324 lines
6.2 KiB
C
324 lines
6.2 KiB
C
#include "board.h"
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#include "debug.h"
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#include "lock_resource.h"
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// 使用定时器14
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// PF7,8,9 是输出口
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// 使用PF7来产生脉冲，PF8来改变方向
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typedef struct{
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int tick;
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int step;
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int fre;
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int fre_max;
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int fre_min;
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int up_tick;
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}ctrl_fre;
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typedef struct{
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TIM_HandleTypeDef htim;
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TIM_HandleTypeDef htim2;
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int count_all;
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int count_past;
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int fre;
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ctrl_fre cfre;
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void (*end_irq)(void *t);
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void *t;
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}self_def;
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static self_def g_self;
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static int init(pwm_def *p)
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{
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self_def *s=&g_self;
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if(p->private_data) return 0;
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p->private_data=s;
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s->cfre.step=320;
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s->cfre.fre_min=1100;
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s->htim.Instance = TIM14;
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s->htim.Init.Prescaler = 209-1;
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s->htim.Init.CounterMode = TIM_COUNTERMODE_UP;
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s->htim.Init.Period = 31-1;
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s->htim.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
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s->htim.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
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if (HAL_TIM_Base_Init(&s->htim) != HAL_OK)
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{
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DBG_ERR("time init failed.");
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return -1;
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}
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s->htim2.Instance = TIM13;
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s->htim2.Init.Prescaler = 209-1;
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s->htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
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s->htim2.Init.Period = 1000-1;
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s->htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
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s->htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
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if (HAL_TIM_Base_Init(&s->htim2) != HAL_OK)
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{
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DBG_ERR("time init failed.");
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return -1;
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}
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GPIO_InitTypeDef init={0};
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__HAL_RCC_GPIOF_CLK_ENABLE();
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init.Mode = GPIO_MODE_INPUT;
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init.Pull = GPIO_NOPULL;
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init.Pin = GPIO_PIN_7|GPIO_PIN_8|GPIO_PIN_9;
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PERIPH_LOCK(GPIOF);
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HAL_GPIO_Init(GPIOF, &init);
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PERIPH_UNLOCK(GPIOF);
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return 0;
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}
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static int deinit(pwm_def *p)
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{
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return 0;
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}
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static int start(pwm_def *p,int step_count)
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{
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param_check(p);
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param_check(p->private_data);
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self_def *self=p->private_data;
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if(step_count==0) return 0;
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if((*self->dtb->bitmap_pin_zero==0)&&(step_count<0))
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{
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// 到达零点后不能继续上升
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if(self->end_irq)
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self->end_irq(self->t);
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return -1;
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}
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if(step_count>0)
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*self->dtb->bitmap_pin_dir=0;
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else{
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step_count=-step_count;
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*self->dtb->bitmap_pin_dir=1;
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}
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if(self->fre==0)
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{
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ctrl_fre *cfre=&self->cfre;
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memset(cfre,0,sizeof(ctrl_fre));
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int max_count=0;
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cfre->tick=0;
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cfre->step=320;
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cfre->fre_max=16000;
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cfre->fre_min=1100;
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cfre->up_tick=0;
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cfre->fre=cfre->fre_min;
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}
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irq_disable();
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if(step_count>0)
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{
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self->count_all=step_count;
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}else{
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self->count_all=0;
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}
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self->count_past=0;
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irq_enable();
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HAL_TIM_Base_Start_IT(&self->htim);
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HAL_TIM_Base_Start_IT(&self->htim2);
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return 0;
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}
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static inline void self_stop__(self_def *self);
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static int stop(pwm_def *p)
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{
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param_check(p);
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param_check(p->private_data);
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self_def *self=p->private_data;
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self_stop__(self);
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return 0;
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}
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static inline void self_set_fre(self_def *self,int fre)
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{
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// 两个定时器溢出为一个翻转周期，这里重装载值要除2
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__HAL_TIM_SET_AUTORELOAD(&self->htim,1000000/2/fre);
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__HAL_TIM_SET_COUNTER(&self->htim,0);
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}
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// 设置频率，最低8hz，最高16000hz
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// 如果设置fre为0，则自动运行
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static int set_fre(pwm_def *p,int fre)
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{
