FIX&ENH: rotary driver works!
ADD: three pins for current strength values FIX: ADC1->ADC2 ENH: prepare for UART FIX&ADD: add USART print, add extra_script to print floats to COM port #2 ADD: some func #2 Rebuild project structure ADD: .clang-format file ENG: use flag ADD: USART1 FIX: .ioc FIX: .ioc ADD: debug script to angle value ADD: gitlab-ci ADD: gitlab CI ADD: gitlab-ci FIX: gitlab-ci ADD&FIX: all sensors work! (or not?)
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vanyabeat
parent
d1b0ed0858
commit
8157b41ea9
23 changed files with 673 additions and 339 deletions
196
Src/spi.c
196
Src/spi.c
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@ -1,29 +1,60 @@
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/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* @file spi.c
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* @brief This file provides code for the configuration
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* of the SPI instances.
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2024 STMicroelectronics.
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* All rights reserved.
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*
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* This software is licensed under terms that can be found in the LICENSE file
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* in the root directory of this software component.
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* If no LICENSE file comes with this software, it is provided AS-IS.
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*
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******************************************************************************
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*/
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******************************************************************************
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* @file spi.c
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* @brief This file provides code for the configuration
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* of the SPI instances.
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2024 STMicroelectronics.
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* All rights reserved.
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*
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* This software is licensed under terms that can be found in the LICENSE file
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* in the root directory of this software component.
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* If no LICENSE file comes with this software, it is provided AS-IS.
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*
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******************************************************************************
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*/
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/* USER CODE END Header */
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/* Includes ------------------------------------------------------------------*/
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#include "spi.h"
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/* USER CODE BEGIN 0 */
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// AS5040 diagnostic bits
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uint16_t AS5045_ReadAngle(SPI_HandleTypeDef *hspi, uint8_t *status)
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{
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uint16_t rawData = 0;
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HAL_GPIO_WritePin(GPIOB, GPIO_PIN_15, GPIO_PIN_RESET);
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HAL_SPI_Receive(&hspi2, (uint8_t *)&rawData, 2, HAL_MAX_DELAY);
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HAL_GPIO_WritePin(GPIOB, GPIO_PIN_15, GPIO_PIN_SET);
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*status = 0;
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if (rawData & AS5040_DIAG_OC_FAULT)
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{
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*status |= AS5040_DIAG_OC_FAULT;
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}
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if (rawData & AS5040_DIAG_CO_FAULT)
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{
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*status |= AS5040_DIAG_CO_FAULT;
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}
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if (rawData & AS5040_DIAG_LIN_FAULT)
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{
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*status |= AS5040_DIAG_LIN_FAULT;
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}
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return (rawData >> 5) & 0x3FFF;
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}
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float NormalizeToDegrees(uint16_t angleValue)
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{
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float degrees = (angleValue * 360.0f) / 1024.0f;
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return degrees;
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}
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/* USER CODE END 0 */
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SPI_HandleTypeDef hspi2;
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/* SPI2 init function */
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void MX_SPI2_Init(void)
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{
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@ -32,57 +63,104 @@ void MX_SPI2_Init(void)
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/* USER CODE END SPI2_Init 0 */
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LL_SPI_InitTypeDef SPI_InitStruct = {0};
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LL_GPIO_InitTypeDef GPIO_InitStruct = {0};
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/* Peripheral clock enable */
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LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_SPI2);
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LL_AHB1_GRP1_EnableClock(LL_AHB1_GRP1_PERIPH_GPIOC);
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LL_AHB1_GRP1_EnableClock(LL_AHB1_GRP1_PERIPH_GPIOB);
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/**SPI2 GPIO Configuration
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PC1 ------> SPI2_MOSI
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PB10 ------> SPI2_SCK
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PB14 ------> SPI2_MISO
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*/
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GPIO_InitStruct.Pin = LL_GPIO_PIN_1;
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GPIO_InitStruct.Mode = LL_GPIO_MODE_ALTERNATE;
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GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_VERY_HIGH;
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GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
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GPIO_InitStruct.Pull = LL_GPIO_PULL_NO;
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GPIO_InitStruct.Alternate = LL_GPIO_AF_7;
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LL_GPIO_Init(GPIOC, &GPIO_InitStruct);
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GPIO_InitStruct.Pin = LL_GPIO_PIN_10|LL_GPIO_PIN_14;
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GPIO_InitStruct.Mode = LL_GPIO_MODE_ALTERNATE;
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GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_VERY_HIGH;
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GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
