint16_t k;
|
||||
if (i2c_ReadWriteCmd == WRITE) { // check for WRITE command
|
||||
|
||||
// ======================================== WRITE ========================================
|
||||
// --------------------------------------------------------------------
|
||||
// | Master | S | AD+W | | RA | | DATA | | DATA | | P |
|
||||
// | Slave | | | ACK | | ACK | | ACK | | ACK | |
|
||||
// --------------------------------------------------------------------
|
||||
// ======================================== WRITE ========================================
|
||||
// --------------------------------------------------------------------
|
||||
// | Master | S | AD+W | | RA | | DATA | | DATA | | P |
|
||||
// | Slave | | | ACK | | ACK | | ACK | | ACK | |
|
||||
// --------------------------------------------------------------------
|
||||
|
||||
if (i2c_interrupt_flag_get(I2C0, I2C_INT_FLAG_SBSEND)) { // check if start condition is sent out in master mode
|
||||
if (i2c_interrupt_flag_get(I2C0, I2C_INT_FLAG_SBSEND)) { // check if start condition is sent out in master mode
|
||||
|
||||
i2c_master_addressing(I2C0, i2c_slaveAddress, I2C_TRANSMITTER); // send slave address with Transmit request
|
||||
i2c_master_addressing(I2C0, i2c_slaveAddress, I2C_TRANSMITTER); // send slave address with Transmit request
|
||||
|
||||
} else if (i2c_interrupt_flag_get(I2C0, I2C_INT_FLAG_ADDSEND)) { // check if address is sent in master mode
|
||||
} else if (i2c_interrupt_flag_get(I2C0, I2C_INT_FLAG_ADDSEND)) { // check if address is sent in master mode
|
||||
|
||||
i2c_interrupt_flag_clear(I2C0, I2C_INT_FLAG_ADDSEND); // clear ADDSEND bit
|
||||
i2c_interrupt_flag_clear(I2C0, I2C_INT_FLAG_ADDSEND); // clear ADDSEND bit
|
||||
|
||||
} else if (i2c_interrupt_flag_get(I2C0, I2C_INT_FLAG_TBE)) { // check if I2C_DATA is empty (Transmitted Byte Empty)
|
||||
} else if (i2c_interrupt_flag_get(I2C0, I2C_INT_FLAG_TBE)) { // check if I2C_DATA is empty (Transmitted Byte Empty)
|
||||
|
||||
if (i2c_nRABytes > 0) { // check if the Register Address has been sent
|
||||
i2c_data_transmit(I2C0, i2c_regAddress); // the master sends the Register Address byte
|
||||
i2c_nRABytes--;
|
||||
} else {
|
||||
if (i2c_nDABytes > 0) {
|
||||
i2c_data_transmit(I2C0, *i2c_txbuffer++); // the master sends a data byte
|
||||
i2c_nDABytes--;
|
||||
if (0 == i2c_nDABytes) {
|
||||
i2c_status = 0; // 0 = Success
|
||||
}
|
||||
for(k=0; k<500; k++) {
|
||||
#ifdef __GNUC__
|
||||
asm volatile ("nop"); // unoptimizable NOP loop, 500 times to make some clock cycles delay (otherwise DMP writing will fail!! Reason unknown yet.. could be that writing to MPU6050 memory takes a bit more time)
|
||||
#else
|
||||
__asm volatile ("nop");
|
||||
#endif
|
||||
}
|
||||
} else {
|
||||
i2c_stop_on_bus(I2C0); // the master sends a stop condition to I2C bus
|
||||
i2c_interrupt_disable(I2C0, I2C_INT_ERR | I2C_INT_BUF | I2C_INT_EV); // disable the I2C0 interrupt
|
||||
}
|
||||
}
|
||||
if (i2c_nRABytes > 0) { // check if the Register Address has been sent
|
||||
i2c_data_transmit(I2C0, i2c_regAddress); // the master sends the Register Address byte
|
||||
i2c_nRABytes--;
|
||||
} else {
|
||||
if (i2c_nDABytes > 0) {
|
||||
i2c_data_transmit(I2C0, *i2c_txbuffer++); // the master sends a data byte
|
||||
i2c_nDABytes--;
|
||||
if (0 == i2c_nDABytes) {
|
||||
i2c_status = 0; // 0 = Success
|
||||
}
|
||||
for(k=0; k<500; k++) {
|
||||
#ifdef __GNUC__
|
||||
asm volatile ("nop"); // unoptimizable NOP loop, 500 times to make some clock cycles delay (otherwise DMP writing will fail!! Reason unknown yet.. could be that writing to MPU6050 memory takes a bit more time)
|
||||
#else
|
||||
__asm volatile ("nop");
|
||||
#endif
|
||||
}
|
||||
} else {
|
||||
i2c_stop_on_bus(I2C0); // the master sends a stop condition to I2C bus
|
||||
i2c_interrupt_disable(I2C0, I2C_INT_ERR | I2C_INT_BUF | I2C_INT_EV); // disable the I2C0 interrupt
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
} else if (i2c_ReadWriteCmd == READ) { // check for READ command
|
||||
} else if (i2c_ReadWriteCmd == READ) { // check for READ command
|
||||
|
||||
// ======================================== READ ========================================
|
||||
// --------------------------------------------------------------------------------------
|
||||
// | Master | S | AD+W | | RA | | S | AD+R | | ACK | | NACK | P |
|
||||
// | Slave | | | ACK | | ACK | | | ACK | DATA | | DATA | | |
|
||||
// --------------------------------------------------------------------------------------
|
||||
// <---------- Phase 1 ----------> <---------------- Phase 2 ---------------->
|
||||
// ======================================== READ ========================================
|
||||
// --------------------------------------------------------------------------------------
|
||||
// | Master | S | AD+W | | RA | | S | AD+R | | ACK | | NACK | P |
|
||||
// | Slave | | | ACK | | ACK | | | ACK | DATA | | DATA | | |
|
||||
// --------------------------------------------------------------------------------------
|
||||
// <---------- Phase 1 ----------> <---------------- Phase 2 ---------------->
|
||||
|
||||
// Phase 1 - send the Register Address
|
||||
if (i2c_nRABytes >= 0) {
|
||||
// Phase 1 - send the Register Address
|
||||
if (i2c_nRABytes >= 0) {
|
||||
|
||||
if (i2c_interrupt_flag_get(I2C0, I2C_INT_FLAG_SBSEND)) { // check if start condition is sent out in master mode
|
||||
if (i2c_interrupt_flag_get(I2C0, I2C_INT_FLAG_SBSEND)) { // check if start condition is sent out in master mode
|
||||
|
||||
i2c_master_addressing(I2C0, i2c_slaveAddress, I2C_TRANSMITTER); // send slave address with Transmit request
|
||||
i2c_master_addressing(I2C0, i2c_slaveAddress, I2C_TRANSMITTER); // send slave address with Transmit request
|
||||
|
||||
} else if (i2c_interrupt_flag_get(I2C0, I2C_INT_FLAG_ADDSEND)) { // check if address is sent in master mode
|
||||
} else if (i2c_interrupt_flag_get(I2C0, I2C_INT_FLAG_ADDSEND)) { // check if address is sent in master mode
|
||||
|
||||
i2c_interrupt_flag_clear(I2C0, I2C_INT_FLAG_ADDSEND); // clear ADDSEND bit
|
||||
i2c_interrupt_flag_clear(I2C0, I2C_INT_FLAG_ADDSEND); // clear ADDSEND bit
|
||||
|
||||
} else if (i2c_interrupt_flag_get(I2C0, I2C_INT_FLAG_TBE)) { // check if I2C_DATA is empty (Transmitted Byte Empty)
|
||||
if (i2c_nRABytes > 0) { // check RABytes
|
||||
i2c_data_transmit(I2C0, i2c_regAddress); // the master sends the Register Address byte
|
||||
} else {
|
||||
i2c_start_on_bus(I2C0); // send start condition
|
||||
}
|
||||
i2c_nRABytes--;
|
||||
}
|
||||
} else if (i2c_interrupt_flag_get(I2C0, I2C_INT_FLAG_TBE)) { // check if I2C_DATA is empty (Transmitted Byte Empty)
|
||||
if (i2c_nRABytes > 0) { // check RABytes
|
||||
i2c_data_transmit(I2C0, i2c_regAddress); // the master sends the Register Address byte
|
||||
} else {
|
||||
i2c_start_on_bus(I2C0); // send start condition
|
||||
}
|
||||
i2c_nRABytes--;
|
||||
}
|
||||
|
||||
// Phase 2 - read Data
|
||||
} else {
|
||||
// Phase 2 - read Data
|
||||
} else {
|
||||
|
||||
if(i2c_interrupt_flag_get(I2C0, I2C_INT_FLAG_SBSEND)){ // check if start condition is sent out in master mode
|
||||
if(i2c_interrupt_flag_get(I2C0, I2C_INT_FLAG_SBSEND)){ // check if start condition is sent out in master mode
|
||||
|
||||
i2c_master_addressing(I2C0, i2c_slaveAddress, I2C_RECEIVER); // sends slave address with Receive Request
|
||||
i2c_master_addressing(I2C0, i2c_slaveAddress, I2C_RECEIVER); // sends slave address with Receive Request
|
||||
|
||||
}else if(i2c_interrupt_flag_get(I2C0, I2C_INT_FLAG_ADDSEND)){ // check if address is sent in master mode
|
||||
}else if(i2c_interrupt_flag_get(I2C0, I2C_INT_FLAG_ADDSEND)){ // check if address is sent in master mode
|
||||
|
||||
if((1 == i2c_nDABytes) || (2 == i2c_nDABytes)){
|
||||
i2c_ack_config(I2C0, I2C_ACK_DISABLE); // clear the ACKEN before the ADDSEND is cleared
|
||||
i2c_interrupt_flag_clear(I2C0,I2C_INT_FLAG_ADDSEND); // clear the ADDSEND bit
|
||||
}else{
|
||||
i2c_interrupt_flag_clear(I2C0,I2C_INT_FLAG_ADDSEND); // clear the ADDSEND bit
|
||||
}
|
||||
if((1 == i2c_nDABytes) || (2 == i2c_nDABytes)){
|
||||
i2c_ack_config(I2C0, I2C_ACK_DISABLE); // clear the ACKEN before the ADDSEND is cleared
|
||||
i2c_interrupt_flag_clear(I2C0,I2C_INT_FLAG_ADDSEND); // clear the ADDSEND bit
|
||||
}else{
|
||||
i2c_interrupt_flag_clear(I2C0,I2C_INT_FLAG_ADDSEND); // clear the ADDSEND bit
|
||||
}
|
||||
|
||||
}else if(i2c_interrupt_flag_get(I2C0, I2C_INT_FLAG_RBNE)){ // check if I2C_DATA is not Empty (Received Byte Not Empty)
|
||||
if(i2c_nDABytes > 0){
|
||||
if(3 == i2c_nDABytes){
|
||||
while(!i2c_interrupt_flag_get(I2C0, I2C_INT_FLAG_BTC)); // wait until the second last data byte is received into the shift register
|
||||
i2c_ack_config(I2C0, I2C_ACK_DISABLE); // send a NACK for the last data byte
|
||||
}
|
||||
*i2c_rxbuffer++ = i2c_data_receive(I2C0); // read a data byte from I2C_DATA
|
||||
i2c_nDABytes--;
|
||||
if(0 == i2c_nDABytes){
|
||||
i2c_stop_on_bus(I2C0); // send a stop condition
|
||||
i2c_status = 0; // 0 = Success
|
||||
i2c_ack_config(I2C0, I2C_ACK_ENABLE);
|
||||
i2c_ackpos_config(I2C0, I2C_ACKPOS_CURRENT);
|
||||
i2c_interrupt_disable(I2C0, I2C_INT_ERR | I2C_INT_BUF | I2C_INT_EV);
|
||||
}
|
||||
}
|
||||
}else if(i2c_interrupt_flag_get(I2C0, I2C_INT_FLAG_RBNE)){ // check if I2C_DATA is not Empty (Received Byte Not Empty)
|
||||
if(i2c_nDABytes > 0){
|
||||
if(3 == i2c_nDABytes){
|
||||
while(!i2c_interrupt_flag_get(I2C0, I2C_INT_FLAG_BTC)); // wait until the second last data byte is received into the shift register
|
||||
i2c_ack_config(I2C0, I2C_ACK_DISABLE); // send a NACK for the last data byte
|
||||
}
|
||||
*i2c_rxbuffer++ = i2c_data_receive(I2C0); // read a data byte from I2C_DATA
|
||||
i2c_nDABytes--;
|
||||
if(0 == i2c_nDABytes) {
|
||||
i2c_stop_on_bus(I2C0); // send a stop condition
|
||||
i2c_status = 0; // 0 = Success
|
||||
i2c_ack_config(I2C0, I2C_ACK_ENABLE);
|
||||
i2c_ackpos_config(I2C0, I2C_ACKPOS_CURRENT);
|
||||
i2c_interrupt_disable(I2C0, I2C_INT_ERR | I2C_INT_BUF | I2C_INT_EV);
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
@ -198,6 +198,7 @@ void I2C0_ErrorIRQ_Handler(void)
|
||||
if(i2c_interrupt_flag_get(I2C0, I2C_INT_FLAG_PECERR)){
|
||||
i2c_interrupt_flag_clear(I2C0, I2C_INT_FLAG_PECERR);
|
||||
}
|
||||
|
||||
/* disable the error interrupt */
|
||||
i2c_interrupt_disable(I2C0,I2C_INT_ERR | I2C_INT_BUF | I2C_INT_EV);
|
||||
}
|
||||
@ -212,115 +213,115 @@ void I2C0_ErrorIRQ_Handler(void)
|
||||
*/
|
||||
void I2C1_EventIRQ_Handler(void)
|
||||
{
|
||||
uint16_t k;
|
||||
if (i2c_aux_ReadWriteCmd == WRITE) { // check for WRITE command
|
||||
uint16_t k;
|
||||
if (i2c_aux_ReadWriteCmd == WRITE) { // check for WRITE command
|
||||
|
||||
// ======================================== WRITE ========================================
|
||||
// --------------------------------------------------------------------
|
||||
// | Master | S | AD+W | | RA | | DATA | | DATA | | P |
|
||||
// | Slave | | | ACK | | ACK | | ACK | | ACK | |
|
||||
// --------------------------------------------------------------------
|
||||
// ======================================== WRITE ========================================
|
||||
// --------------------------------------------------------------------
|
||||
// | Master | S | AD+W | | RA | | DATA | | DATA | | P |
|
||||
// | Slave | | | ACK | | ACK | | ACK | | ACK | |
|
||||
// --------------------------------------------------------------------
|
||||
|
||||
if (i2c_interrupt_flag_get(I2C1, I2C_INT_FLAG_SBSEND)) { // check if start condition is sent out in master mode
|
||||
if (i2c_interrupt_flag_get(I2C1, I2C_INT_FLAG_SBSEND)) { // check if start condition is sent out in master mode
|
||||
|
||||
