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RobotHardware-UESTC/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/Board/board_stm32.cpp

372 lines
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#include "board_stm32.h"
#include "bsplib.h"
#include <stdio.h>
Board_STM32 Board_STM32::board;
#define CONFIG_EEPROM_BASE ((uint32_t)0x800F400)
#ifndef MOTOR_DRIVER
#define MOTOR_DRIVER MOTOR_DRIVER_TB6612
#endif
Board* Board::get()
{
return &Board_STM32::board;
}
Board_STM32::Board_STM32()
{
}
Board_STM32::~Board_STM32()
{
}
void Board_STM32::init()
{
PB_System_Timer_Init();
DOInit();
DIInit();
}
void Board_STM32::enable_irq()
{
}
void Board_STM32::disable_irq()
{
}
void Board_STM32::usart_debug_init()
{
PB_USART_Init(1, 115200, 0);
}
#ifdef __cplusplus
extern "C" {
#endif
int fputc(int ch, FILE *f)
{
PB_USART_Put_Char(1, ch);
return (ch);
}
#ifdef __cplusplus
}
#endif
void Board_STM32::usart_init(unsigned char num, unsigned long buad)
{
if (num == (unsigned char)USART_1) {
PB_USART_Init(1, 115200, 0);
} else if (num == (unsigned char)USART_3) {
PB_USART_Init(3, 115200, 0);
}
}
Queue* Board_STM32::usart_getDataQueue(unsigned char num)
{
if (num == (unsigned char)USART_1) {
} else if (num == (unsigned char)USART_3) {
return &usart3_queue;
}
return 0;
}
void Board_STM32::usart_write(unsigned char num, unsigned char ch)
{
if (num == (unsigned char)USART_1) {
PB_USART_Put_Char(1, ch);
} else if (num == (unsigned char)USART_3) {
PB_USART_Put_Char(3, ch);
}
}
void Board_STM32::usart_write(unsigned char num, unsigned char* data, unsigned char len)
{
if (num == (unsigned char)USART_1) {
while(len--)
PB_USART_Put_Char(1, *data++);
} else if (num == (unsigned char)USART_3) {
while(len--)
PB_USART_Put_Char(3, *data++);
}
}
void Board_STM32::set_config(unsigned char* data, unsigned short len)
{
if (len%2==0) {
PB_Flash_EnableWrite();
for(int i=0;i<len/2;i++) {
uint16_t a = 0;
memcpy(&a,data+i*2,2);
PB_Flash_WriteHalfWord(i*2, a);
delay_us(10);
}
PB_Flash_DisableWrite();
}
}
void Board_STM32::get_config(unsigned char* data, unsigned short len)
{
if (len%2==0) {
for(int i=0;i<len/2;i++) {
uint16_t a = PB_Flash_ReadHalfWord(i*2);
memcpy(data+i*2,&a,2);
}
}
}
void Board_STM32::DOInit(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOC | RCC_APB2Periph_AFIO, ENABLE);
GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_5;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_Init(GPIOC, &GPIO_InitStructure);
GPIO_SetBits(GPIOC, GPIO_Pin_13);
}
void Board_STM32::DIInit(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(GPIOA, &GPIO_InitStructure);
}
void Board_STM32::setDOState(unsigned char _id, unsigned char operation)
{
if ( _id == _RUN_LED) {
if (operation == 0) {
GPIO_SetBits(GPIOC, GPIO_Pin_13);
} else if (operation == 1) {
GPIO_ResetBits(GPIOC, GPIO_Pin_13);
} else if (operation == 2) {
GPIO_ToggleBits(GPIOC, GPIO_Pin_13);
}
} else if ( _id == _JS_CMD) {
if (operation == 0) {
GPIO_SetBits(GPIOA, GPIO_Pin_5);
} else if (operation == 1) {
GPIO_ResetBits(GPIOA, GPIO_Pin_5);
} else if (operation == 2) {
GPIO_ToggleBits(GPIOA, GPIO_Pin_5);
}
} else if ( _id == _JS_CS) {
if (operation == 0) {
GPIO_SetBits(GPIOA, GPIO_Pin_0);
} else if (operation == 1) {
GPIO_ResetBits(GPIOA, GPIO_Pin_0);
} else if (operation == 2) {
GPIO_ToggleBits(GPIOA, GPIO_Pin_0);
}
} else if ( _id == _JS_CLK) {
if (operation == 0) {
GPIO_SetBits(GPIOA, GPIO_Pin_1);
} else if (operation == 1) {
GPIO_ResetBits(GPIOA, GPIO_Pin_1);
} else if (operation == 2) {
GPIO_ToggleBits(GPIOA, GPIO_Pin_1);
}
}
}
bool Board_STM32::getDIState(unsigned char _id)
{
if ( _id == _JS_DAT) {
return GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_4);
}
return false;
}
void Board_STM32::motor_init(unsigned char num, unsigned long period)
{
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
// STBY
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_ResetBits(GPIOA, GPIO_Pin_12);
if (num == MOTOR_1) {
#if MOTOR_DRIVER == MOTOR_DRIVER_TB6612
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12 | GPIO_Pin_13;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_ResetBits(GPIOB, GPIO_Pin_12);