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GPIO_InitStruct.Pull = LL_GPIO_PULL_NO;
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GPIO_InitStruct.Alternate = LL_GPIO_AF_5;
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LL_GPIO_Init(GPIOB, &GPIO_InitStruct);
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/* USER CODE BEGIN SPI2_Init 1 */
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/* USER CODE END SPI2_Init 1 */
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SPI_InitStruct.TransferDirection = LL_SPI_FULL_DUPLEX;
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SPI_InitStruct.Mode = LL_SPI_MODE_MASTER;
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SPI_InitStruct.DataWidth = LL_SPI_DATAWIDTH_16BIT;
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SPI_InitStruct.ClockPolarity = LL_SPI_POLARITY_LOW;
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SPI_InitStruct.ClockPhase = LL_SPI_PHASE_2EDGE;
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SPI_InitStruct.NSS = LL_SPI_NSS_SOFT;
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SPI_InitStruct.BaudRate = LL_SPI_BAUDRATEPRESCALER_DIV64;
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SPI_InitStruct.BitOrder = LL_SPI_MSB_FIRST;
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SPI_InitStruct.CRCCalculation = LL_SPI_CRCCALCULATION_DISABLE;
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SPI_InitStruct.CRCPoly = 10;
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LL_SPI_Init(SPI2, &SPI_InitStruct);
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LL_SPI_SetStandard(SPI2, LL_SPI_PROTOCOL_MOTOROLA);
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hspi2.Instance = SPI2;
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hspi2.Init.Mode = SPI_MODE_MASTER;
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hspi2.Init.Direction = SPI_DIRECTION_2LINES;
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hspi2.Init.DataSize = SPI_DATASIZE_16BIT;
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hspi2.Init.CLKPolarity = SPI_POLARITY_LOW;
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hspi2.Init.CLKPhase = SPI_PHASE_1EDGE;
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hspi2.Init.NSS = SPI_NSS_SOFT;
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hspi2.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_64;
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hspi2.Init.FirstBit = SPI_FIRSTBIT_MSB;
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hspi2.Init.TIMode = SPI_TIMODE_DISABLE;
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hspi2.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
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hspi2.Init.CRCPolynomial = 10;
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if (HAL_SPI_Init(&hspi2) != HAL_OK)
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{
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Error_Handler();
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}
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/* USER CODE BEGIN SPI2_Init 2 */
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if (HAL_SPI_Init(&hspi2) != HAL_OK)
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{
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Error_Handler();
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}
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/* USER CODE END SPI2_Init 2 */
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}
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void HAL_SPI_MspInit(SPI_HandleTypeDef* spiHandle)
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{
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GPIO_InitTypeDef GPIO_InitStruct = {0};
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if(spiHandle->Instance==SPI2)
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{
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/* USER CODE BEGIN SPI2_MspInit 0 */
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/* USER CODE END SPI2_MspInit 0 */
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/* SPI2 clock enable */
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__HAL_RCC_SPI2_CLK_ENABLE();
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__HAL_RCC_GPIOC_CLK_ENABLE();
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__HAL_RCC_GPIOB_CLK_ENABLE();
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/**SPI2 GPIO Configuration
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PC1 ------> SPI2_MOSI
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PB10 ------> SPI2_SCK
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PB14 ------> SPI2_MISO
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*/
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GPIO_InitStruct.Pin = GPIO_PIN_1;
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GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
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GPIO_InitStruct.Alternate = GPIO_AF7_SPI2;
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HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
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GPIO_InitStruct.Pin = GPIO_PIN_10|GPIO_PIN_14;
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GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
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GPIO_InitStruct.Alternate = GPIO_AF5_SPI2;
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HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
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/* SPI2 interrupt Init */
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HAL_NVIC_SetPriority(SPI2_IRQn, 0, 0);
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HAL_NVIC_EnableIRQ(SPI2_IRQn);
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/* USER CODE BEGIN SPI2_MspInit 1 */
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/* USER CODE END SPI2_MspInit 1 */
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}
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}
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void HAL_SPI_MspDeInit(SPI_HandleTypeDef* spiHandle)
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{
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if(spiHandle->Instance==SPI2)
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{
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/* USER CODE BEGIN SPI2_MspDeInit 0 */
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/* USER CODE END SPI2_MspDeInit 0 */
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/* Peripheral clock disable */
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__HAL_RCC_SPI2_CLK_DISABLE();
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/**SPI2 GPIO Configuration
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PC1 ------> SPI2_MOSI
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PB10 ------> SPI2_SCK
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PB14 ------> SPI2_MISO
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*/
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HAL_GPIO_DeInit(GPIOC, GPIO_PIN_1);
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HAL_GPIO_DeInit(GPIOB, GPIO_PIN_10|GPIO_PIN_14);
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/* SPI2 interrupt Deinit */
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HAL_NVIC_DisableIRQ(SPI2_IRQn);
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/* USER CODE BEGIN SPI2_MspDeInit 1 */
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/* USER CODE END SPI2_MspDeInit 1 */
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}
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}
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/* USER CODE BEGIN 1 */
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/* USER CODE END 1 */
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