i2c_master_addressing(I2C1, i2c_aux_slaveAddress, I2C_TRANSMITTER); // send slave address with Transmit request
|
||||
i2c_master_addressing(I2C1, i2c_aux_slaveAddress, I2C_TRANSMITTER); // send slave address with Transmit request
|
||||
|
||||
} else if (i2c_interrupt_flag_get(I2C1, I2C_INT_FLAG_ADDSEND)) { // check if address is sent in master mode
|
||||
} else if (i2c_interrupt_flag_get(I2C1, I2C_INT_FLAG_ADDSEND)) { // check if address is sent in master mode
|
||||
|
||||
i2c_interrupt_flag_clear(I2C1, I2C_INT_FLAG_ADDSEND); // clear ADDSEND bit
|
||||
i2c_interrupt_flag_clear(I2C1, I2C_INT_FLAG_ADDSEND); // clear ADDSEND bit
|
||||
|
||||
} else if (i2c_interrupt_flag_get(I2C1, I2C_INT_FLAG_TBE)) { // check if I2C_DATA is empty (Transmitted Byte Empty)
|
||||
} else if (i2c_interrupt_flag_get(I2C1, I2C_INT_FLAG_TBE)) { // check if I2C_DATA is empty (Transmitted Byte Empty)
|
||||
|
||||
if (i2c_aux_nRABytes > 0) { // check if the Register Address has been sent
|
||||
i2c_data_transmit(I2C1, i2c_aux_regAddress); // the master sends the Register Address byte
|
||||
i2c_aux_nRABytes--;
|
||||
} else {
|
||||
if (i2c_aux_nDABytes > 0) {
|
||||
i2c_data_transmit(I2C1, *i2c_aux_txbuffer++); // the master sends a data byte
|
||||
i2c_aux_nDABytes--;
|
||||
for(k=0; k<500; k++);
|
||||
if (0 == i2c_aux_nDABytes) {
|
||||
i2c_aux_status = 0; // 0 = Success
|
||||
}
|
||||
#ifdef __GNUC__
|
||||
asm volatile ("nop"); // unoptimizable NOP loop, 500 times to make some clock cycles delay (otherwise DMP writing will fail!! Reason unknown yet.. could be that writing to MPU6050 memory takes a bit more time)
|
||||
#else
|
||||
__asm volatile ("nop");
|
||||
#endif
|
||||
} else {
|
||||
i2c_stop_on_bus(I2C1); // the master sends a stop condition to I2C bus
|
||||
i2c_interrupt_disable(I2C1, I2C_INT_ERR | I2C_INT_BUF | I2C_INT_EV); // disable the I2C0 interrupt
|
||||
}
|
||||
}
|
||||
if (i2c_aux_nRABytes > 0) { // check if the Register Address has been sent
|
||||
i2c_data_transmit(I2C1, i2c_aux_regAddress); // the master sends the Register Address byte
|
||||
i2c_aux_nRABytes--;
|
||||
} else {
|
||||
if (i2c_aux_nDABytes > 0) {
|
||||
i2c_data_transmit(I2C1, *i2c_aux_txbuffer++); // the master sends a data byte
|
||||
i2c_aux_nDABytes--;
|
||||
for(k=0; k<500; k++);
|
||||
if (0 == i2c_aux_nDABytes) {
|
||||
i2c_aux_status = 0; // 0 = Success
|
||||
}
|
||||
#ifdef __GNUC__
|
||||
asm volatile ("nop"); // unoptimizable NOP loop, 500 times to make some clock cycles delay (otherwise DMP writing will fail!! Reason unknown yet.. could be that writing to MPU6050 memory takes a bit more time)
|
||||
#else
|
||||
__asm volatile ("nop");
|
||||
#endif
|
||||
} else {
|
||||
i2c_stop_on_bus(I2C1); // the master sends a stop condition to I2C bus
|
||||
i2c_interrupt_disable(I2C1, I2C_INT_ERR | I2C_INT_BUF | I2C_INT_EV); // disable the I2C0 interrupt
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
} else if (i2c_aux_ReadWriteCmd == READ) { // check for READ command
|
||||
} else if (i2c_aux_ReadWriteCmd == READ) { // check for READ command
|
||||
|
||||
// ======================================== READ ========================================
|
||||
// --------------------------------------------------------------------------------------
|
||||
// | Master | S | AD+W | | RA | | S | AD+R | | ACK | | NACK | P |
|
||||
// | Slave | | | ACK | | ACK | | | ACK | DATA | | DATA | | |
|
||||
// --------------------------------------------------------------------------------------
|
||||
// <---------- Phase 1 ----------> <---------------- Phase 2 ---------------->
|
||||
// ======================================== READ ========================================
|
||||
// --------------------------------------------------------------------------------------
|
||||
// | Master | S | AD+W | | RA | | S | AD+R | | ACK | | NACK | P |
|
||||
// | Slave | | | ACK | | ACK | | | ACK | DATA | | DATA | | |
|
||||
// --------------------------------------------------------------------------------------
|
||||
// <---------- Phase 1 ----------> <---------------- Phase 2 ---------------->
|
||||
|
||||
// Phase 1 - send the Register Address
|
||||
if (i2c_aux_nRABytes >= 0) {
|
||||
// Phase 1 - send the Register Address
|
||||
if (i2c_aux_nRABytes >= 0) {
|
||||
|
||||
if (i2c_interrupt_flag_get(I2C1, I2C_INT_FLAG_SBSEND)) { // check if start condition is sent out in master mode
|
||||
if (i2c_interrupt_flag_get(I2C1, I2C_INT_FLAG_SBSEND)) { // check if start condition is sent out in master mode
|
||||
|
||||
i2c_master_addressing(I2C1, i2c_aux_slaveAddress, I2C_TRANSMITTER); // send slave address with Transmit request
|
||||
i2c_master_addressing(I2C1, i2c_aux_slaveAddress, I2C_TRANSMITTER); // send slave address with Transmit request
|
||||
|
||||
} else if (i2c_interrupt_flag_get(I2C1, I2C_INT_FLAG_ADDSEND)) { // check if address is sent in master mode
|
||||
} else if (i2c_interrupt_flag_get(I2C1, I2C_INT_FLAG_ADDSEND)) { // check if address is sent in master mode
|
||||
|
||||
i2c_interrupt_flag_clear(I2C1, I2C_INT_FLAG_ADDSEND); // clear ADDSEND bit
|
||||
i2c_interrupt_flag_clear(I2C1, I2C_INT_FLAG_ADDSEND); // clear ADDSEND bit
|
||||
|
||||
} else if (i2c_interrupt_flag_get(I2C1, I2C_INT_FLAG_TBE)) { // check if I2C_DATA is empty (Transmitted Byte Empty)
|
||||
if (i2c_aux_nRABytes > 0) { // check RABytes
|
||||
i2c_data_transmit(I2C1, i2c_aux_regAddress); // the master sends the Register Address byte
|
||||
} else {
|
||||
i2c_start_on_bus(I2C1); // send start condition
|
||||
}
|
||||
i2c_aux_nRABytes--;
|
||||
}
|
||||
} else if (i2c_interrupt_flag_get(I2C1, I2C_INT_FLAG_TBE)) { // check if I2C_DATA is empty (Transmitted Byte Empty)
|
||||
if (i2c_aux_nRABytes > 0) { // check RABytes
|
||||
i2c_data_transmit(I2C1, i2c_aux_regAddress); // the master sends the Register Address byte
|
||||
} else {
|
||||
i2c_start_on_bus(I2C1); // send start condition
|
||||
}
|
||||
i2c_aux_nRABytes--;
|
||||
}
|
||||
|
||||
// Phase 2 - read Data
|
||||
} else {
|
||||
// Phase 2 - read Data
|
||||
} else {
|
||||
|
||||
if(i2c_interrupt_flag_get(I2C1, I2C_INT_FLAG_SBSEND)){ // check if start condition is sent out in master mode
|
||||
if(i2c_interrupt_flag_get(I2C1, I2C_INT_FLAG_SBSEND)){ // check if start condition is sent out in master mode
|
||||
|
||||
i2c_master_addressing(I2C1, i2c_aux_slaveAddress, I2C_RECEIVER); // sends slave address with Receive Request
|
||||
i2c_master_addressing(I2C1, i2c_aux_slaveAddress, I2C_RECEIVER); // sends slave address with Receive Request
|
||||
|
||||
}else if(i2c_interrupt_flag_get(I2C1, I2C_INT_FLAG_ADDSEND)){ // check if address is sent in master mode
|
||||
}else if(i2c_interrupt_flag_get(I2C1, I2C_INT_FLAG_ADDSEND)){ // check if address is sent in master mode
|
||||
|
||||
if((1 == i2c_aux_nDABytes) || (2 == i2c_aux_nDABytes)){
|
||||
i2c_ack_config(I2C1, I2C_ACK_DISABLE); // clear the ACKEN before the ADDSEND is cleared
|
||||
i2c_interrupt_flag_clear(I2C1,I2C_INT_FLAG_ADDSEND); // clear the ADDSEND bit
|
||||
}else{
|
||||
i2c_interrupt_flag_clear(I2C1,I2C_INT_FLAG_ADDSEND); // clear the ADDSEND bit
|
||||
}
|
||||
if((1 == i2c_aux_nDABytes) || (2 == i2c_aux_nDABytes)){
|
||||
i2c_ack_config(I2C1, I2C_ACK_DISABLE); // clear the ACKEN before the ADDSEND is cleared
|
||||
i2c_interrupt_flag_clear(I2C1,I2C_INT_FLAG_ADDSEND); // clear the ADDSEND bit
|
||||
}else{
|
||||
i2c_interrupt_flag_clear(I2C1,I2C_INT_FLAG_ADDSEND); // clear the ADDSEND bit
|
||||
}
|
||||
|
||||
}else if(i2c_interrupt_flag_get(I2C1, I2C_INT_FLAG_RBNE)){ // check if I2C_DATA is not Empty (Received Byte Not Empty)
|
||||
if(i2c_aux_nDABytes > 0){
|
||||
if(3 == i2c_aux_nDABytes){
|
||||
while(!i2c_interrupt_flag_get(I2C1, I2C_INT_FLAG_BTC)); // wait until the second last data byte is received into the shift register
|
||||
i2c_ack_config(I2C1, I2C_ACK_DISABLE); // send a NACK for the last data byte
|
||||
}
|
||||
*i2c_aux_rxbuffer++ = i2c_data_receive(I2C1); // read a data byte from I2C_DATA
|
||||
i2c_aux_nDABytes--;
|
||||
if(0 == i2c_aux_nDABytes){
|
||||
i2c_stop_on_bus(I2C1); // send a stop condition
|
||||
i2c_aux_status = 0; // 0 = Success
|
||||
i2c_ack_config(I2C1, I2C_ACK_ENABLE);
|
||||
i2c_ackpos_config(I2C1, I2C_ACKPOS_CURRENT);
|
||||
i2c_interrupt_disable(I2C1, I2C_INT_ERR | I2C_INT_BUF | I2C_INT_EV);
|
||||
}
|
||||
}
|
||||
}else if(i2c_interrupt_flag_get(I2C1, I2C_INT_FLAG_RBNE)){ // check if I2C_DATA is not Empty (Received Byte Not Empty)
|
||||
if(i2c_aux_nDABytes > 0){
|
||||
if(3 == i2c_aux_nDABytes){
|
||||
while(!i2c_interrupt_flag_get(I2C1, I2C_INT_FLAG_BTC)); // wait until the second last data byte is received into the shift register
|
||||
i2c_ack_config(I2C1, I2C_ACK_DISABLE); // send a NACK for the last data byte
|
||||
}
|
||||
*i2c_aux_rxbuffer++ = i2c_data_receive(I2C1); // read a data byte from I2C_DATA
|
||||
i2c_aux_nDABytes--;
|
||||
if(0 == i2c_aux_nDABytes){
|
||||
i2c_stop_on_bus(I2C1); // send a stop condition
|
||||
i2c_aux_status = 0; // 0 = Success
|
||||
i2c_ack_config(I2C1, I2C_ACK_ENABLE);
|
||||
i2c_ackpos_config(I2C1, I2C_ACKPOS_CURRENT);
|
||||
i2c_interrupt_disable(I2C1, I2C_INT_ERR | I2C_INT_BUF | I2C_INT_EV);
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/*!
|
||||
@ -365,6 +366,7 @@ void I2C1_ErrorIRQ_Handler(void)
|
||||
if(i2c_interrupt_flag_get(I2C1, I2C_INT_FLAG_PECERR)){
|
||||
i2c_interrupt_flag_clear(I2C1, I2C_INT_FLAG_PECERR);
|
||||
}
|
||||
|
||||
/* disable the error interrupt */
|
||||
i2c_interrupt_disable(I2C1,I2C_INT_ERR | I2C_INT_BUF | I2C_INT_EV);
|
||||
}
|
||||
|
||||
139
Src/main.c
139
Src/main.c
@ -29,136 +29,35 @@
|
||||
#include "mpu6050.h"
|
||||
#include "mpu6050_dmp.h"
|
||||
|
||||
#ifdef SERIAL_CONTROL
|
||||
extern SerialSideboard Sideboard;
|
||||
#endif
|
||||
|
||||
#ifdef SERIAL_FEEDBACK
|
||||
extern SerialFeedback Feedback;
|
||||
extern uint16_t timeoutCntSerial; // Timeout counter for Rx Serial command
|
||||
extern uint8_t timeoutFlagSerial; // Timeout Flag for Rx Serial command: 0 = OK, 1 = Problem detected (line disconnected or wrong Rx data)
|
||||
#endif
|
||||
|
||||
extern MPU_Data mpu; // holds the MPU-6050 data
|
||||
extern ErrStatus mpuStatus; // holds the MPU-6050 status: SUCCESS or ERROR
|
||||
|
||||
FlagStatus sensor1, sensor2; // holds the sensor1 and sensor 2 values
|
||||
FlagStatus sensor1_read, sensor2_read; // holds the instantaneous Read for sensor1 and sensor 2
|
||||
|
||||
static uint32_t main_loop_counter; // main loop counter to perform task squeduling inside main()
|
||||
|
||||
uint32_t main_loop_counter; // main loop counter to perform task scheduling inside main()
|
||||
|
||||
int main(void)
|
||||
{
|
||||
systick_config(); // SysTick config
|
||||
gpio_config(); // GPIO config
|
||||
usart_nvic_config(); // USART interrupt configuration
|
||||
usart_config(USART_MAIN, USART_MAIN_BAUD); // USART config
|
||||
i2c_config(); // I2C config
|
||||
i2c_nvic_config(); // I2C interrupt configuration
|
||||
input_init(); // Input initialization
|
||||
systick_config(); // SysTick config
|
||||
gpio_config(); // GPIO config
|
||||
|
||||
while(1) {
|
||||
usart_config(USART_MAIN, USART_MAIN_BAUD); // USART MAIN config
|
||||
#if defined(SERIAL_AUX_RX) || defined(SERIAL_AUX_TX)
|
||||
usart_config(USART_AUX, USART_AUX_BAUD); // USART AUX config
|
||||
#endif
|
||||
usart_nvic_config(); // USART interrupt configuration
|
||||
|
||||
delay_1ms(DELAY_IN_MAIN_LOOP);
|
||||
i2c_config(); // I2C config
|
||||
i2c_nvic_config(); // I2C interrupt configuration
|
||||
input_init(); // Input initialization
|
||||
|
||||
// ==================================== LEDs Handling ====================================
|
||||
// toggle_led(LED4_GPIO_Port, LED4_Pin); // Toggle BLUE1 LED
|
||||
#ifdef SERIAL_FEEDBACK
|
||||
if (!timeoutFlagSerial) {
|
||||
