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Cleaned implementations files for version 1.0
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@Trimple
Trimple committed Apr 2, 2020
1 parent 160a1cd commit 96deb1a
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45 changes: 27 additions & 18 deletions Inc/implementation.c
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Original file line number Diff line number Diff line change
Expand Up @@ -34,9 +34,7 @@
USART:
PB6-7 - TX and RX respectively (USART1, alternate function 0).
TIM14 - high speed counter for time calculations;
TODO: нужно изучить, как запускаются часы реального времени и наверное использовать для вычисления времени их. Хотят тут станет вопрос, что такие часы могут
быть не совсем надежными и все же будет оправданно использовать один из таймеров вместо часов реального времени.
TIM14 - counts time with 0.1 ms precision for mistakes log
TIM15 - high speed counter for precise speed calculations.
Expand Down Expand Up @@ -427,7 +425,7 @@ void timers_setup(void)
{
//*** Timers peripheral clock enable ***//
RCC->APBENR1 |= RCC_APBENR1_TIM2EN | RCC_APBENR1_TIM3EN;
RCC->APBENR2 |= RCC_APBENR2_TIM1EN | RCC_APBENR2_TIM14EN;
RCC->APBENR2 |= RCC_APBENR2_TIM1EN | RCC_APBENR2_TIM14EN | RCC_APBENR2_TIM16EN;
// RCC->APBENR2 |= RCC_APBENR2_TIM1EN | RCC_APBENR2_TIM14EN | RCC_APBENR2_TIM15EN;

//*** TIM1 PWM setup ***//
Expand All @@ -439,11 +437,10 @@ void timers_setup(void)
TIM1->CR1 |= TIM_CR1_ARPE; // Enable Auto reload preload
TIM1->BDTR |= TIM_BDTR_MOE; // Main output enable
TIM1->CR1 |= TIM_CR1_CEN; // Enable timer

// TIM1->CCR1 = PWM_PRECISION;
// TIM1->CCR2 = PWM_PRECISION;
// TIM1->CCR3 = PWM_PRECISION;
// TIM1->CCR4 = PWM_PRECISION;
TIM1->CCR1 = PWM_PRECISION;
TIM1->CCR2 = PWM_PRECISION;
TIM1->CCR3 = PWM_PRECISION;
TIM1->CCR4 = PWM_PRECISION;

//*** Timer2 encoder setup ***//
TIM2->ARR = 65535; // 2^16-1 - maximum value for this timer. No prescaler, so timer is working with max speed
Expand Down Expand Up @@ -474,6 +471,14 @@ void timers_setup(void)
// TIM15->CNT = 0; // Clear counter before start
// TIM15->CR1 |= TIM_CR1_CEN;

//*** TIM16 setup ***//
// Used to count millisecond for speed calculations
TIM16->PSC |= (uint32_t)(SYSCLK_FREQUENCY / 1000 - 1); // One millisecond step
TIM16->CNT = 0; // Clear counter before start
TIM16->DIER |= TIM_DIER_UIE;
NVIC_EnableIRQ(TIM16_IRQn);
TIM16->CR1 |= TIM_CR1_OPM; // One pulse mode. Counter don't need to be started

//*** System timer setup ***//
SysTick->LOAD = SYSCLK_FREQUENCY / (8 * SYSTICK_FREQUENCY) - 1;
SysTick->VAL = 0;
Expand Down Expand Up @@ -835,17 +840,21 @@ int16_t get_motor2_encoder_value(void)
return TIM3->CNT;
}

void blink(void)
{
GPIOD->ODR ^= 0x0F;
delay_in_milliseconds(1000000);
GPIOD->ODR ^= 0x0F;
delay_in_milliseconds(1000000);

void TIM16_IRQHandler()
{
TIM16->SR &= ~TIM_SR_UIF;
delay_is_finished = yes;
}

void delay_in_milliseconds(const uint32_t time_in_millisecond){
// Temporary implementation
for(uint32_t iterator = 0; iterator < time_in_millisecond; ++iterator);


void delay_in_milliseconds(const uint16_t time_in_millisecond){
// for(uint32_t iterator = 0; iterator < time_in_millisecond; ++iterator);
TIM16->ARR = time_in_millisecond-1;
TIM16->CR1 |= TIM_CR1_CEN;
delay_is_finished = 0;
while(delay_is_finished == no){}

