405 lines
12 KiB
C++
405 lines
12 KiB
C++
#include "board_stm32.h"
|
|
#include "bsplib.h"
|
|
#include "print.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(2, 115200, 0);
|
|
}
|
|
|
|
#ifdef __cplusplus
|
|
extern "C" {
|
|
#endif
|
|
int fputc(int ch, FILE *f)
|
|
{
|
|
PB_USART_Put_Char(2, 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_2) {
|
|
PB_USART_Init(2, 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_2) {
|
|
return &usart3_queue;
|
|
}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_2) {
|
|
PB_USART_Put_Char(3, 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_2) {
|
|
while(len--)
|
|
PB_USART_Put_Char(2, *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);
|
|
|
|
|
|
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
|
|
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_9);
|
|
}
|
|
|
|
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_9);
|
|
} else if (operation == 1) {
|
|
GPIO_ResetBits(GPIOC, GPIO_Pin_9);
|
|
} else if (operation == 2) {
|
|
GPIO_ToggleBits(GPIOC, GPIO_Pin_9);
|
|
}
|
|
} 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 = PA12
|
|
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
|
|
// PB12和PB13 控制电机1, PB0 控制电机1 PWM
|
|
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);
|
|
// TIM3 Ch3 = PB0
|
|
PB_PWMChannel_Init(TIM3, 3, 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
|
|
|
|
// PB14和PB15 控制电机2, PB1 控制电机2
|
|
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);
|
|
// TIM3 Ch4 = PB1
|
|
PB_PWMChannel_Init(TIM3, 4, 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) {
|
|
|
|
}
|
|
}
|
|
/**----------------------------------------------------------------------
|
|
* Function : motor_pwm
|
|
* Description : 对于2轮差分模型: Motor1为左轮, Motor2是右轮
|
|
对于4轮运行模型: Motor1为右后轮, Motor2为右前轮, Motor3为
|
|
左前轮, Motor4左后轮
|
|
左电机硬件连接:
|
|
左电机控制: IN1、IN2 -> PB14、PB15
|
|
左电机PWM: PB1 -> TIM3 ch4
|
|
左电机编码器: PA0、PA1 -> TIM2, AF0
|
|
右电机硬件连接:
|
|
右电机控制: IN1、IN2 -> PB12、PB13
|
|
右电机PWM: PB1 -> TIM3 ch3
|
|
右电机编码器: PB6、PB7 -> TIM4, AF0
|
|
* Author : zhanli&719901725@qq.com
|
|
* Date : 2024/01/17 zhanli 更新部分定义说明
|
|
*---------------------------------------------------------------------**/
|
|
void Board_STM32::motor_pwm(unsigned char num, long pwmVal)
|
|
{
|
|
pb_printf("motor_pwm: num = %d, pwm = %d\n", num, pwmVal);
|
|
// pwmVal = 2000;
|
|
if (num == MOTOR_1) {
|
|
if (pwmVal > 5) {
|
|
#if MOTOR_DRIVER == MOTOR_DRIVER_TB6612
|
|
GPIO_ResetBits(GPIOB, GPIO_Pin_15);
|
|
GPIO_SetBits(GPIOB, GPIO_Pin_14);
|
|
PB_Set_PWM(TIM3, 4, (uint16_t)pwmVal);
|
|
#else
|
|
PB_Set_PWM(TIM1, 4, (uint16_t)pwm_value);
|
|
PB_Set_PWM(TIM2, 3, 0);
|
|
#endif
|
|
} else if (pwmVal < -5) {
|
|
#if MOTOR_DRIVER == MOTOR_DRIVER_TB6612
|
|
GPIO_SetBits(GPIOB, GPIO_Pin_15);
|
|
GPIO_ResetBits(GPIOB, GPIO_Pin_14);
|
|
PB_Set_PWM(TIM3, 4, (uint16_t)-pwmVal);
|
|
#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(GPIOB, GPIO_Pin_15);
|
|
GPIO_ResetBits(GPIOB, GPIO_Pin_14);
|
|
PB_Set_PWM(TIM3, 4, 0);
|
|
#else
|
|
PB_Set_PWM(TIM1, 4, 0);
|
|
PB_Set_PWM(TIM2, 3, 0);
|
|
#endif
|
|
}
|
|
} else if (num == MOTOR_2) {
|
|
if (pwmVal > 5) {
|
|
#if MOTOR_DRIVER == MOTOR_DRIVER_TB6612
|
|
GPIO_SetBits(GPIOB, GPIO_Pin_12);
|
|
GPIO_ResetBits(GPIOB, GPIO_Pin_13);
|
|
PB_Set_PWM(TIM3, 3, (uint16_t)pwmVal);
|
|
#else
|
|
PB_Set_PWM(TIM2, 4, (uint16_t)pwm_value);
|
|
PB_Set_PWM(TIM1, 1, 0);
|
|
#endif
|
|
} else if (pwmVal < -5) {
|
|
#if MOTOR_DRIVER == MOTOR_DRIVER_TB6612
|
|
GPIO_ResetBits(GPIOB, GPIO_Pin_12);
|
|
GPIO_SetBits(GPIOB, GPIO_Pin_13);
|
|
PB_Set_PWM(TIM3, 3, (uint16_t)-pwmVal);
|
|
#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(GPIOB, GPIO_Pin_12);
|
|
GPIO_ResetBits(GPIOB, GPIO_Pin_13);
|
|
PB_Set_PWM(TIM3, 3, 0);
|
|
#else
|
|
PB_Set_PWM(TIM1, 1, 0);
|
|
PB_Set_PWM(TIM2, 4, 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)
|
|
{
|
|
// MOTOR 1是左电机
|
|
if (motor_id == MOTOR_1) {
|
|
PB_Encoder_Init(TIM2, 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_TIM2();
|
|
} 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);
|
|
}
|