if (Feedback.cmdLed & LED1_SET) { gpio_bit_set(LED1_GPIO_Port, LED1_Pin); } else { gpio_bit_reset(LED1_GPIO_Port, LED1_Pin); }
|
||||
if (Feedback.cmdLed & LED2_SET) { gpio_bit_set(LED2_GPIO_Port, LED2_Pin); } else { gpio_bit_reset(LED2_GPIO_Port, LED2_Pin); }
|
||||
if (Feedback.cmdLed & LED3_SET) { gpio_bit_set(LED3_GPIO_Port, LED3_Pin); } else { gpio_bit_reset(LED3_GPIO_Port, LED3_Pin); }
|
||||
if (Feedback.cmdLed & LED4_SET) { gpio_bit_set(LED4_GPIO_Port, LED4_Pin); } else { gpio_bit_reset(LED4_GPIO_Port, LED4_Pin); }
|
||||
if (Feedback.cmdLed & LED5_SET) { gpio_bit_set(LED5_GPIO_Port, LED5_Pin); } else { gpio_bit_reset(LED5_GPIO_Port, LED5_Pin); }
|
||||
if (Feedback.cmdLed & LED4_SET) { gpio_bit_set(AUX3_GPIO_Port, AUX3_Pin); } else { gpio_bit_reset(AUX3_GPIO_Port, AUX3_Pin); }
|
||||
}
|
||||
#endif
|
||||
while(1) {
|
||||
|
||||
delay_1ms(DELAY_IN_MAIN_LOOP);
|
||||
|
||||
// ==================================== MPU-6050 Handling ====================================
|
||||
#ifdef MPU_SENSOR_ENABLE
|
||||
// Get MPU data. Because the MPU-6050 interrupt pin is not wired we have to check DMP data by pooling periodically
|
||||
if (SUCCESS == mpuStatus) {
|
||||
mpu_get_data();
|
||||
} else if (ERROR == mpuStatus && main_loop_counter % 100 == 0) {
|
||||
toggle_led(LED1_GPIO_Port, LED1_Pin); // Toggle the Red LED every 100 ms
|
||||
}
|
||||
// Print MPU data to Console
|
||||
if (main_loop_counter % 50 == 0) {
|
||||
mpu_print_to_console();
|
||||
}
|
||||
#endif
|
||||
handle_mpu6050(); // Handle of the MPU-6050 IMU sensor
|
||||
handle_sensors(); // Handle of the optical sensors
|
||||
handle_usart(); // Handle of the USART data
|
||||
handle_leds(); // Handle of the sideboard LEDs
|
||||
|
||||
// ==================================== SENSORS Handling ====================================
|
||||
sensor1_read = gpio_input_bit_get(SENSOR1_GPIO_Port, SENSOR1_Pin);
|
||||
sensor2_read = gpio_input_bit_get(SENSOR2_GPIO_Port, SENSOR2_Pin);
|
||||
main_loop_counter++;
|
||||
|
||||
// SENSOR1
|
||||
if (sensor1 == RESET && sensor1_read == SET) {
|
||||
// Sensor ACTIVE: Do something here (one time task on activation)
|
||||
sensor1 = SET;
|
||||
gpio_bit_set(LED4_GPIO_Port, LED4_Pin);
|
||||
consoleLog("-- SENSOR 1 Active --\n");
|
||||
} else if(sensor1 == SET && sensor1_read == RESET) {
|
||||
// Sensor DEACTIVE: Do something here (one time task on deactivation)
|
||||
sensor1 = RESET;
|
||||
gpio_bit_reset(LED4_GPIO_Port, LED4_Pin);
|
||||
consoleLog("-- SENSOR 1 Deactive --\n");
|
||||
}
|
||||
|
||||
// SENSOR2
|
||||
if (sensor2 == RESET && sensor2_read == SET) {
|
||||
// Sensor ACTIVE: Do something here (one time task on activation)
|
||||
sensor2 = SET;
|
||||
gpio_bit_set(LED5_GPIO_Port, LED5_Pin);
|
||||
consoleLog("-- SENSOR 2 Active --\n");
|
||||
} else if (sensor2 == SET && sensor2_read == RESET) {
|
||||
// Sensor DEACTIVE: Do something here (one time task on deactivation)
|
||||
sensor2 = RESET;
|
||||
gpio_bit_reset(LED5_GPIO_Port, LED5_Pin);
|
||||
consoleLog("-- SENSOR 2 Deactive --\n");
|
||||
}
|
||||
|
||||
if (sensor1 == SET) {
|
||||
// Sensor ACTIVE: Do something here (continuous task)
|
||||
}
|
||||
if (sensor2 == SET) {
|
||||
// Sensor ACTIVE: Do something here (continuous task)
|
||||
}
|
||||
|
||||
|
||||
// ==================================== SERIAL Tx/Rx Handling ====================================
|
||||
#ifdef SERIAL_CONTROL
|
||||
// To transmit on USART
|
||||
if (main_loop_counter % 5 == 0 && dma_transfer_number_get(DMA_CH3) == 0) { // Check if DMA channel counter is 0 (meaning all data has been transferred)
|
||||
Sideboard.start = (uint16_t)SERIAL_START_FRAME;
|
||||
Sideboard.roll = (int16_t)mpu.euler.roll;
|
||||
Sideboard.pitch = (int16_t)mpu.euler.pitch;
|
||||
Sideboard.yaw = (int16_t)mpu.euler.yaw;
|
||||
Sideboard.sensors = (uint16_t)(sensor1 | (sensor2 << 1) | (mpuStatus << 2));
|
||||
Sideboard.checksum = (uint16_t)(Sideboard.start ^ Sideboard.roll ^ Sideboard.pitch ^ Sideboard.yaw ^ Sideboard.sensors);
|
||||
|
||||
dma_channel_disable(DMA_CH3);
|
||||
DMA_CHCNT(DMA_CH3) = sizeof(Sideboard);
|
||||
DMA_CHMADDR(DMA_CH3) = (uint32_t)&Sideboard;
|
||||
dma_channel_enable(DMA_CH3);
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef SERIAL_FEEDBACK
|
||||
if (timeoutCntSerial++ >= SERIAL_TIMEOUT) { // Timeout qualification
|
||||
timeoutFlagSerial = 1; // Timeout detected
|
||||
timeoutCntSerial = SERIAL_TIMEOUT; // Limit timout counter value
|
||||
}
|
||||
if (timeoutFlagSerial && main_loop_counter % 100 == 0) { // In case of timeout bring the system to a Safe State and indicate error if desired
|
||||
toggle_led(LED3_GPIO_Port, LED3_Pin); // Toggle the Yellow LED every 100 ms
|
||||
}
|
||||
#endif
|
||||
|
||||
main_loop_counter++;
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
1210
Src/mpu6050.c
1210
Src/mpu6050.c
File diff suppressed because it is too large
Load Diff
430
Src/setup.c
430
Src/setup.c
@ -29,165 +29,183 @@
|
||||
|
||||
|
||||
// Private variables
|
||||
static rcu_periph_enum USART_CLK[USARTn] = { USART_AUX_CLK,
|
||||
USART_MAIN_CLK
|
||||
};
|
||||
static rcu_periph_enum USART_CLK[USARTn] = { USART0_CLK,
|
||||
USART1_CLK
|
||||
};
|
||||
|
||||
static uint32_t USART_TX_PIN[USARTn] = { USART_AUX_TX_PIN,
|
||||
USART_MAIN_TX_PIN
|
||||
};
|
||||
static uint32_t USART_TX_PIN[USARTn] = { USART0_TX_PIN,
|
||||
USART1_TX_PIN
|
||||
};
|
||||
|
||||
static uint32_t USART_RX_PIN[USARTn] = { USART_AUX_RX_PIN,
|
||||
USART_MAIN_RX_PIN
|
||||
};
|
||||
static uint32_t USART_RX_PIN[USARTn] = { USART0_RX_PIN,
|
||||
USART1_RX_PIN
|
||||
};
|
||||
|
||||
static dma_channel_enum USART_TX_DMA_CH[USARTn] = { USART0_TX_DMA_CH,
|
||||
USART1_TX_DMA_CH
|
||||
};
|
||||
|
||||
static dma_channel_enum USART_RX_DMA_CH[USARTn] = { USART0_RX_DMA_CH,
|
||||
USART1_RX_DMA_CH
|
||||
};
|
||||
|
||||
static uint32_t USART_TDATA_ADDRESS[USARTn] = { USART0_TDATA_ADDRESS,
|
||||
USART1_TDATA_ADDRESS
|
||||
};
|
||||
|
||||
static uint32_t USART_RDATA_ADDRESS[USARTn] = { USART0_RDATA_ADDRESS,
|
||||
USART1_RDATA_ADDRESS
|
||||
};
|
||||
|
||||
|
||||
void gpio_config(void) {
|
||||
|
||||
/* =========================== Configure LEDs GPIOs =========================== */
|
||||
/* enable the GPIO clock */
|
||||
rcu_periph_clock_enable(RCU_GPIOA);
|
||||
rcu_periph_clock_enable(RCU_GPIOB);
|
||||
/* =========================== Configure LEDs GPIOs =========================== */
|
||||
/* enable the GPIO clock */
|
||||
rcu_periph_clock_enable(RCU_GPIOA);
|
||||
rcu_periph_clock_enable(RCU_GPIOB);
|
||||
|
||||
/* configure GPIO port */
|
||||
gpio_mode_set(LED1_GPIO_Port, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, LED1_Pin);
|
||||
gpio_mode_set(LED2_GPIO_Port, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, LED2_Pin);
|
||||
gpio_mode_set(LED3_GPIO_Port, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, LED3_Pin);
|
||||
gpio_mode_set(LED4_GPIO_Port, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, LED4_Pin);
|
||||
gpio_mode_set(LED5_GPIO_Port, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, LED5_Pin);
|
||||
gpio_output_options_set(LED1_GPIO_Port, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, LED1_Pin);
|
||||
gpio_output_options_set(LED2_GPIO_Port, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, LED2_Pin);
|
||||
gpio_output_options_set(LED3_GPIO_Port, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, LED3_Pin);
|
||||
gpio_output_options_set(LED4_GPIO_Port, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, LED4_Pin);
|
||||
gpio_output_options_set(LED5_GPIO_Port, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, LED5_Pin);
|
||||
/* configure GPIO port */
|
||||
gpio_mode_set(LED1_GPIO_Port, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, LED1_Pin);
|
||||
gpio_mode_set(LED2_GPIO_Port, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, LED2_Pin);
|
||||
gpio_mode_set(LED3_GPIO_Port, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, LED3_Pin);
|
||||
gpio_mode_set(LED4_GPIO_Port, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, LED4_Pin);
|
||||
gpio_mode_set(LED5_GPIO_Port, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, LED5_Pin);
|
||||
gpio_output_options_set(LED1_GPIO_Port, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, LED1_Pin);
|
||||
gpio_output_options_set(LED2_GPIO_Port, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, LED2_Pin);
|
||||
gpio_output_options_set(LED3_GPIO_Port, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, LED3_Pin);
|
||||
gpio_output_options_set(LED4_GPIO_Port, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, LED4_Pin);
|
||||
gpio_output_options_set(LED5_GPIO_Port, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, LED5_Pin);
|
||||
|
||||
/* reset GPIO pin */
|
||||
gpio_bit_reset(LED1_GPIO_Port, LED1_Pin);
|
||||
gpio_bit_reset(LED2_GPIO_Port, LED2_Pin);
|
||||
gpio_bit_reset(LED3_GPIO_Port, LED3_Pin);
|
||||
gpio_bit_reset(LED4_GPIO_Port, LED4_Pin);
|
||||
gpio_bit_reset(LED5_GPIO_Port, LED5_Pin);
|
||||
/* reset GPIO pin */
|
||||
gpio_bit_reset(LED1_GPIO_Port, LED1_Pin);
|
||||
gpio_bit_reset(LED2_GPIO_Port, LED2_Pin);
|
||||
gpio_bit_reset(LED3_GPIO_Port, LED3_Pin);
|
||||
gpio_bit_reset(LED4_GPIO_Port, LED4_Pin);
|
||||
gpio_bit_reset(LED5_GPIO_Port, LED5_Pin);
|
||||
|
||||
|
||||
/* =========================== Configure Sensors GPIOs =========================== */
|
||||
/* enable the GPIO clock */
|
||||
rcu_periph_clock_enable(RCU_GPIOA);
|
||||
rcu_periph_clock_enable(RCU_GPIOC);
|
||||
/* =========================== Configure Sensors GPIOs =========================== */
|
||||
/* enable the GPIO clock */
|
||||
rcu_periph_clock_enable(RCU_GPIOA);
|
||||
rcu_periph_clock_enable(RCU_GPIOC);
|
||||
|
||||
/* configure GPIO port */
|
||||
gpio_mode_set(SENSOR1_GPIO_Port, GPIO_MODE_INPUT, GPIO_PUPD_NONE, SENSOR1_Pin);
|
||||
gpio_mode_set(SENSOR2_GPIO_Port, GPIO_MODE_INPUT, GPIO_PUPD_NONE, SENSOR2_Pin);
|
||||
/* configure GPIO port */
|
||||
gpio_mode_set(SENSOR1_GPIO_Port, GPIO_MODE_INPUT, GPIO_PUPD_NONE, SENSOR1_Pin);
|
||||
gpio_mode_set(SENSOR2_GPIO_Port, GPIO_MODE_INPUT, GPIO_PUPD_NONE, SENSOR2_Pin);
|
||||
|
||||
|
||||
/* =========================== Configure I2C GPIOs =========================== */
|
||||
/* enable I2C clock */
|
||||
rcu_periph_clock_enable(RCU_GPIOB);
|
||||
rcu_periph_clock_enable(MPU_RCU_I2C);
|
||||
/* =========================== Configure I2C GPIOs =========================== */
|
||||
/* enable I2C clock */
|
||||
rcu_periph_clock_enable(RCU_GPIOB);
|
||||
rcu_periph_clock_enable(MPU_RCU_I2C);
|
||||
|
||||
/* connect PB6 to I2C_SCL and PB7 to I2C_SDA */
|
||||
gpio_af_set(MPU_SCL_GPIO_Port, GPIO_AF_1, MPU_SCL_Pin);
|
||||
gpio_af_set(MPU_SDA_GPIO_Port, GPIO_AF_1, MPU_SDA_Pin);
|
||||
/* connect PB6 to I2C_SCL and PB7 to I2C_SDA */
|
||||
gpio_af_set(MPU_SCL_GPIO_Port, GPIO_AF_1, MPU_SCL_Pin);
|
||||
gpio_af_set(MPU_SDA_GPIO_Port, GPIO_AF_1, MPU_SDA_Pin);
|
||||
|
||||
/* configure GPIO port */
|
||||
gpio_mode_set(MPU_SCL_GPIO_Port, GPIO_MODE_AF, GPIO_PUPD_PULLUP, MPU_SCL_Pin);
|
||||
gpio_output_options_set(MPU_SCL_GPIO_Port, GPIO_OTYPE_OD, GPIO_OSPEED_50MHZ, MPU_SCL_Pin);
|
||||
gpio_mode_set(MPU_SDA_GPIO_Port, GPIO_MODE_AF, GPIO_PUPD_PULLUP, MPU_SDA_Pin);
|
||||
gpio_output_options_set(MPU_SDA_GPIO_Port, GPIO_OTYPE_OD, GPIO_OSPEED_50MHZ, MPU_SDA_Pin);
|
||||
/* configure GPIO port */
|
||||
gpio_mode_set(MPU_SCL_GPIO_Port, GPIO_MODE_AF, GPIO_PUPD_PULLUP, MPU_SCL_Pin);
|
||||
gpio_output_options_set(MPU_SCL_GPIO_Port, GPIO_OTYPE_OD, GPIO_OSPEED_50MHZ, MPU_SCL_Pin);
|
||||
gpio_mode_set(MPU_SDA_GPIO_Port, GPIO_MODE_AF, GPIO_PUPD_PULLUP, MPU_SDA_Pin);
|
||||
gpio_output_options_set(MPU_SDA_GPIO_Port, GPIO_OTYPE_OD, GPIO_OSPEED_50MHZ, MPU_SDA_Pin);
|
||||
|
||||
#ifdef AUX45_USE_I2C
|
||||
/* enable I2C clock */
|
||||
rcu_periph_clock_enable(RCU_GPIOA);