}

165 changes: 76 additions & 89 deletions Inc/implementation.h
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Original file line number Diff line number Diff line change
Expand Up @@ -35,55 +35,40 @@
Determines control system outer loop frequency
*/
#define SYSTICK_FREQUENCY 20 // Hz
#define SYSTICK_FREQUENCY 40 // Hz

//****** End of User-adjustable defines ******//

//*** Mistakes log definition ***//
/*
Пока я тут не начал разводить мемуары коментариев, которые потом приедтся переписывать запишу то, как надо попробовать реализовать
@brief Mistakes log is used to collect mistakes codes during runtime
Log can be sent by any available interface during runtime to debug the system.
@note To provide a consistency log should be implemented in the main.c file and is used only there.
TODO: @idea It will be good to have EEPROM on every device so we can store mistakes log there
v TODO: @idea It will be good to have EEPROM on every device so we can store mistakes log there
TODO: It will be good to implement some type of black box: way to permanently store log with system parameters for the last couple of hours at least: EEPROM won't suffice
*/
#define MISTAKES_LOG_SIZE 50

//****** End of User-adjustable defines ******//

///!!!!!!
#define ICM_THROUGH_SPI

//****************************//
//****** User functions ******//
//****************************//
// @brief Can be called in the code by the programmer while developing applications.

// @brief Makes log entry with given mistake code at current time
void add_to_mistakes_log(uint32_t mistake_code);


/*
@brief Makes log entry with given mistake code at current time
*/
void add_to_mistakes_log(uint32_t mistake_code);

// @brief Sets up all desired device peripherals
/*
@brief Sets up all desired device peripherals
*/
void full_device_setup(uint32_t should_inclued_interfaces);

/*
@brief Enables UART 1 with given baud rate with TX and RX enable
Leaves all other parameters unchanged (the most basic UART configuration). So UART parameters are:
> transmission speed = @param[in] transmission_speed_in_bauds;
> 8 Data bits
> 1 stop bit
> parity control disabled
> no interrupts are enbabled
> no DMA
> FIFO disabled
> etc (not advanced features at all)
@brief Enables UART 1 with a given baud rate with TX and RX enable and default setting in everything else
*/
void basic_uart1_setup(const uint32_t transmission_speed_in_bauds);

Expand Down Expand Up @@ -113,65 +98,95 @@ void basic_spi2_setup(uint32_t transmittion_speed_in_hz);
uint8_t spi2_write_single_byte(const uint8_t byte_to_be_sent);



//**************************************//
//****** User-adjustable typedefs ******//
//**************************************//
// @brief All needed typdefs should be implemented here


//********************************//
//****** Non-User functions ******//
//********************************//
// @brief Called only by the system when needed. Should not be used in the application code
/*
@brief Called only by the system when needed. Should not be used in the application code
*/

// @brief Sets up SYSCLK to SYSCLK_FREQUENCY with taking into account problems with different sources
/*
@brief Sets up SYSCLK to SYSCLK_FREQUENCY with taking into account problems with different sources
*/
uint32_t system_clock_setup(void);

// @brief Sets up PLL with respect to input source and SYSCLK_FREQUENCY
/*
@brief Sets up PLL with respect to input source and SYSCLK_FREQUENCY
*/
uint32_t pll_setup(uint32_t is_HSE_clock_source);

// @brief Non-maskable interrupt handler. Called when HSE fails. Tries to start SYSCLK with PLL with HSI as a clock source.
void NMI_Handler();

// @brief Sets up GPIO for all needed on device functions
/*
@brief Sets up GPIO for all needed on device functions
*/
void gpio_setup(void);

// @brief Sets up all used on the board timers and enables desired interrupts
/*
@brief Sets up all used on the board timers and enables desired interrupts
*/
void timers_setup(void);






uint32_t adc_setup(void);

/*
@brief Sets all interfaces with default transmission rates
*/
void intrfaces_setup(void);

uint32_t safe_setup(void);

// TODO: Если необходимо настроить прерывание для какой либо периферии, которая в теории может быть уже включена. Необходимо убедиться, что данная периферия
// Сначала будет выключена
uint32_t interrupt_setup(void);
/*
@brief TIM14 overflow interrupt handler - counts minutes from enable of mistakes log.
*/
void TIM14_IRQHandler();