GPIO_ResetBits(GPIOB, GPIO_Pin_13);
PB_PWMChannel_Init(TIM2, 4, 0, period, 0);
#else
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_ResetBits(GPIOB, GPIO_Pin_12);
PB_PWMChannel_Init(TIM1, 1, 0, period, 0);
PB_PWMChannel_Init(TIM2, 4, 0, period, 0);
#endif
} else if (num == MOTOR_2) {
#if MOTOR_DRIVER == MOTOR_DRIVER_TB6612
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_14 | GPIO_Pin_15;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_ResetBits(GPIOB, GPIO_Pin_14);
GPIO_ResetBits(GPIOB, GPIO_Pin_15);
PB_PWMChannel_Init(TIM2, 3, 0, period, 0);
#else
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_14;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_ResetBits(GPIOB, GPIO_Pin_14);
PB_PWMChannel_Init(TIM1, 4, 0, period, 0);
PB_PWMChannel_Init(TIM2, 3, 0, period, 0);
#endif
} else if (num == MOTOR_3) {
} else if (num == MOTOR_4) {
}
}
void Board_STM32::motor_pwm(unsigned char num, long pwm_value)
{
if (num == MOTOR_1) {
if (pwm_value > 5) {
#if MOTOR_DRIVER == MOTOR_DRIVER_TB6612
GPIO_SetBits(GPIOA, GPIO_Pin_12);
GPIO_ResetBits(GPIOB, GPIO_Pin_12);
GPIO_SetBits(GPIOB, GPIO_Pin_13);
PB_Set_PWM(TIM2, 4, (uint16_t)pwm_value);
#else
PB_Set_PWM(TIM2, 4, (uint16_t)pwm_value);
PB_Set_PWM(TIM1, 1, 0);
#endif
} else if (pwm_value < -5) {
#if MOTOR_DRIVER == MOTOR_DRIVER_TB6612
GPIO_SetBits(GPIOA, GPIO_Pin_12);
GPIO_SetBits(GPIOB, GPIO_Pin_12);
GPIO_ResetBits(GPIOB, GPIO_Pin_13);
PB_Set_PWM(TIM2, 4, (uint16_t)-pwm_value);
#else
PB_Set_PWM(TIM1, 1, (uint16_t)-pwm_value);
PB_Set_PWM(TIM2, 4, 0);
#endif
} else {
#if MOTOR_DRIVER == MOTOR_DRIVER_TB6612
GPIO_ResetBits(GPIOA, GPIO_Pin_12);
GPIO_ResetBits(GPIOB, GPIO_Pin_12);
GPIO_ResetBits(GPIOB, GPIO_Pin_13);
PB_Set_PWM(TIM2, 4, 0);
#else
PB_Set_PWM(TIM1, 1, 0);
PB_Set_PWM(TIM2, 4, 0);
#endif
}
} else if (num == MOTOR_2) {
if (pwm_value > 5) {
#if MOTOR_DRIVER == MOTOR_DRIVER_TB6612
GPIO_SetBits(GPIOA, GPIO_Pin_12);
GPIO_SetBits(GPIOB, GPIO_Pin_15);
GPIO_ResetBits(GPIOB, GPIO_Pin_14);
PB_Set_PWM(TIM2, 3, (uint16_t)pwm_value);
#else
PB_Set_PWM(TIM1, 4, (uint16_t)pwm_value);
PB_Set_PWM(TIM2, 3, 0);
#endif
} else if (pwm_value < -5) {
#if MOTOR_DRIVER == MOTOR_DRIVER_TB6612
GPIO_SetBits(GPIOA, GPIO_Pin_12);
GPIO_ResetBits(GPIOB, GPIO_Pin_15);
GPIO_SetBits(GPIOB, GPIO_Pin_14);
PB_Set_PWM(TIM2, 3, (uint16_t)-pwm_value);
#else
PB_Set_PWM(TIM1, 4, 0);
PB_Set_PWM(TIM2, 3, (uint16_t)-pwm_value);
#endif
} else {
#if MOTOR_DRIVER == MOTOR_DRIVER_TB6612
GPIO_ResetBits(GPIOA, GPIO_Pin_12);
GPIO_ResetBits(GPIOB, GPIO_Pin_15);
GPIO_ResetBits(GPIOB, GPIO_Pin_14);
PB_Set_PWM(TIM2, 3, 0);
#else
PB_Set_PWM(TIM1, 4, 0);
PB_Set_PWM(TIM2, 3, 0);
#endif
}
} else if (num == MOTOR_3) {
} else if (num == MOTOR_4) {
}
}
unsigned long Board_STM32::get_tick_count()
{
return PB_Get_System_Time()/1000;;
}
void Board_STM32::encoder_init(unsigned char motor_id)
{
if (motor_id == MOTOR_1) {
PB_Encoder_Init(TIM3,0);
} else if (motor_id == MOTOR_2) {
PB_Encoder_Init(TIM4,0);
}
}
long Board_STM32::get_encoder_count(unsigned char motor_id)
{
if (motor_id == MOTOR_1) {
return PB_Get_Encode_TIM3();
} else if (motor_id == MOTOR_2) {
return PB_Get_Encode_TIM4();
}
return 0;
}
void Board_STM32::i2c_init()
{
PB_I2C_Init();
}
unsigned char Board_STM32::i2c_write_byte(unsigned char equipment_address, unsigned char reg_address, unsigned char pt_char)
{
return PB_I2C_Write_Byte(equipment_address, reg_address, pt_char);
}
unsigned char Board_STM32::i2c_write_buf(unsigned char equipment_address, unsigned char reg_address, unsigned char* pt_char, unsigned char size)
{
return PB_I2C_Write_Buf(equipment_address, reg_address, pt_char, size);
}
unsigned char Board_STM32::i2c_read_byte(unsigned char equipment_address, unsigned char reg_address, unsigned char* pt_char)
{
return PB_I2C_Read_Byte(equipment_address, reg_address, pt_char);
}
unsigned char Board_STM32::i2c_read_buf(unsigned char equipment_address, unsigned char reg_address, unsigned char* pt_char, unsigned char size)
{
return PB_I2C_Read_Buf(equipment_address, reg_address, pt_char, size);
}
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