|
||||
rcu_periph_clock_enable(AUX_RCU_I2C);
|
||||
#ifdef AUX45_USE_I2C
|
||||
/* enable I2C clock */
|
||||
rcu_periph_clock_enable(RCU_GPIOA);
|
||||
rcu_periph_clock_enable(AUX_RCU_I2C);
|
||||
|
||||
/* connect PB6 to I2C_SCL and PB7 to I2C_SDA */
|
||||
gpio_af_set(AUX_SCL_GPIO_Port, GPIO_AF_1, AUX_SCL_Pin);
|
||||
gpio_af_set(AUX_SDA_GPIO_Port, GPIO_AF_1, AUX_SDA_Pin);
|
||||
/* connect PB6 to I2C_SCL and PB7 to I2C_SDA */
|
||||
gpio_af_set(AUX_SCL_GPIO_Port, GPIO_AF_1, AUX_SCL_Pin);
|
||||
gpio_af_set(AUX_SDA_GPIO_Port, GPIO_AF_1, AUX_SDA_Pin);
|
||||
|
||||
/* configure GPIO port */
|
||||
gpio_mode_set(AUX_SCL_GPIO_Port, GPIO_MODE_AF, GPIO_PUPD_PULLUP, AUX_SCL_Pin);
|
||||
gpio_output_options_set(AUX_SCL_GPIO_Port, GPIO_OTYPE_OD, GPIO_OSPEED_50MHZ, AUX_SCL_Pin);
|
||||
gpio_mode_set(AUX_SDA_GPIO_Port, GPIO_MODE_AF, GPIO_PUPD_PULLUP, AUX_SDA_Pin);
|
||||
gpio_output_options_set(AUX_SDA_GPIO_Port, GPIO_OTYPE_OD, GPIO_OSPEED_50MHZ, AUX_SDA_Pin);
|
||||
#endif
|
||||
/* configure GPIO port */
|
||||
gpio_mode_set(AUX_SCL_GPIO_Port, GPIO_MODE_AF, GPIO_PUPD_PULLUP, AUX_SCL_Pin);
|
||||
gpio_output_options_set(AUX_SCL_GPIO_Port, GPIO_OTYPE_OD, GPIO_OSPEED_50MHZ, AUX_SCL_Pin);
|
||||
gpio_mode_set(AUX_SDA_GPIO_Port, GPIO_MODE_AF, GPIO_PUPD_PULLUP, AUX_SDA_Pin);
|
||||
gpio_output_options_set(AUX_SDA_GPIO_Port, GPIO_OTYPE_OD, GPIO_OSPEED_50MHZ, AUX_SDA_Pin);
|
||||
#endif
|
||||
|
||||
|
||||
/* =========================== Configure AUX GPIOs =========================== */
|
||||
/* configure AUX GPIO port */
|
||||
rcu_periph_clock_enable(RCU_GPIOA);
|
||||
rcu_periph_clock_enable(RCU_GPIOB);
|
||||
rcu_periph_clock_enable(RCU_GPIOC);
|
||||
/* =========================== Configure AUX GPIOs =========================== */
|
||||
/* configure AUX GPIO port */
|
||||
rcu_periph_clock_enable(RCU_GPIOA);
|
||||
rcu_periph_clock_enable(RCU_GPIOB);
|
||||
rcu_periph_clock_enable(RCU_GPIOC);
|
||||
|
||||
/* configure GPIO port - inputs */
|
||||
gpio_mode_set(AUX1_PU_GPIO_Port, GPIO_MODE_INPUT, GPIO_PUPD_NONE, AUX1_PU_Pin);
|
||||
/* configure GPIO port - inputs */
|
||||
gpio_mode_set(AUX1_PU_GPIO_Port, GPIO_MODE_INPUT, GPIO_PUPD_NONE, AUX1_PU_Pin);
|
||||
|
||||
/* configure GPIO port - outputs */
|
||||
gpio_mode_set(AUX2_GPIO_Port, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, AUX2_Pin);
|
||||
gpio_mode_set(AUX3_GPIO_Port, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, AUX3_Pin);
|
||||
gpio_output_options_set(AUX2_GPIO_Port, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, AUX2_Pin);
|
||||
gpio_output_options_set(AUX3_GPIO_Port, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, AUX3_Pin);
|
||||
/* configure GPIO port - outputs */
|
||||
gpio_mode_set(AUX2_GPIO_Port, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, AUX2_Pin);
|
||||
gpio_mode_set(AUX3_GPIO_Port, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, AUX3_Pin);
|
||||
gpio_output_options_set(AUX2_GPIO_Port, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, AUX2_Pin);
|
||||
gpio_output_options_set(AUX3_GPIO_Port, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, AUX3_Pin);
|
||||
|
||||
/* reset GPIO pin */
|
||||
gpio_bit_reset(AUX2_GPIO_Port, AUX2_Pin);
|
||||
gpio_bit_reset(AUX3_GPIO_Port, AUX3_Pin);
|
||||
/* reset GPIO pin */
|
||||
gpio_bit_reset(AUX2_GPIO_Port, AUX2_Pin);
|
||||
gpio_bit_reset(AUX3_GPIO_Port, AUX3_Pin);
|
||||
|
||||
#ifdef AUX45_USE_GPIO
|
||||
/* configure GPIO port - outputs */
|
||||
gpio_mode_set(AUX4_GPIO_Port, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, AUX4_Pin);
|
||||
gpio_mode_set(AUX5_GPIO_Port, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, AUX5_Pin);
|
||||
gpio_output_options_set(AUX4_GPIO_Port, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, AUX4_Pin);
|
||||
gpio_output_options_set(AUX5_GPIO_Port, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, AUX5_Pin);
|
||||
#ifdef AUX45_USE_GPIO
|
||||
/* configure GPIO port - outputs */
|
||||
gpio_mode_set(AUX4_GPIO_Port, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, AUX4_Pin);
|
||||
gpio_mode_set(AUX5_GPIO_Port, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, AUX5_Pin);
|
||||
gpio_output_options_set(AUX4_GPIO_Port, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, AUX4_Pin);
|
||||
gpio_output_options_set(AUX5_GPIO_Port, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, AUX5_Pin);
|
||||
|
||||
/* reset GPIO pin */
|
||||
gpio_bit_reset(AUX4_GPIO_Port, AUX4_Pin);
|
||||
gpio_bit_reset(AUX5_GPIO_Port, AUX5_Pin);
|
||||
#endif
|
||||
/* reset GPIO pin */
|
||||
gpio_bit_reset(AUX4_GPIO_Port, AUX4_Pin);
|
||||
gpio_bit_reset(AUX5_GPIO_Port, AUX5_Pin);
|
||||
#endif
|
||||
|
||||
}
|
||||
|
||||
|
||||
void usart_config(uint32_t selUSART, uint32_t selBaudRate) {
|
||||
|
||||
/* enable GPIO clock */
|
||||
uint32_t USART_ID = 0U;
|
||||
if(selUSART == USART0){
|
||||
USART_ID = 0U;
|
||||
}
|
||||
if(selUSART == USART1){
|
||||
USART_ID = 1U;
|
||||
}
|
||||
rcu_periph_clock_enable(USART_GPIO_CLK);
|
||||
uint8_t USART_ID = 0U;
|
||||
if(selUSART == USART0){
|
||||
USART_ID = 0U;
|
||||
}
|
||||
if(selUSART == USART1){
|
||||
USART_ID = 1U;
|
||||
}
|
||||
|
||||
/* enable USART clock */
|
||||
rcu_periph_clock_enable(USART_CLK[USART_ID]);
|
||||
/* enable GPIO clock */
|
||||
rcu_periph_clock_enable(USART_GPIO_CLK);
|
||||
|
||||
/* connect port to USARTx_Tx */
|
||||
gpio_af_set(USART_GPIO_PORT, USART_AF, USART_TX_PIN[USART_ID]);
|
||||
/* enable USART clock */
|
||||
rcu_periph_clock_enable(USART_CLK[USART_ID]);
|
||||
|
||||
/* connect port to USARTx_Rx */
|
||||
gpio_af_set(USART_GPIO_PORT, USART_AF, USART_RX_PIN[USART_ID]);
|
||||
/* connect port to USARTx_Tx */
|
||||
gpio_af_set(USART_GPIO_PORT, USART_AF, USART_TX_PIN[USART_ID]);
|
||||
|
||||
/* configure USART Tx as alternate function push-pull */
|
||||
gpio_mode_set(USART_GPIO_PORT, GPIO_MODE_AF, GPIO_PUPD_PULLUP, USART_TX_PIN[USART_ID]);
|
||||
gpio_output_options_set(USART_GPIO_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_10MHZ, USART_TX_PIN[USART_ID]);
|
||||
/* connect port to USARTx_Rx */
|
||||
gpio_af_set(USART_GPIO_PORT, USART_AF, USART_RX_PIN[USART_ID]);
|
||||
|
||||
/* configure USART Rx as alternate function push-pull */
|
||||
gpio_mode_set(USART_GPIO_PORT, GPIO_MODE_AF, GPIO_PUPD_PULLUP, USART_RX_PIN[USART_ID]);
|
||||
gpio_output_options_set(USART_GPIO_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_10MHZ, USART_RX_PIN[USART_ID]);
|
||||
/* configure USART Tx as alternate function push-pull */
|
||||
gpio_mode_set(USART_GPIO_PORT, GPIO_MODE_AF, GPIO_PUPD_PULLUP, USART_TX_PIN[USART_ID]);
|
||||
gpio_output_options_set(USART_GPIO_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_10MHZ, USART_TX_PIN[USART_ID]);
|
||||
|
||||
/* USART configure */
|
||||
usart_deinit(selUSART);
|
||||
usart_baudrate_set(selUSART, selBaudRate);
|
||||
usart_transmit_config(selUSART, USART_TRANSMIT_ENABLE);
|
||||
usart_receive_config(selUSART, USART_RECEIVE_ENABLE);
|
||||
usart_oversample_config(selUSART, USART_OVSMOD_16); // oversampling: {USART_OVSMOD_8, USART_OVSMOD_16}
|
||||
usart_sample_bit_config(selUSART, USART_OSB_3BIT); // sample bit: {USART_OSB_1BIT, USART_OSB_3BIT }
|
||||
usart_enable(selUSART);
|
||||
/* configure USART Rx as alternate function push-pull */
|
||||
gpio_mode_set(USART_GPIO_PORT, GPIO_MODE_AF, GPIO_PUPD_PULLUP, USART_RX_PIN[USART_ID]);
|
||||
gpio_output_options_set(USART_GPIO_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_10MHZ, USART_RX_PIN[USART_ID]);
|
||||
|
||||
/* enable the USART IDLE line detection interrupt */
|
||||
usart_interrupt_enable(selUSART, USART_INT_IDLE);
|
||||
/* USART configure */
|
||||
usart_deinit(selUSART);
|
||||
usart_baudrate_set(selUSART, selBaudRate);
|
||||
usart_transmit_config(selUSART, USART_TRANSMIT_ENABLE);
|
||||
usart_receive_config(selUSART, USART_RECEIVE_ENABLE);
|
||||
usart_oversample_config(selUSART, USART_OVSMOD_16); // oversampling: {USART_OVSMOD_8, USART_OVSMOD_16}
|
||||
usart_sample_bit_config(selUSART, USART_OSB_3BIT); // sample bit: {USART_OSB_1BIT, USART_OSB_3BIT }
|
||||
usart_enable(selUSART);
|
||||
|
||||
/* enable the USART IDLE line detection interrupt */
|
||||
usart_interrupt_enable(selUSART, USART_INT_IDLE);
|
||||
|
||||
}
|
||||
|
||||
|
||||
// DMA_CH1 = USART0_TX
|
||||
// DMA_CH2 = USART0_RX
|
||||
// DMA_CH3 = USART1_TX
|
||||
@ -195,124 +213,142 @@ void usart_config(uint32_t selUSART, uint32_t selBaudRate) {
|
||||
|
||||
void usart_Tx_DMA_config(uint32_t selUSART, uint8_t *pData, uint32_t dSize) {
|
||||
|
||||
dma_parameter_struct dma_init_struct;
|
||||
dma_parameter_struct dma_init_struct;
|
||||
|
||||
// --------------------------- TX Channel ---------------------------
|
||||
// --------------------------- TX Channel ---------------------------
|
||||
|
||||
/* enable DMA clock */
|
||||
rcu_periph_clock_enable(RCU_DMA);
|
||||
uint8_t USART_ID = 0U;
|
||||
if(selUSART == USART0){
|
||||
USART_ID = 0U;
|
||||
}
|
||||
if(selUSART == USART1){
|
||||
USART_ID = 1U;
|
||||
}
|
||||
|
||||
/* deinitialize DMA channel2 */
|
||||
dma_deinit(DMA_CH3);
|
||||
dma_init_struct.direction = DMA_MEMORY_TO_PERIPHERAL;
|
||||
dma_init_struct.memory_addr = (uint32_t)pData;
|
||||
dma_init_struct.memory_inc = DMA_MEMORY_INCREASE_ENABLE;
|
||||
dma_init_struct.memory_width = DMA_MEMORY_WIDTH_8BIT;
|
||||
dma_init_struct.number = dSize;
|
||||
dma_init_struct.periph_addr = USART1_TDATA_ADDRESS;
|
||||
dma_init_struct.periph_inc = DMA_PERIPH_INCREASE_DISABLE;
|
||||
dma_init_struct.periph_width = DMA_PERIPHERAL_WIDTH_8BIT;
|
||||
dma_init_struct.priority = DMA_PRIORITY_ULTRA_HIGH; // Priorities: *_LOW, *_MEDIUM, *_HIGH, *_ULTRA_HIGH,
|
||||
dma_init(DMA_CH3, dma_init_struct);
|
||||
/* enable DMA clock */
|
||||
rcu_periph_clock_enable(RCU_DMA);
|
||||
|
||||
/* configure DMA mode */
|
||||
dma_circulation_disable(DMA_CH3);
|
||||
dma_memory_to_memory_disable(DMA_CH3);
|
||||
/* deinitialize DMA channel2 */
|
||||
dma_deinit(USART_TX_DMA_CH[USART_ID]);
|
||||
dma_init_struct.direction = DMA_MEMORY_TO_PERIPHERAL;
|
||||
dma_init_struct.memory_addr = (uint32_t)pData;
|
||||
dma_init_struct.memory_inc = DMA_MEMORY_INCREASE_ENABLE;
|
||||
dma_init_struct.memory_width = DMA_MEMORY_WIDTH_8BIT;
|
||||
dma_init_struct.number = dSize;
|
||||
dma_init_struct.periph_addr = USART_TDATA_ADDRESS[USART_ID];
|
||||
dma_init_struct.periph_inc = DMA_PERIPH_INCREASE_DISABLE;
|
||||
dma_init_struct.periph_width = DMA_PERIPHERAL_WIDTH_8BIT;
|
||||
dma_init_struct.priority = DMA_PRIORITY_ULTRA_HIGH; // Priorities: *_LOW, *_MEDIUM, *_HIGH, *_ULTRA_HIGH,
|
||||
dma_init(USART_TX_DMA_CH[USART_ID], dma_init_struct);
|
||||
|
||||
/* USART DMA enable for transmission */
|
||||
usart_dma_transmit_config(selUSART, USART_DENT_ENABLE);
|
||||
/* configure DMA mode */
|
||||
dma_circulation_disable(USART_TX_DMA_CH[USART_ID]);
|
||||
dma_memory_to_memory_disable(USART_TX_DMA_CH[USART_ID]);
|
||||
|
||||
/* enable DMA channel1 */
|
||||
dma_channel_enable(DMA_CH3);
|
||||
/* USART DMA enable for transmission */
|
||||
usart_dma_transmit_config(selUSART, USART_DENT_ENABLE);
|
||||
|
||||
/* wait DMA channel transfer complete */
|
||||
// while (RESET == dma_flag_get(DMA_CH3, DMA_FLAG_FTF));
|
||||
/* enable DMA channel1 */
|
||||
dma_channel_enable(USART_TX_DMA_CH[USART_ID]);
|
||||
|
||||
/* wait DMA channel transfer complete */
|
||||
// while (RESET == dma_flag_get(USART_TX_DMA[USART_ID], DMA_FLAG_FTF));
|
||||
|
||||
}
|
||||
|
||||
|
||||
void usart_Rx_DMA_config(uint32_t selUSART, uint8_t *pData, uint32_t dSize) {
|
||||
|
||||
dma_parameter_struct dma_init_struct;
|
||||
dma_parameter_struct dma_init_struct;
|
||||
|
||||
// --------------------------- RX Channel ---------------------------
|
||||
// --------------------------- RX Channel ---------------------------