/*
@brief Makes program stop for given duration
*/
void delay_in_milliseconds(const uint16_t time_in_millisecond);

/*
@brief Resets program blocking value after overflow
*/
void TIM16_IRQHandler();

//****** DRV8848 ******//
/*
GPIOC6 - nSleep pin of motor driver
*/
void gpioc6_low(void);
void gpioc6_high(void);

/*
@brief TIM14 overflow interrupt handler - counts minutes from enable of mistakes log.
@brief Sets PWM duty cycle for motor 1 or motor 2 PWM channels
*/
void TIM14_IRQHandler();
uint32_t set_motor1_pwm(const int32_t required_duty_cycle_coefficient);
uint32_t set_motor2_pwm(const int32_t required_duty_cycle_coefficient);

/*
@brief Returns motor-related encoder counter value. TIM2 for motor1 and TIM3 for motor 2
*/
int16_t get_motor1_encoder_value(void);
int16_t get_motor2_encoder_value(void);

//****** NRF24L01+ ******//
#define NRF24_CSN_HIGH GPIOB->BSRR |= GPIO_BSRR_BS1;
#define NRF24_CSN_LOW GPIOB->BSRR |= GPIO_BSRR_BR1;
#define NRF24_CE_HIGH GPIOB->BSRR |= GPIO_BSRR_BS0;
#define NRF24_CE_LOW GPIOB->BSRR |= GPIO_BSRR_BR0;
#define nrf24_spi_write spi1_write_single_byte

//*** Blinks led if
void gpiob1_high(void);
void gpiob1_low(void);
void gpiob0_high(void);
void gpiob0_low(void);

void blink(void);
//****** ICM-20600 ******//
/*
GPIOB12 - chip enable
For icm-20600 library ICM_THROUGH_SPI or ICM_THROUGH_I2C should be defined
*/
void gpiob12_high(void);
void gpiob12_low(void);

void delay_in_milliseconds(const uint32_t time_in_millisecond);
#define ICM_THROUGH_SPI
//#define ICM_THROUGH_I2C

void delay(const uint32_t time_in_milliseconds);

//****************************************//
//****** Non user-adjustable defines ******//
Expand Down Expand Up @@ -225,17 +240,17 @@ _DECL uint32_t mistakes_log_pointer _INIT(0);
_DECL uint32_t critical_mistake_detected _INIT(0); /* will be 1 - if there were a critical mistake. System should be stopped. All performance critical objects should be returned to safe state and be deactivated */
_DECL uint32_t time_from_log_enable_in_minutes _INIT(0);

_DECL uint32_t delay_is_finished _INIT(0);

#endif /* VAR_DEFS */
/******************************************/


enum question_answers
{
no = 0,
yes = 1
};


//*** GPIO setup defines ***//
#define GPIO_MODER_MSK (3U) //0x11
#define GPIO_ANALOG_IN (3U) //0x11
Expand All @@ -261,34 +276,6 @@ enum question_answers
#define HSE_IS_OK 1
#define HSE_IS_NOT_OK 0

//*** NRF24L01+ defines ***//
#define NRF24_CSN_HIGH GPIOB->BSRR |= GPIO_BSRR_BS1;
#define NRF24_CSN_LOW GPIOB->BSRR |= GPIO_BSRR_BR1;
#define NRF24_CE_HIGH GPIOB->BSRR |= GPIO_BSRR_BS0;
#define NRF24_CE_LOW GPIOB->BSRR |= GPIO_BSRR_BR0;
#define nrf24_spi_write spi1_write_single_byte

void gpiob1_high(void);
void gpiob1_low(void);
void gpiob0_high(void);
void gpiob0_low(void);


//*** ICM-20600 defines ***//
void gpiob12_high(void);
void gpiob12_low(void);

//*** DRV8848 defines ***//
void gpioc6_low(void);
void gpioc6_high(void);


uint32_t set_motor1_pwm(const int32_t required_duty_cycle_coefficient);
uint32_t set_motor2_pwm(const int32_t required_duty_cycle_coefficient);

int16_t get_motor1_encoder_value(void);
int16_t get_motor2_encoder_value(void);

/*** Completely random value to determine the waiting-state length ***/
#define DUMMY_DELAY_VALUE 10000

Expand Down
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