|
||||
|
||||
/* enable DMA clock */
|
||||
rcu_periph_clock_enable(RCU_DMA);
|
||||
uint8_t USART_ID = 0U;
|
||||
if(selUSART == USART0){
|
||||
USART_ID = 0U;
|
||||
}
|
||||
if(selUSART == USART1){
|
||||
USART_ID = 1U;
|
||||
}
|
||||
|
||||
/* deinitialize DMA channel4 */
|
||||
dma_deinit(DMA_CH4);
|
||||
dma_init_struct.direction = DMA_PERIPHERAL_TO_MEMORY;
|
||||
dma_init_struct.memory_addr = (uint32_t)pData;
|
||||
dma_init_struct.memory_inc = DMA_MEMORY_INCREASE_ENABLE;
|
||||
dma_init_struct.memory_width = DMA_MEMORY_WIDTH_8BIT;
|
||||
dma_init_struct.number = dSize;
|
||||
dma_init_struct.periph_addr = USART1_RDATA_ADDRESS;
|
||||
dma_init_struct.periph_inc = DMA_PERIPH_INCREASE_DISABLE;
|
||||
dma_init_struct.periph_width = DMA_PERIPHERAL_WIDTH_8BIT;
|
||||
dma_init_struct.priority = DMA_PRIORITY_ULTRA_HIGH; // Priorities: *_LOW, *_MEDIUM, *_HIGH, *_ULTRA_HIGH,
|
||||
dma_init(DMA_CH4, dma_init_struct);
|
||||
/* enable DMA clock */
|
||||
rcu_periph_clock_enable(RCU_DMA);
|
||||
|
||||
/* configure DMA mode */
|
||||
dma_circulation_enable(DMA_CH4); // dma_circulation_disable(DMA_CH4);
|
||||
dma_memory_to_memory_disable(DMA_CH4);
|
||||
/* deinitialize DMA channel4 */
|
||||
dma_deinit(USART_RX_DMA_CH[USART_ID]);
|
||||
dma_init_struct.direction = DMA_PERIPHERAL_TO_MEMORY;
|
||||
dma_init_struct.memory_addr = (uint32_t)pData;
|
||||
dma_init_struct.memory_inc = DMA_MEMORY_INCREASE_ENABLE;
|
||||
dma_init_struct.memory_width = DMA_MEMORY_WIDTH_8BIT;
|
||||
dma_init_struct.number = dSize;
|
||||
dma_init_struct.periph_addr = USART_RDATA_ADDRESS[USART_ID];
|
||||
dma_init_struct.periph_inc = DMA_PERIPH_INCREASE_DISABLE;
|
||||
dma_init_struct.periph_width = DMA_PERIPHERAL_WIDTH_8BIT;
|
||||
dma_init_struct.priority = DMA_PRIORITY_ULTRA_HIGH; // Priorities: *_LOW, *_MEDIUM, *_HIGH, *_ULTRA_HIGH,
|
||||
dma_init(USART_RX_DMA_CH[USART_ID], dma_init_struct);
|
||||
|
||||
/* USART DMA enable for reception */
|
||||
usart_dma_receive_config(selUSART, USART_DENR_ENABLE);
|
||||
/* configure DMA mode */
|
||||
dma_circulation_enable(USART_RX_DMA_CH[USART_ID]); // dma_circulation_disable(USART_RX_DMA[USART_ID]);
|
||||
dma_memory_to_memory_disable(USART_RX_DMA_CH[USART_ID]);
|
||||
|
||||
/* enable DMA channel */
|
||||
dma_channel_enable(DMA_CH4);
|
||||
/* USART DMA enable for reception */
|
||||
usart_dma_receive_config(selUSART, USART_DENR_ENABLE);
|
||||
|
||||
/* wait DMA channel transfer complete */
|
||||
// while (RESET == dma_flag_get(DMA_CH4, DMA_FLAG_FTF));
|
||||
/* enable DMA channel */
|
||||
dma_channel_enable(USART_RX_DMA_CH[USART_ID]);
|
||||
|
||||
/* wait DMA channel transfer complete */
|
||||
// while (RESET == dma_flag_get(USART_RX_DMA[USART_ID], DMA_FLAG_FTF));
|
||||
|
||||
}
|
||||
|
||||
|
||||
void i2c_config(void) {
|
||||
|
||||
/* I2C clock configure */
|
||||
//i2c_clock_config(MPU_I2C, MPU_I2C_SPEED, I2C_DTCY_2); // I2C duty cycle in fast mode
|
||||
i2c_clock_config(MPU_I2C, MPU_I2C_SPEED, I2C_DTCY_16_9); // I2C duty cycle in fast mode plus
|
||||
/* I2C address configure */
|
||||
i2c_mode_addr_config(MPU_I2C, I2C_I2CMODE_ENABLE, I2C_ADDFORMAT_7BITS, I2C_OWN_ADDRESS7);
|
||||
/* enable I2C */
|
||||
i2c_enable(MPU_I2C);
|
||||
/* enable acknowledge */
|
||||
i2c_ack_config(MPU_I2C, I2C_ACK_ENABLE);
|
||||
/* I2C clock configure */
|
||||
//i2c_clock_config(MPU_I2C, MPU_I2C_SPEED, I2C_DTCY_2); // I2C duty cycle in fast mode
|
||||
i2c_clock_config(MPU_I2C, MPU_I2C_SPEED, I2C_DTCY_16_9); // I2C duty cycle in fast mode plus
|
||||
/* I2C address configure */
|
||||
i2c_mode_addr_config(MPU_I2C, I2C_I2CMODE_ENABLE, I2C_ADDFORMAT_7BITS, I2C_OWN_ADDRESS7);
|
||||
/* enable I2C */
|
||||
i2c_enable(MPU_I2C);
|
||||
/* enable acknowledge */
|
||||
i2c_ack_config(MPU_I2C, I2C_ACK_ENABLE);
|
||||
|
||||
#ifdef AUX45_USE_I2C
|
||||
/* I2C clock configure */
|
||||
//i2c_clock_config(AUX_I2C, AUX_I2C_SPEED, I2C_DTCY_2); // I2C duty cycle in fast mode
|
||||
i2c_clock_config(AUX_I2C, AUX_I2C_SPEED, I2C_DTCY_16_9); // I2C duty cycle in fast mode plus
|
||||
/* I2C address configure */
|
||||
i2c_mode_addr_config(AUX_I2C, I2C_I2CMODE_ENABLE, I2C_ADDFORMAT_7BITS, AUX_I2C_OWN_ADDRESS7);
|
||||
/* enable I2C */
|
||||
i2c_enable(AUX_I2C);
|
||||
/* enable acknowledge */
|
||||
i2c_ack_config(AUX_I2C, I2C_ACK_ENABLE);
|
||||
#endif
|
||||
#ifdef AUX45_USE_I2C
|
||||
/* I2C clock configure */
|
||||
//i2c_clock_config(AUX_I2C, AUX_I2C_SPEED, I2C_DTCY_2); // I2C duty cycle in fast mode
|
||||
i2c_clock_config(AUX_I2C, AUX_I2C_SPEED, I2C_DTCY_16_9); // I2C duty cycle in fast mode plus
|
||||
/* I2C address configure */
|
||||
i2c_mode_addr_config(AUX_I2C, I2C_I2CMODE_ENABLE, I2C_ADDFORMAT_7BITS, AUX_I2C_OWN_ADDRESS7);
|
||||
/* enable I2C */
|
||||
i2c_enable(AUX_I2C);
|
||||
/* enable acknowledge */
|
||||
i2c_ack_config(AUX_I2C, I2C_ACK_ENABLE);
|
||||
#endif
|
||||
|
||||
}
|
||||
|
||||
|
||||
void usart_nvic_config(void)
|
||||
{
|
||||
nvic_irq_enable(USART1_IRQn, 0, 1);
|
||||
nvic_irq_enable(USART0_IRQn, 0, 1); // Enable USART0 interrupt
|
||||
nvic_irq_enable(USART1_IRQn, 0, 1); // Enable USART1 interrupt
|
||||
}
|
||||
|
||||
|
||||
void i2c_nvic_config(void)
|
||||
{
|
||||
/* configure the NVIC peripheral */
|
||||
nvic_priority_group_set(NVIC_PRIGROUP_PRE1_SUB3);
|
||||
/* configure the NVIC peripheral */
|
||||
nvic_priority_group_set(NVIC_PRIGROUP_PRE1_SUB3);
|
||||
|
||||
nvic_irq_enable(I2C0_EV_IRQn, 0, 3);
|
||||
nvic_irq_enable(I2C0_ER_IRQn, 0, 2);
|
||||
nvic_irq_enable(I2C0_EV_IRQn, 0, 0);
|
||||
nvic_irq_enable(I2C0_ER_IRQn, 0, 0);
|
||||
|
||||
#ifdef AUX45_USE_I2C
|
||||
nvic_irq_enable(I2C1_EV_IRQn, 0, 4);
|
||||
nvic_irq_enable(I2C1_ER_IRQn, 0, 1);
|
||||
#endif
|
||||
#ifdef AUX45_USE_I2C
|
||||
nvic_irq_enable(I2C1_EV_IRQn, 0, 2);
|
||||
nvic_irq_enable(I2C1_ER_IRQn, 0, 2);
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
|
||||
@ -88,7 +88,7 @@ void delay_decrement(void)
|
||||
/*!
|
||||
\brief tick count increment in ms
|
||||
\param[in] none
|
||||
\param[out] none
|
||||
\param[out] none
|
||||
\retval none
|
||||
*/
|
||||
void tick_count_increment()
|
||||
@ -99,7 +99,7 @@ void tick_count_increment()
|
||||
/*!
|
||||
\brief get tick count in ms
|
||||
\param[in] *count: pointer to count
|
||||
\param[out] none
|
||||
\param[out] none
|
||||
\retval none
|
||||
*/
|
||||
void get_tick_count_ms(unsigned long *count)
|
||||
|
||||
740
Src/util.c
740
Src/util.c
@ -28,44 +28,81 @@
|
||||
#include "util.h"
|
||||
#include "mpu6050.h"
|
||||
|
||||
// USART variables
|
||||
// USART1 variables
|
||||
#ifdef SERIAL_CONTROL
|
||||
SerialSideboard Sideboard;
|
||||
static SerialSideboard Sideboard;
|
||||
#endif
|
||||
|
||||
#if defined(SERIAL_DEBUG) || defined(SERIAL_FEEDBACK)
|
||||
static uint8_t rx_buffer[SERIAL_BUFFER_SIZE]; // USART Rx DMA circular buffer
|
||||
static uint32_t rx_buffer_len = ARRAY_LEN(rx_buffer);
|
||||
static uint8_t rx1_buffer[SERIAL_BUFFER_SIZE]; // USART Rx DMA circular buffer
|
||||
static uint32_t rx1_buffer_len = ARRAY_LEN(rx1_buffer);
|
||||
#endif
|
||||
|
||||
#ifdef SERIAL_FEEDBACK
|
||||
SerialFeedback Feedback;
|
||||
SerialFeedback FeedbackRaw;
|
||||
uint16_t timeoutCntSerial = 0; // Timeout counter for Rx Serial command
|
||||
uint8_t timeoutFlagSerial = 0; // Timeout Flag for Rx Serial command: 0 = OK, 1 = Problem detected (line disconnected or wrong Rx data)
|
||||
static SerialFeedback Feedback;
|
||||
static SerialFeedback FeedbackRaw;
|
||||
static uint16_t timeoutCntSerial1 = 0; // Timeout counter for UART1 Rx Serial
|
||||
static uint8_t timeoutFlagSerial1 = 0; // Timeout Flag for UART1 Rx Serial: 0 = OK, 1 = Problem detected (line disconnected or wrong Rx data)
|
||||
static uint32_t Feedback_len = sizeof(Feedback);
|
||||
#endif
|
||||
|
||||
// USART0 variables
|
||||
#ifdef SERIAL_AUX_TX
|
||||
static SerialAuxTx AuxTx;
|
||||
#endif
|
||||
|
||||
#ifdef SERIAL_AUX_RX
|
||||
static uint8_t rx0_buffer[SERIAL_BUFFER_SIZE]; // USART Rx DMA circular buffer
|
||||
static uint32_t rx0_buffer_len = ARRAY_LEN(rx0_buffer);
|
||||
#endif
|
||||
|
||||
#ifdef SERIAL_AUX_RX
|
||||
static SerialCommand command;
|
||||
static SerialCommand command_raw;
|
||||
static uint16_t timeoutCntSerial0 = 0; // Timeout counter for UART0 Rx Serial
|
||||
static uint8_t timeoutFlagSerial0 = 0; // Timeout Flag for UART0 Rx Serial: 0 = OK, 1 = Problem detected (line disconnected or wrong Rx data)
|
||||
static uint32_t command_len = sizeof(command);
|
||||
extern uint8_t print_aux;
|
||||
#ifdef CONTROL_IBUS
|
||||
static uint16_t ibus_chksum;
|
||||
static uint16_t ibus_captured_value[IBUS_NUM_CHANNELS];
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#if (defined(SERIAL_AUX_RX) && defined(CONTROL_IBUS)) || defined(SERIAL_CONTROL)
|
||||
static int16_t cmd1, cmd2;
|
||||
static uint16_t cmdSwitch;
|
||||
#endif
|
||||
|
||||
// Optical sensors variables
|
||||
static FlagStatus sensor1, sensor2; // holds the sensor1 and sensor 2 values
|
||||
static FlagStatus sensor1_read, sensor2_read; // holds the instantaneous Read for sensor1 and sensor 2
|
||||
|
||||
// MPU variables
|
||||
ErrStatus mpuStatus; // holds the MPU-6050 status: SUCCESS or ERROR
|
||||
extern MPU_Data mpu; // holds the MPU-6050 data
|
||||
#if defined(MPU_SENSOR_ENABLE) || defined(SERIAL_CONTROL)
|
||||
static ErrStatus mpuStatus; // holds the MPU-6050 status: SUCCESS or ERROR
|
||||
#endif
|
||||
|
||||
extern uint32_t main_loop_counter; // main loop counter to perform task scheduling inside main()
|
||||
|
||||
// MAIN I2C variables
|
||||
volatile int8_t i2c_status;
|
||||
volatile i2c_cmd i2c_ReadWriteCmd;
|
||||
volatile uint8_t i2c_regAddress;
|
||||
volatile uint8_t i2c_slaveAddress;
|
||||
volatile i2c_cmd i2c_ReadWriteCmd;
|
||||
volatile uint8_t i2c_regAddress;
|
||||
volatile uint8_t i2c_slaveAddress;
|
||||
volatile uint8_t* i2c_txbuffer;
|
||||
volatile uint8_t* i2c_rxbuffer;
|
||||
volatile uint8_t i2c_nDABytes;
|
||||
volatile int8_t i2c_nRABytes;
|
||||
volatile uint8_t buffer[14];
|
||||
volatile uint8_t buffer[14];
|
||||
|
||||
#ifdef AUX45_USE_I2C
|
||||
// AUX I2C variables
|
||||
volatile int8_t i2c_aux_status;
|
||||
volatile i2c_cmd i2c_aux_ReadWriteCmd;
|
||||
volatile uint8_t i2c_aux_regAddress;
|
||||
volatile uint8_t i2c_aux_slaveAddress;
|
||||
volatile i2c_cmd i2c_aux_ReadWriteCmd;
|
||||
volatile uint8_t i2c_aux_regAddress;
|
||||
volatile uint8_t i2c_aux_slaveAddress;
|
||||
volatile uint8_t* i2c_aux_txbuffer;
|
||||
volatile uint8_t* i2c_aux_rxbuffer;
|
||||
volatile uint8_t i2c_aux_nDABytes;
|
||||
@ -73,156 +110,337 @@ volatile int8_t i2c_aux_nRABytes;
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
/* =========================== General Functions =========================== */
|
||||
|
||||
void consoleLog(char *message)
|
||||
{
|
||||
#ifdef SERIAL_DEBUG
|
||||
log_i("%s", message);
|
||||
log_i("%s", message);
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
/* retarget the C library printf function to the USART */
|
||||
#ifdef SERIAL_DEBUG
|
||||
#ifdef __GNUC__
|
||||
#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
|
||||
#else
|
||||
#define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
|
||||
#endif
|
||||
PUTCHAR_PROTOTYPE {
|
||||
usart_data_transmit(USART_MAIN, (uint8_t)ch);
|
||||
while(RESET == usart_flag_get(USART_MAIN, USART_FLAG_TBE));
|
||||
return ch;
|
||||
}
|
||||
#ifdef __GNUC__
|
||||
#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
|
||||
#else
|
||||
#define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
|
||||
#endif
|
||||
PUTCHAR_PROTOTYPE {
|
||||
usart_data_transmit(USART_MAIN, (uint8_t)ch);
|
||||
while(RESET == usart_flag_get(USART_MAIN, USART_FLAG_TBE));
|
||||
return ch;
|
||||
}
|
||||
|
||||
#ifdef __GNUC__
|
||||
int _write(int file, char *data, int len) {
|
||||
int i;
|
||||
for (i = 0; i < len; i++) { __io_putchar( *data++ );}
|
||||
return len;
|
||||
}
|
||||
#endif
|
||||
#ifdef __GNUC__
|
||||
int _write(int file, char *data, int len) {
|
||||
int i;
|
||||
for (i = 0; i < len; i++) { __io_putchar( *data++ );}
|
||||
return len;
|
||||
}
|
||||
#endif
|
||||
#endif
|
||||
|
||||
|
||||
void toggle_led(uint32_t gpio_periph, uint32_t pin)
|
||||
{
|
||||
GPIO_OCTL(gpio_periph) ^= pin;
|
||||
GPIO_OCTL(gpio_periph) ^= pin;
|
||||
}
|
||||
|
||||
|
||||
void intro_demo_led(uint32_t tDelay)
|
||||
{
|
||||
int i;
|
||||
int i;
|
||||
|
||||
for (i = 0; i < 3; i++) {
|
||||
gpio_bit_set(LED1_GPIO_Port, LED1_Pin);
|
||||
gpio_bit_reset(LED3_GPIO_Port, LED3_Pin);
|
||||
delay_1ms(tDelay);
|
||||
gpio_bit_set(LED2_GPIO_Port, LED2_Pin);
|
||||
gpio_bit_reset(LED1_GPIO_Port, LED1_Pin);
|
||||
delay_1ms(tDelay);
|
||||
gpio_bit_set(LED3_GPIO_Port, LED3_Pin);
|
||||
gpio_bit_reset(LED2_GPIO_Port, LED2_Pin);
|
||||
delay_1ms(tDelay);
|
||||
}
|
||||
|
||||
for (i = 0; i < 2; i++) {
|
||||
gpio_bit_set(LED1_GPIO_Port, LED1_Pin);
|
||||
gpio_bit_set(LED2_GPIO_Port, LED2_Pin);
|
||||
gpio_bit_set(LED3_GPIO_Port, LED3_Pin);
|
||||
gpio_bit_set(LED4_GPIO_Port, LED4_Pin);
|
||||
gpio_bit_set(LED5_GPIO_Port, LED5_Pin);
|
||||
delay_1ms(tDelay);
|
||||
gpio_bit_reset(LED1_GPIO_Port, LED1_Pin);
|
||||
gpio_bit_reset(LED2_GPIO_Port, LED2_Pin);
|
||||
gpio_bit_reset(LED3_GPIO_Port, LED3_Pin);
|
||||
gpio_bit_reset(LED4_GPIO_Port, LED4_Pin);
|
||||
gpio_bit_reset(LED5_GPIO_Port, LED5_Pin);
|
||||
}
|
||||
for (i = 0; i < 3; i++) {
|
||||
gpio_bit_set(LED1_GPIO_Port, LED1_Pin);
|
||||
gpio_bit_reset(LED3_GPIO_Port, LED3_Pin);
|
||||
delay_1ms(tDelay);
|
||||
gpio_bit_set(LED2_GPIO_Port, LED2_Pin);
|
||||
gpio_bit_reset(LED1_GPIO_Port, LED1_Pin);
|
||||
delay_1ms(tDelay);
|
||||
gpio_bit_set(LED3_GPIO_Port, LED3_Pin);
|
||||
gpio_bit_reset(LED2_GPIO_Port, LED2_Pin);
|
||||
delay_1ms(tDelay);
|
||||
}
|
||||
|
||||
for (i = 0; i < 2; i++) {
|
||||
gpio_bit_set(LED1_GPIO_Port, LED1_Pin);
|
||||
gpio_bit_set(LED2_GPIO_Port, LED2_Pin);
|
||||
gpio_bit_set(LED3_GPIO_Port, LED3_Pin);
|
||||
gpio_bit_set(LED4_GPIO_Port, LED4_Pin);
|
||||
gpio_bit_set(LED5_GPIO_Port, LED5_Pin);
|
||||
delay_1ms(tDelay);
|
||||
gpio_bit_reset(LED1_GPIO_Port, LED1_Pin);
|
||||
gpio_bit_reset(LED2_GPIO_Port, LED2_Pin);
|
||||
gpio_bit_reset(LED3_GPIO_Port, LED3_Pin);
|
||||
gpio_bit_reset(LED4_GPIO_Port, LED4_Pin);
|
||||
gpio_bit_reset(LED5_GPIO_Port, LED5_Pin);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
uint8_t switch_check(uint16_t ch, uint8_t type) {
|
||||
if (type) { // 3 positions switch
|
||||
if (ch < 250) return 0; // switch in position 0
|
||||
else if (ch < 850) return 1; // switch in position 1
|
||||
else return 2; // switch in position 2
|
||||
} else { // 2 positions switch
|
||||
return (ch > 850);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/* =========================== Input Initialization Function =========================== */
|
||||
|
||||
void input_init(void) {
|
||||
#ifdef SERIAL_CONTROL
|
||||
usart_Tx_DMA_config(USART_MAIN, (uint8_t *)&Sideboard, sizeof(Sideboard));
|
||||
#endif
|
||||
#if defined(SERIAL_DEBUG) || defined(SERIAL_FEEDBACK)
|
||||
usart_Rx_DMA_config(USART_MAIN, (uint8_t *)rx_buffer, sizeof(rx_buffer));
|
||||
#endif
|
||||
#ifdef SERIAL_CONTROL
|
||||
usart_Tx_DMA_config(USART_MAIN, (uint8_t *)&Sideboard, sizeof(Sideboard));
|
||||
#endif
|
||||
#if defined(SERIAL_DEBUG) || defined(SERIAL_FEEDBACK)
|
||||
usart_Rx_DMA_config(USART_MAIN, (uint8_t *)rx1_buffer, sizeof(rx1_buffer));
|
||||
#endif
|
||||
#ifdef SERIAL_AUX_TX
|
||||
usart_Tx_DMA_config(USART_AUX, (uint8_t *)&AuxTx, sizeof(AuxTx));
|
||||
#endif
|
||||
#ifdef SERIAL_AUX_RX
|
||||
usart_Rx_DMA_config(USART_AUX, (uint8_t *)rx0_buffer, sizeof(rx0_buffer));
|
||||
#endif
|
||||
|
||||
intro_demo_led(100); // Short LEDs intro demo with 100 ms delay. This also gives some time for the MPU-6050 to power-up.
|
||||
intro_demo_led(100); // Short LEDs intro demo with 100 ms delay. This also gives some time for the MPU-6050 to power-up.
|
||||
|
||||
#ifdef MPU_SENSOR_ENABLE
|
||||
if(mpu_config()) { // IMU MPU-6050 config
|
||||
mpuStatus = ERROR;
|
||||
gpio_bit_set(LED1_GPIO_Port, LED1_Pin); // Turn on RED LED
|
||||
}
|
||||
else {
|
||||
mpuStatus = SUCCESS;
|
||||
gpio_bit_set(LED2_GPIO_Port, LED2_Pin); // Turn on GREEN LED
|
||||
}
|
||||
mpu_handle_input('h'); // Print the User Help commands to serial
|
||||
#else
|
||||
gpio_bit_set(LED2_GPIO_Port, LED2_Pin); // Turn on GREEN LED
|
||||
#endif
|
||||
#ifdef MPU_SENSOR_ENABLE
|
||||
if(mpu_config()) { // IMU MPU-6050 config
|
||||
mpuStatus = ERROR;
|
||||
gpio_bit_set(LED1_GPIO_Port, LED1_Pin); // Turn on RED LED - sensor enabled and NOT ok
|
||||
}
|
||||
else {
|
||||
mpuStatus = SUCCESS;
|
||||
gpio_bit_set(LED2_GPIO_Port, LED2_Pin); // Turn on GREEN LED - sensor enabled and ok
|
||||
}
|
||||
#else
|
||||
gpio_bit_set(LED2_GPIO_Port, LED2_Pin); // Turn on GREEN LED - sensor disabled
|
||||
#endif
|
||||
|
||||
#ifdef SERIAL_DEBUG
|
||||
mpu_handle_input('h'); // Print the User Help commands to serial
|
||||
#endif
|
||||
}
|
||||
|
||||
/* =========================== USART READ Functions =========================== */
|
||||
|
||||
/* =========================== Handle Functions =========================== */
|
||||
|
||||
/*
|
||||
* Check for new data received on USART with DMA: refactored function from https://github.com/MaJerle/stm32-usart-uart-dma-rx-tx
|
||||
* - this function is called for every USART IDLE line detection, in the USART interrupt handler
|
||||
* Handle of the MPU-6050 IMU sensor
|
||||
*/
|
||||
void usart_rx_check(void)
|
||||
{
|
||||
#ifdef SERIAL_DEBUG
|
||||
static uint32_t old_pos;
|
||||
uint32_t pos;
|
||||
void handle_mpu6050(void) {
|
||||
#ifdef MPU_SENSOR_ENABLE
|
||||
// Get MPU data. Because the MPU-6050 interrupt pin is not wired we have to check DMP data by pooling periodically
|
||||
if (SUCCESS == mpuStatus) {
|
||||
mpu_get_data();
|
||||
} else if (ERROR == mpuStatus && main_loop_counter % 100 == 0) {
|
||||
toggle_led(LED1_GPIO_Port, LED1_Pin); // Toggle the Red LED every 100 ms
|
||||
}
|
||||
// Print MPU data to Console
|
||||
#ifdef SERIAL_DEBUG
|
||||
if (main_loop_counter % 50 == 0) {
|
||||
mpu_print_to_console();
|
||||
}
|
||||
#endif
|
||||
#endif
|
||||
}
|
||||
|
||||
pos = rx_buffer_len - dma_transfer_number_get(DMA_CH4); // Calculate current position in buffer
|
||||
if (pos != old_pos) { // Check change in received data
|
||||
if (pos > old_pos) { // "Linear" buffer mode: check if current position is over previous one
|
||||
usart_process_debug(&rx_buffer[old_pos], pos - old_pos); // Process data
|
||||
} else { // "Overflow" buffer mode
|
||||
usart_process_debug(&rx_buffer[old_pos], rx_buffer_len - old_pos); // First Process data from the end of buffer
|
||||
if (pos > 0) { // Check and continue with beginning of buffer
|
||||
usart_process_debug(&rx_buffer[0], pos); // Process remaining data
|
||||
}
|
||||
/*
|
||||
* Handle of the optical sensors
|
||||
*/
|
||||
void handle_sensors(void) {
|
||||
sensor1_read = gpio_input_bit_get(SENSOR1_GPIO_Port, SENSOR1_Pin);
|
||||
sensor2_read = gpio_input_bit_get(SENSOR2_GPIO_Port, SENSOR2_Pin);
|
||||
|
||||
// SENSOR1
|
||||
if (sensor1 == RESET && sensor1_read == SET) {
|
||||
// Sensor ACTIVE: Do something here (one time task on activation)
|
||||
sensor1 = SET;
|
||||
gpio_bit_set(LED4_GPIO_Port, LED4_Pin);
|
||||
consoleLog("SENSOR 1 ON\r\n");
|
||||
} else if(sensor1 == SET && sensor1_read == RESET) {
|
||||
// Sensor DEACTIVE: Do something here (one time task on deactivation)
|
||||
sensor1 = RESET;
|
||||
gpio_bit_reset(LED4_GPIO_Port, LED4_Pin);
|
||||
consoleLog("SENSOR 1 OFF\r\n");
|
||||
}
|
||||
|
||||
// SENSOR2
|
||||
if (sensor2 == RESET && sensor2_read == SET) {
|
||||
// Sensor ACTIVE: Do something here (one time task on activation)
|
||||
sensor2 = SET;
|
||||
gpio_bit_set(LED5_GPIO_Port, LED5_Pin);
|
||||
consoleLog("SENSOR 2 ON\r\n");
|
||||
} else if (sensor2 == SET && sensor2_read == RESET) {
|
||||
// Sensor DEACTIVE: Do something here (one time task on deactivation)
|
||||
sensor2 = RESET;
|
||||
gpio_bit_reset(LED5_GPIO_Port, LED5_Pin);
|
||||
consoleLog("SENSOR 2 OFF\r\n");
|
||||
}
|
||||
|
||||
if (sensor1 == SET) {
|
||||
// Sensor ACTIVE: Do something here (continuous task)
|
||||
}
|
||||
if (sensor2 == SET) {
|
||||
// Sensor ACTIVE: Do something here (continuous task)
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
* Handle of the USART data
|
||||
*/
|
||||
void handle_usart(void) {
|
||||
// Tx USART MAIN
|
||||
#ifdef SERIAL_CONTROL
|
||||
if (main_loop_counter % 5 == 0 && dma_transfer_number_get(USART1_TX_DMA_CH) == 0) { // Check if DMA channel counter is 0 (meaning all data has been transferred)
|
||||
Sideboard.start = (uint16_t)SERIAL_START_FRAME;
|
||||
Sideboard.pitch = (int16_t)mpu.euler.pitch;
|
||||
Sideboard.dPitch = (int16_t)mpu.gyro.y;
|
||||
Sideboard.cmd1 = (int16_t)cmd1;
|
||||
Sideboard.cmd2 = (int16_t)cmd2;
|
||||
Sideboard.sensors = (uint16_t)( (cmdSwitch << 8) | (sensor1 | (sensor2 << 1) | (mpuStatus << 2)) );
|
||||
Sideboard.checksum = (uint16_t)(Sideboard.start ^ Sideboard.pitch ^ Sideboard.dPitch ^ Sideboard.cmd1 ^ Sideboard.cmd2 ^ Sideboard.sensors);
|
||||
|
||||
dma_channel_disable(USART1_TX_DMA_CH);
|
||||
DMA_CHCNT(USART1_TX_DMA_CH) = sizeof(Sideboard);
|
||||
DMA_CHMADDR(USART1_TX_DMA_CH) = (uint32_t)&Sideboard;
|
||||
dma_channel_enable(USART1_TX_DMA_CH);
|
||||
}
|
||||
}
|
||||
old_pos = pos; // Update old position
|
||||
if (old_pos == rx_buffer_len) { // Check and manually update if we reached end of buffer
|
||||
old_pos = 0;
|
||||
}
|
||||
#endif // SERIAL_DEBUG
|
||||
#endif
|
||||
// Rx USART MAIN
|
||||
#ifdef SERIAL_FEEDBACK
|
||||
if (timeoutCntSerial1++ >= SERIAL_TIMEOUT) { // Timeout qualification
|
||||
timeoutFlagSerial1 = 1; // Timeout detected
|
||||
timeoutCntSerial1 = SERIAL_TIMEOUT; // Limit timout counter value
|
||||
}
|
||||
if (timeoutFlagSerial1 && main_loop_counter % 100 == 0) { // In case of timeout bring the system to a Safe State and indicate error if desired
|
||||
toggle_led(LED3_GPIO_Port, LED3_Pin); // Toggle the Yellow LED every 100 ms
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef SERIAL_FEEDBACK
|
||||
static uint32_t old_pos;
|
||||
uint32_t pos;
|
||||
uint8_t *ptr;
|
||||
// Tx USART AUX
|
||||
#ifdef SERIAL_AUX_TX
|
||||
if (main_loop_counter % 5 == 0 && dma_transfer_number_get(USART0_TX_DMA_CH) == 0) { // Check if DMA channel counter is 0 (meaning all data has been transferred)
|
||||
AuxTx.start = (uint16_t)SERIAL_START_FRAME;
|
||||
AuxTx.signal1 = (int16_t)sensor1;
|
||||
AuxTx.signal2 = (int16_t)sensor2;
|
||||
AuxTx.checksum = (uint16_t)(AuxTx.start ^ AuxTx.signal1 ^ AuxTx.signal2);
|
||||
|
||||
pos = rx_buffer_len - dma_transfer_number_get(DMA_CH4); // Calculate current position in buffer
|
||||
if (pos != old_pos) { // Check change in received data
|
||||
ptr = (uint8_t *)&FeedbackRaw; // Initialize the pointer with FeedbackRaw address
|
||||
if (pos > old_pos && (pos - old_pos) == Feedback_len) { // "Linear" buffer mode: check if current position is over previous one AND data length equals expected length
|
||||
memcpy(ptr, &rx_buffer[old_pos], Feedback_len); // Copy data. This is possible only if FeedbackRaw is contiguous! (meaning all the structure members have the same size)
|
||||
usart_process_data(&FeedbackRaw, &Feedback); // Process data
|
||||
} else if ((rx_buffer_len - old_pos + pos) == Feedback_len) { // "Overflow" buffer mode: check if data length equals expected length
|
||||
memcpy(ptr, &rx_buffer[old_pos], rx_buffer_len - old_pos); // First copy data from the end of buffer
|
||||
if (pos > 0) { // Check and continue with beginning of buffer
|
||||
ptr += rx_buffer_len - old_pos; // Move to correct position in FeedbackRaw
|
||||
memcpy(ptr, &rx_buffer[0], pos); // Copy remaining data
|
||||
dma_channel_disable(USART0_TX_DMA_CH);
|
||||
DMA_CHCNT(USART0_TX_DMA_CH) = sizeof(AuxTx);
|
||||
DMA_CHMADDR(USART0_TX_DMA_CH) = (uint32_t)&AuxTx;
|
||||
dma_channel_enable(USART0_TX_DMA_CH);
|
||||
}
|
||||
#endif
|
||||
// Rx USART AUX
|
||||
#ifdef SERIAL_AUX_RX
|
||||
#ifdef CONTROL_IBUS
|
||||
if (!timeoutFlagSerial0) {
|
||||
for (uint8_t i = 0; i < (IBUS_NUM_CHANNELS * 2); i+=2) {
|
||||
ibus_captured_value[(i/2)] = CLAMP(command.channels[i] + (command.channels[i+1] << 8) - 1000, 0, 1000); // 1000-2000 -> 0-1000
|
||||
}
|
||||
cmd1 = (ibus_captured_value[0] - 500) * 2; // Channel 1
|
||||
cmd2 = (ibus_captured_value[1] - 500) * 2; // Channel 2
|
||||
cmdSwitch = (uint16_t)(switch_check(ibus_captured_value[6],0) | // Channel 7
|
||||
switch_check(ibus_captured_value[7],1) << 1 | // Channel 8
|
||||
switch_check(ibus_captured_value[8],1) << 3 | // Channel 9
|
||||
switch_check(ibus_captured_value[9],0) << 5); // Channel 10
|
||||
}
|
||||
#endif
|
||||
|
||||
if (timeoutCntSerial0++ >= SERIAL_TIMEOUT) { // Timeout qualification
|
||||
timeoutFlagSerial0 = 1; // Timeout detected
|
||||
timeoutCntSerial0 = SERIAL_TIMEOUT; // Limit timout counter value
|
||||
cmd1 = cmd2 = 0; // Set commands to 0
|
||||
cmdSwitch &= ~(1U << 0); // Clear Bit 0, to switch to default control input
|
||||
}
|
||||
// if (timeoutFlagSerial0 && main_loop_counter % 100 == 0) { // In case of timeout bring the system to a Safe State and indicate error if desired
|
||||
// toggle_led(LED2_GPIO_Port, LED2_Pin); // Toggle the Green LED every 100 ms
|
||||
// }
|
||||
|
||||
#ifdef SERIAL_DEBUG
|
||||
// Print MPU data to Console
|
||||
if (main_loop_counter % 50 == 0) {
|
||||
aux_print_to_console();
|
||||
}
|
||||
#endif
|
||||
#endif
|
||||
}
|
||||
|
||||
/*
|
||||
* Handle of the sideboard LEDs
|
||||
*/
|
||||
void handle_leds(void) {
|
||||
#ifdef SERIAL_FEEDBACK
|
||||
if (!timeoutFlagSerial1) {
|
||||
if (Feedback.cmdLed & LED1_SET) { gpio_bit_set(LED1_GPIO_Port, LED1_Pin); } else { gpio_bit_reset(LED1_GPIO_Port, LED1_Pin); }
|
||||
if (Feedback.cmdLed & LED2_SET) { gpio_bit_set(LED2_GPIO_Port, LED2_Pin); } else { gpio_bit_reset(LED2_GPIO_Port, LED2_Pin); }
|
||||
if (Feedback.cmdLed & LED3_SET) { gpio_bit_set(LED3_GPIO_Port, LED3_Pin); } else { gpio_bit_reset(LED3_GPIO_Port, LED3_Pin); }
|
||||
if (Feedback.cmdLed & LED4_SET) { gpio_bit_set(LED4_GPIO_Port, LED4_Pin); } else { gpio_bit_reset(LED4_GPIO_Port, LED4_Pin); }
|
||||
if (Feedback.cmdLed & LED5_SET) { gpio_bit_set(LED5_GPIO_Port, LED5_Pin); } else { gpio_bit_reset(LED5_GPIO_Port, LED5_Pin); }
|
||||
if (Feedback.cmdLed & LED4_SET) { gpio_bit_set(AUX3_GPIO_Port, AUX3_Pin); } else { gpio_bit_reset(AUX3_GPIO_Port, AUX3_Pin); }
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
/* =========================== USART1 READ Functions =========================== */
|
||||
|
||||
void usart1_rx_check(void)
|
||||
{
|
||||
#ifdef SERIAL_DEBUG
|
||||
static uint32_t old_pos;
|
||||
uint32_t pos;
|
||||
|
||||
pos = rx1_buffer_len - dma_transfer_number_get(USART1_RX_DMA_CH); // Calculate current position in buffer
|
||||
if (pos != old_pos) { // Check change in received data
|
||||
if (pos > old_pos) { // "Linear" buffer mode: check if current position is over previous one
|
||||
usart_process_debug(&rx1_buffer[old_pos], pos - old_pos); // Process data
|
||||
} else { // "Overflow" buffer mode
|
||||
usart_process_debug(&rx1_buffer[old_pos], rx1_buffer_len - old_pos);// First Process data from the end of buffer
|
||||
if (pos > 0) { // Check and continue with beginning of buffer
|
||||
usart_process_debug(&rx1_buffer[0], pos); // Process remaining data
|
||||
}
|
||||
usart_process_data(&FeedbackRaw, &Feedback); // Process data
|
||||
}
|
||||
}
|
||||
old_pos = pos; // Updated old position
|
||||
if (old_pos == rx_buffer_len) { // Check and manually update if we reached end of buffer
|
||||
old_pos = pos; // Update old position
|
||||
if (old_pos == rx1_buffer_len) { // Check and manually update if we reached end of buffer
|
||||
old_pos = 0;
|
||||
}
|
||||
#endif // SERIAL_FEEDBACK
|
||||
#endif // SERIAL_DEBUG
|
||||
|
||||
#ifdef SERIAL_FEEDBACK
|
||||
static uint32_t old_pos;
|
||||
uint32_t pos;
|
||||
uint8_t *ptr;
|
||||
|
||||
pos = rx1_buffer_len - dma_transfer_number_get(USART1_RX_DMA_CH); // Calculate current position in buffer
|
||||
if (pos != old_pos) { // Check change in received data
|
||||
ptr = (uint8_t *)&FeedbackRaw; // Initialize the pointer with FeedbackRaw address
|
||||
if (pos > old_pos && (pos - old_pos) == Feedback_len) { // "Linear" buffer mode: check if current position is over previous one AND data length equals expected length
|
||||
memcpy(ptr, &rx1_buffer[old_pos], Feedback_len); // Copy data. This is possible only if FeedbackRaw is contiguous! (meaning all the structure members have the same size)
|
||||
usart_process_data(&FeedbackRaw, &Feedback); // Process data
|
||||
} else if ((rx1_buffer_len - old_pos + pos) == Feedback_len) { // "Overflow" buffer mode: check if data length equals expected length
|
||||
memcpy(ptr, &rx1_buffer[old_pos], rx1_buffer_len - old_pos); // First copy data from the end of buffer
|
||||
if (pos > 0) { // Check and continue with beginning of buffer
|
||||
ptr += rx1_buffer_len - old_pos; // Move to correct position in FeedbackRaw
|
||||
memcpy(ptr, &rx1_buffer[0], pos); // Copy remaining data
|
||||
}
|
||||
usart_process_data(&FeedbackRaw, &Feedback); // Process data
|
||||
}
|
||||
}
|
||||
old_pos = pos; // Updated old position
|
||||
if (old_pos == rx1_buffer_len) { // Check and manually update if we reached end of buffer
|
||||
old_pos = 0;
|
||||
}
|
||||
#endif // SERIAL_FEEDBACK
|
||||
}
|
||||
|
||||
/*
|
||||
@ -231,13 +449,11 @@ void usart_rx_check(void)
|
||||
#ifdef SERIAL_DEBUG
|
||||
void usart_process_debug(uint8_t *userCommand, uint32_t len)
|
||||
{
|
||||
for (; len > 0; len--, userCommand++) {
|
||||
if (*userCommand != '\n' && *userCommand != '\r') { // Do not accept 'new line' and 'carriage return' commands
|
||||
log_i("Command = %c\n", *userCommand);
|
||||
#ifdef MPU_SENSOR_ENABLE
|
||||
mpu_handle_input(*userCommand);
|
||||
#endif
|
||||
}
|
||||
for (; len > 0; len--, userCommand++) {
|
||||
if (*userCommand != '\n' && *userCommand != '\r') { // Do not accept 'new line' and 'carriage return' commands
|
||||
log_i("Command = %c\r\n", *userCommand);
|
||||
mpu_handle_input(*userCommand);
|
||||
}
|
||||
}
|
||||
}
|
||||
#endif // SERIAL_DEBUG
|
||||
@ -249,19 +465,93 @@ void usart_process_debug(uint8_t *userCommand, uint32_t len)
|
||||
#ifdef SERIAL_FEEDBACK
|
||||
void usart_process_data(SerialFeedback *Feedback_in, SerialFeedback *Feedback_out)
|
||||
{
|
||||
uint16_t checksum;
|
||||
if (Feedback_in->start == SERIAL_START_FRAME) {
|
||||
checksum = (uint16_t)(Feedback_in->start ^ Feedback_in->cmd1 ^ Feedback_in->cmd2 ^ Feedback_in->speedR_meas ^ Feedback_in->speedL_meas
|
||||
^ Feedback_in->batVoltage ^ Feedback_in->boardTemp ^ Feedback_in->cmdLed);
|
||||
if (Feedback_in->checksum == checksum) {
|
||||
*Feedback_out = *Feedback_in;
|
||||
timeoutCntSerial = 0; // Reset timeout counter
|
||||
timeoutFlagSerial = 0; // Clear timeout flag
|
||||
}
|
||||
}
|
||||
uint16_t checksum;
|
||||
if (Feedback_in->start == SERIAL_START_FRAME) {
|
||||
checksum = (uint16_t)(Feedback_in->start ^ Feedback_in->cmd1 ^ Feedback_in->cmd2 ^ Feedback_in->speedR_meas ^ Feedback_in->speedL_meas
|
||||
^ Feedback_in->batVoltage ^ Feedback_in->boardTemp ^ Feedback_in->cmdLed);
|
||||
if (Feedback_in->checksum == checksum) {
|
||||
*Feedback_out = *Feedback_in;
|
||||
timeoutCntSerial1 = 0; // Reset timeout counter
|
||||
timeoutFlagSerial1 = 0; // Clear timeout flag
|
||||
}
|
||||
}
|
||||
}
|
||||
#endif // SERIAL_FEEDBACK
|
||||
|
||||
|
||||
/* =========================== USART0 READ Functions =========================== */
|
||||
|
||||
/*
|
||||
* Check for new data received on USART with DMA: refactored function from https://github.com/MaJerle/stm32-usart-uart-dma-rx-tx
|
||||
* - this function is called for every USART IDLE line detection, in the USART interrupt handler
|
||||
*/
|
||||
void usart0_rx_check(void)
|
||||
{
|
||||
#ifdef SERIAL_AUX_RX
|
||||
static uint32_t old_pos;
|
||||
uint32_t pos;
|
||||
uint8_t *ptr;
|
||||
|
||||
pos = rx0_buffer_len - dma_transfer_number_get(USART0_RX_DMA_CH); // Calculate current position in buffer
|
||||
if (pos != old_pos) { // Check change in received data
|
||||
ptr = (uint8_t *)&command_raw; // Initialize the pointer with structure address
|
||||
if (pos > old_pos && (pos - old_pos) == command_len) { // "Linear" buffer mode: check if current position is over previous one AND data length equals expected length
|
||||
memcpy(ptr, &rx0_buffer[old_pos], command_len); // Copy data. This is possible only if structure is contiguous! (meaning all the structure members have the same size)
|
||||
usart_process_command(&command_raw, &command); // Process data
|
||||
} else if ((rx0_buffer_len - old_pos + pos) == command_len) { // "Overflow" buffer mode: check if data length equals expected length
|
||||
memcpy(ptr, &rx0_buffer[old_pos], rx0_buffer_len - old_pos); // First copy data from the end of buffer
|
||||
if (pos > 0) { // Check and continue with beginning of buffer
|
||||
ptr += rx0_buffer_len - old_pos; // Update position
|
||||
memcpy(ptr, &rx0_buffer[0], pos); // Copy remaining data
|
||||
}
|
||||
usart_process_command(&command_raw, &command); // Process data
|
||||
}
|
||||
}
|
||||
old_pos = pos; // Updated old position
|
||||
if (old_pos == rx0_buffer_len) { // Check and manually update if we reached end of buffer
|
||||
old_pos = 0;
|
||||
}
|
||||
#endif // SERIAL_AUX_RX
|
||||
}
|
||||
|
||||
/*
|
||||
* Process command UART0 Rx data
|
||||
* - if the command_in data is valid (correct START_FRAME and checksum) copy the command_in to command_out
|
||||
*/
|
||||
#ifdef SERIAL_AUX_RX
|
||||
void usart_process_command(SerialCommand *command_in, SerialCommand *command_out)
|
||||
{
|
||||
#ifdef CONTROL_IBUS
|
||||
if (command_in->start == IBUS_LENGTH && command_in->type == IBUS_COMMAND) {
|
||||
ibus_chksum = 0xFFFF - IBUS_LENGTH - IBUS_COMMAND;
|
||||
for (uint8_t i = 0; i < (IBUS_NUM_CHANNELS * 2); i++) {
|
||||
ibus_chksum -= command_in->channels[i];
|
||||
}
|
||||
if (ibus_chksum == (uint16_t)((command_in->checksumh << 8) + command_in->checksuml)) {
|
||||
*command_out = *command_in;
|
||||
timeoutCntSerial0 = 0; // Reset timeout counter
|
||||
timeoutFlagSerial0 = 0; // Clear timeout flag
|
||||
}
|
||||
}
|
||||
#endif
|
||||
}
|
||||
#endif
|
||||
|
||||
|
||||
/* =========================== AUX Serial Print data =========================== */
|
||||
|
||||
void aux_print_to_console(void)
|
||||
{
|
||||
#if defined(SERIAL_DEBUG) && defined(SERIAL_AUX_RX)
|
||||
#ifdef CONTROL_IBUS
|
||||
if (print_aux & PRINT_AUX) {
|
||||
log_i( "Ch1: %d Ch2: %d Sw: %u\r\n", cmd1, cmd2, cmdSwitch);
|
||||
}
|
||||
#endif
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
/* =========================== I2C WRITE Functions =========================== */
|
||||
|
||||
/*
|
||||
@ -270,30 +560,33 @@ void usart_process_data(SerialFeedback *Feedback_in, SerialFeedback *Feedback_ou
|
||||
int8_t i2c_writeBytes(uint8_t slaveAddr, uint8_t regAddr, uint8_t length, uint8_t *data)
|
||||
{
|
||||
|
||||
// assign WRITE command
|
||||
i2c_ReadWriteCmd = WRITE;
|
||||
// assign WRITE command
|
||||
i2c_ReadWriteCmd = WRITE;
|
||||
|
||||
// assign inputs
|
||||
i2c_status = -1;
|
||||
i2c_slaveAddress = slaveAddr << 1; // Address is shifted one position to the left. LSB is reserved for the Read/Write bit.
|
||||
i2c_regAddress = regAddr;
|
||||
i2c_txbuffer = data;
|
||||
i2c_nDABytes = length;
|
||||
i2c_nRABytes = 1;
|
||||
// assign inputs
|
||||
i2c_status = -1;
|
||||
i2c_slaveAddress = slaveAddr << 1; // Address is shifted one position to the left. LSB is reserved for the Read/Write bit.
|
||||
i2c_regAddress = regAddr;
|
||||
i2c_txbuffer = data;
|
||||
i2c_nDABytes = length;
|
||||
i2c_nRABytes = 1;
|
||||
|
||||
// enable the I2C0 interrupt
|
||||
i2c_interrupt_enable(MPU_I2C, I2C_INT_ERR | I2C_INT_BUF | I2C_INT_EV);
|
||||
uint16_t i2c_timeout = 0;
|
||||
|
||||
// the master waits until the I2C bus is idle
|
||||
while(i2c_flag_get(MPU_I2C, I2C_FLAG_I2CBSY));
|
||||
// enable the I2C0 interrupt
|
||||
i2c_interrupt_enable(MPU_I2C, I2C_INT_ERR | I2C_INT_BUF | I2C_INT_EV);
|
||||
|
||||
// the master sends a start condition to I2C bus
|
||||
i2c_start_on_bus(MPU_I2C);
|
||||
// the master waits until the I2C bus is idle
|
||||
while(i2c_flag_get(MPU_I2C, I2C_FLAG_I2CBSY) && i2c_timeout++ < 20000);
|
||||
|
||||
// Wait until all data bytes are sent/received
|
||||
while(i2c_nDABytes > 0);
|
||||
// the master sends a start condition to I2C bus
|
||||
i2c_start_on_bus(MPU_I2C);
|
||||
|
||||
return i2c_status;
|
||||
// Wait until all data bytes are sent/received
|
||||
i2c_timeout = 0;
|
||||
while(i2c_nDABytes > 0 && i2c_timeout++ < 20000);
|
||||
|
||||
return i2c_status;
|
||||
|
||||
}
|
||||
|
||||
@ -303,7 +596,7 @@ int8_t i2c_writeBytes(uint8_t slaveAddr, uint8_t regAddr, uint8_t length, uint8_
|
||||
*/
|
||||
int8_t i2c_writeByte(uint8_t slaveAddr, uint8_t regAddr, uint8_t data)
|
||||
{
|
||||
return i2c_writeBytes(slaveAddr, regAddr, 1, &data);
|
||||
return i2c_writeBytes(slaveAddr, regAddr, 1, &data);
|
||||
}
|
||||
|
||||
|
||||
@ -327,35 +620,38 @@ int8_t i2c_writeBit(uint8_t slaveAddr, uint8_t regAddr, uint8_t bitNum, uint8_t
|
||||
int8_t i2c_readBytes(uint8_t slaveAddr, uint8_t regAddr, uint8_t length, uint8_t *data)
|
||||
{
|
||||
|
||||
// assign READ command
|
||||
i2c_ReadWriteCmd = READ;
|
||||
// assign READ command
|
||||
i2c_ReadWriteCmd = READ;
|
||||
|
||||
// assign inputs
|
||||
i2c_status = -1;
|
||||
i2c_slaveAddress = slaveAddr << 1; // Address is shifted one position to the left. LSB is reserved for the Read/Write bit.
|
||||
i2c_regAddress = regAddr;
|
||||
i2c_rxbuffer = data;
|
||||
i2c_nDABytes = length;
|
||||
i2c_nRABytes = 1;
|
||||
// assign inputs
|
||||
i2c_status = -1;
|
||||
i2c_slaveAddress = slaveAddr << 1; // Address is shifted one position to the left. LSB is reserved for the Read/Write bit.
|
||||
i2c_regAddress = regAddr;
|
||||
i2c_rxbuffer = data;
|
||||
i2c_nDABytes = length;
|
||||
i2c_nRABytes = 1;
|
||||
|
||||
// enable the I2C0 interrupt
|
||||
i2c_interrupt_enable(MPU_I2C, I2C_INT_ERR | I2C_INT_BUF | I2C_INT_EV);
|
||||
uint16_t i2c_timeout = 0;
|
||||
|
||||
if(2 == i2c_nDABytes){
|
||||
i2c_ackpos_config(MPU_I2C, I2C_ACKPOS_NEXT); // send ACK for the next byte
|
||||
}
|
||||
// enable the I2C0 interrupt
|
||||
i2c_interrupt_enable(MPU_I2C, I2C_INT_ERR | I2C_INT_BUF | I2C_INT_EV);
|
||||
|
||||
// the master waits until the I2C bus is idle
|
||||
while(i2c_flag_get(MPU_I2C, I2C_FLAG_I2CBSY));
|
||||
if(2 == i2c_nDABytes){
|
||||
i2c_ackpos_config(MPU_I2C, I2C_ACKPOS_NEXT); // send ACK for the next byte
|
||||
}
|
||||
|
||||
// the master sends a start condition to I2C bus
|
||||
i2c_start_on_bus(MPU_I2C);
|
||||
// the master waits until the I2C bus is idle
|
||||
while(i2c_flag_get(MPU_I2C, I2C_FLAG_I2CBSY) && i2c_timeout++ < 20000);
|
||||
|
||||
// Wait until all data bytes are sent/received
|
||||
while(i2c_nDABytes > 0);
|
||||
// the master sends a start condition to I2C bus
|
||||
i2c_start_on_bus(MPU_I2C);
|
||||
|
||||
// Return status
|
||||
return i2c_status;
|
||||
// Wait until all data bytes are sent/received
|
||||
i2c_timeout = 0;
|
||||
while(i2c_nDABytes > 0 && i2c_timeout++ < 20000);
|
||||
|
||||
// Return status
|
||||
return i2c_status;
|
||||
|
||||
}
|
||||
|
||||
@ -365,7 +661,7 @@ int8_t i2c_readBytes(uint8_t slaveAddr, uint8_t regAddr, uint8_t length, uint8_t
|
||||
*/
|
||||
int8_t i2c_readByte(uint8_t slaveAddr, uint8_t regAddr, uint8_t *data)
|
||||
{
|
||||
return i2c_readBytes(slaveAddr, regAddr, 1, data);
|
||||
return i2c_readBytes(slaveAddr, regAddr, 1, data);
|
||||
}
|
||||
|
||||
|
||||
@ -388,30 +684,30 @@ int8_t i2c_readBit(uint8_t slaveAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *
|
||||
int8_t i2c_aux_writeBytes(uint8_t slaveAddr, uint8_t regAddr, uint8_t length, uint8_t *data)
|
||||
{
|
||||
|
||||
// assign WRITE command
|
||||
i2c_aux_ReadWriteCmd = WRITE;
|
||||
// assign WRITE command
|
||||
i2c_aux_ReadWriteCmd = WRITE;
|
||||
|
||||
// assign inputs
|
||||
i2c_aux_status = -1;
|
||||
i2c_aux_slaveAddress = slaveAddr << 1; // Address is shifted one position to the left. LSB is reserved for the Read/Write bit.
|
||||
i2c_aux_regAddress = regAddr;
|
||||
i2c_aux_txbuffer = data;
|
||||
i2c_aux_nDABytes = length;
|
||||
i2c_aux_nRABytes = 1;
|
||||
// assign inputs
|
||||
i2c_aux_status = -1;
|
||||
i2c_aux_slaveAddress = slaveAddr << 1; // Address is shifted one position to the left. LSB is reserved for the Read/Write bit.
|
||||
i2c_aux_regAddress = regAddr;
|
||||
i2c_aux_txbuffer = data;
|
||||
i2c_aux_nDABytes = length;
|
||||
i2c_aux_nRABytes = 1;
|
||||
|
||||
// enable the I2C0 interrupt
|
||||
i2c_interrupt_enable(AUX_I2C, I2C_INT_ERR | I2C_INT_BUF | I2C_INT_EV);
|
||||
// enable the I2C0 interrupt
|
||||
i2c_interrupt_enable(AUX_I2C, I2C_INT_ERR | I2C_INT_BUF | I2C_INT_EV);
|
||||
|
||||
// the master waits until the I2C bus is idle
|
||||
while(i2c_flag_get(AUX_I2C, I2C_FLAG_I2CBSY));
|
||||
// the master waits until the I2C bus is idle
|
||||
while(i2c_flag_get(AUX_I2C, I2C_FLAG_I2CBSY));
|
||||
|
||||
// the master sends a start condition to I2C bus
|
||||
i2c_start_on_bus(AUX_I2C);
|
||||
// the master sends a start condition to I2C bus
|
||||
i2c_start_on_bus(AUX_I2C);
|
||||
|
||||
// Wait until all data bytes are sent/received
|
||||
while(i2c_aux_nDABytes > 0);
|
||||
// Wait until all data bytes are sent/received
|
||||
while(i2c_aux_nDABytes > 0);
|
||||
|
||||
return i2c_aux_status;
|
||||
return i2c_aux_status;
|
||||
|
||||
}
|
||||
|
||||
@ -421,35 +717,35 @@ int8_t i2c_aux_writeBytes(uint8_t slaveAddr, uint8_t regAddr, uint8_t length, ui
|
||||
int8_t i2c_aux_readBytes(uint8_t slaveAddr, uint8_t regAddr, uint8_t length, uint8_t *data)
|
||||
{
|
||||
|
||||
// assign READ command
|
||||
i2c_aux_ReadWriteCmd = READ;
|
||||
// assign READ command
|
||||
i2c_aux_ReadWriteCmd = READ;
|
||||
|
||||
// assign inputs
|
||||
i2c_aux_status = -1;
|
||||
i2c_aux_slaveAddress = slaveAddr << 1; // Address is shifted one position to the left. LSB is reserved for the Read/Write bit.
|
||||
i2c_aux_regAddress = regAddr;
|
||||
i2c_aux_rxbuffer = data;
|
||||
i2c_aux_nDABytes = length;
|
||||
i2c_aux_nRABytes = 1;
|
||||
// assign inputs
|
||||
i2c_aux_status = -1;
|
||||
i2c_aux_slaveAddress = slaveAddr << 1; // Address is shifted one position to the left. LSB is reserved for the Read/Write bit.
|
||||
i2c_aux_regAddress = regAddr;
|
||||
i2c_aux_rxbuffer = data;
|
||||
i2c_aux_nDABytes = length;
|
||||
i2c_aux_nRABytes = 1;
|
||||
|
||||
// enable the I2C0 interrupt
|
||||
i2c_interrupt_enable(AUX_I2C, I2C_INT_ERR | I2C_INT_BUF | I2C_INT_EV);
|
||||
// enable the I2C0 interrupt
|
||||
i2c_interrupt_enable(AUX_I2C, I2C_INT_ERR | I2C_INT_BUF | I2C_INT_EV);
|
||||
|
||||
if(2 == i2c_aux_nDABytes){
|
||||
i2c_ackpos_config(AUX_I2C, I2C_ACKPOS_NEXT); // send ACK for the next byte
|
||||
}
|
||||
if(2 == i2c_aux_nDABytes){
|
||||
i2c_ackpos_config(AUX_I2C, I2C_ACKPOS_NEXT); // send ACK for the next byte
|
||||
}
|
||||
|
||||
// the master waits until the I2C bus is idle
|
||||
while(i2c_flag_get(AUX_I2C, I2C_FLAG_I2CBSY));
|
||||
// the master waits until the I2C bus is idle
|
||||
while(i2c_flag_get(AUX_I2C, I2C_FLAG_I2CBSY));
|
||||
|
||||
// the master sends a start condition to I2C bus
|
||||
i2c_start_on_bus(AUX_I2C);
|
||||
// the master sends a start condition to I2C bus
|
||||
i2c_start_on_bus(AUX_I2C);
|
||||
|
||||
// Wait until all data bytes are sent/received
|
||||
while(i2c_aux_nDABytes > 0);
|
||||
// Wait until all data bytes are sent/received
|
||||
while(i2c_aux_nDABytes > 0);
|
||||
|
||||
// Return status
|
||||
return i2c_aux_status;
|
||||
// Return status
|
||||
return i2c_aux_status;
|
||||
|
||||
}
|
||||
#endif
|
||||
|
||||
@ -1,2 +1,3 @@
|
||||
Import("env")
|
||||
env.Append(LINKFLAGS=["--specs=nano.specs"])
|
||||
#env.Append(LINKFLAGS=["--specs=nano.specs"])
|
||||
env.Append(LINKFLAGS=["--specs=nosys.specs", "--specs=nano.specs"])
|
||||
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BIN
docs/pictures/wiring_ibus_rc.png
Normal file
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docs/pictures/wiring_ibus_rc.png
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|
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@ -14,10 +14,14 @@ include_dir = Inc
|
||||
src_dir = Src
|
||||
|
||||
;=================== VARIANT SELECTION ==========================
|
||||
;default_envs = VARIANT_DEBUG ; DEFAULT Variant
|
||||
;default_envs = VARIANT_DEBUG ; DEBUG Variant
|
||||
;default_envs = VARIANT_HOVERCAR ; HOVERCAR Variant
|
||||
;default_envs = VARIANT_HOVERBOARD ; HOVERBOARD Variant
|
||||
;================================================================
|
||||
|
||||
[env]
|
||||
platform_packages = maxgerhardt/framework-spl@2.10300.0 ; Add GD32 support package: globally override framework-spl for all environments
|
||||
|
||||
;================================================================
|
||||
|
||||
[env:VARIANT_DEBUG]
|
||||
@ -31,19 +35,41 @@ extra_scripts = add_nanolib.py ; adds nanolib to reduce printf memory f
|
||||
|
||||
; Serial Port settings (make sure the COM port is correct)
|
||||
monitor_port = COM5
|
||||
monitor_speed = 38400
|
||||
monitor_speed = 115200
|
||||
|
||||
build_flags =
|
||||
-IInc
|
||||
-ISrc
|
||||
-DUSE_STDPERIPH_DRIVER
|
||||
-DGD32F130_150
|
||||
-Wl,-T./GD32F130C6T_FLASH.ld
|
||||
-Wl,-lc
|
||||
-Wl,-lm
|
||||
-T./GD32F130C6T_FLASH.ld
|
||||
-lc
|
||||
-lm
|
||||
-g -ggdb
|
||||
-D VARIANT_DEBUG
|
||||
|
||||
|
||||
;================================================================
|
||||
|
||||
[env:VARIANT_HOVERCAR]
|
||||
platform = ststm32
|
||||
board = gd32f130c6
|
||||
debug_tool = stlink
|
||||
upload_protocol = stlink
|
||||
framework = spl
|
||||
extra_scripts = add_nanolib.py
|
||||
|
||||
build_flags =
|
||||
-IInc
|
||||
-ISrc
|
||||
-DUSE_STDPERIPH_DRIVER
|
||||
-DGD32F130_150
|
||||
-T./GD32F130C6T_FLASH.ld
|
||||
-lc
|
||||
-lm
|
||||
-g -ggdb
|
||||
-D VARIANT_HOVERCAR
|
||||
|
||||
;================================================================
|
||||
|
||||
[env:VARIANT_HOVERBOARD]
|
||||
@ -59,9 +85,9 @@ build_flags =
|
||||
-ISrc
|
||||
-DUSE_STDPERIPH_DRIVER
|
||||
-DGD32F130_150
|
||||
-Wl,-T./GD32F130C6T_FLASH.ld
|
||||
-Wl,-lc
|
||||
-Wl,-lm
|
||||
-T./GD32F130C6T_FLASH.ld
|
||||
-lc
|
||||
-lm
|
||||
-g -ggdb
|
||||
-D VARIANT_HOVERBOARD
|
||||
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user