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param_check(p);
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param_check(p->private_data);
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self_def *self=p->private_data;
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if(fre==0)
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{
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self->fre=fre;
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return 0;
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}
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if((fre<8)||(fre>16000)) return -1;
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self->fre=fre;
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self_set_fre(self,fre);
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return 0;
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}
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// 设置中断回调
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static int set_irq_fun(pwm_def *p,void (*fun)(void *t),void *t)
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{
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param_check(p);
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param_check(p->private_data);
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self_def *self=p->private_data;
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irq_disable();
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self->end_irq=fun;
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self->t=t;
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irq_enable();
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return 0;
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}
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static inline void self_stop__(self_def *self)
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{
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HAL_TIM_Base_Stop_IT(&self->htim);
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HAL_TIM_Base_Stop_IT(&self->htim2);
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if(self->end_irq)
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self->end_irq(self->t);
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}
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pwm_init_export(pwm,init,deinit,start,stop,set_fre,set_irq_fun,0)
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static inline void self_irq(self_def *self)
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{
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rt_interrupt_enter();
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volatile uint32_t *pin=self->dtb->bitmap_pin;
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if(TIM_GetFlagStatus(self->dtb->tim,TIM_FLAG_Update))
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{
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TIM_ClearFlag(self->dtb->tim,TIM_FLAG_Update);
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*pin=!(*pin);
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irq_disable();
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self->count_past++;
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irq_enable();
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if(self->count_all>0&&(self->count_all<=self->count_past))
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{
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self_stop__(self);
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}
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}
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rt_interrupt_leave();
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}
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static inline void calc_up(self_def *self)
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{
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ctrl_fre *cfre=&self->cfre;
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if(self->count_past<self->count_all/2)
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{
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if(cfre->fre<cfre->fre_max)
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cfre->fre+=cfre->step;
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else
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cfre->up_tick++;
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}else{
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if(cfre->up_tick>0)
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cfre->up_tick--;
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else{
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cfre->fre-=cfre->step;
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}
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}
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// 防止速度减到0，永远不停止
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if(cfre->fre<cfre->fre_min)
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cfre->fre=cfre->fre_min;
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}
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static int calc_fre(self_def *self)
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{
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ctrl_fre *cfre=&self->cfre;
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int fre=0;
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calc_up(self);
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fre=cfre->fre;
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// 会每1ms更新一次频率，因此频率必须大于1000
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param_check(fre>1000);
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cfre->tick++;
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return fre;
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}
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static inline void self_irq2(self_def *self)
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{
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rt_interrupt_enter();
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volatile uint32_t *pin=self->dtb->bitmap_pin;
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if(TIM_GetFlagStatus(self->dtb->tim2,TIM_FLAG_Update))
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{
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TIM_ClearFlag(self->dtb->tim2,TIM_FLAG_Update);
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if(self->fre==0)
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self_set_fre(self,calc_fre(self));
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}
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rt_interrupt_leave();
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}
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static inline void self_stop_irq(self_def *self)
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{
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rt_interrupt_enter();
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if(EXTI_GetFlagStatus(1<<self->dtb->gpio_zero_pin)){
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irq_disable();
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self->count_past=0;
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self->count_all=0;
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irq_enable();
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self_stop__(self);
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EXTI_ClearFlag(1<<self->dtb->gpio_zero_pin);
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}
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rt_interrupt_leave();
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}
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void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
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{
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//DBG_LOG("timer updata.");
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}
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void HAL_TIMEx_Break2Callback(TIM_HandleTypeDef *htim)
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{
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}
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void HAL_TIMEx_CommutCallback(TIM_HandleTypeDef *htim)
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{
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}
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void HAL_TIMEx_CommutHalfCpltCallback(TIM_HandleTypeDef *htim)
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{
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}
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void HAL_TIMEx_BreakCallback(TIM_HandleTypeDef *htim)
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{
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}
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void TIMEx_DMACommutationCplt(DMA_HandleTypeDef *hdma)
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{
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}
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void TIMEx_DMACommutationHalfCplt(DMA_HandleTypeDef *hdma)
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{
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}
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void TIM14_IRQHandler(void)
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{
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self_def *s=&g_self;
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HAL_TIM_IRQHandler(&s->htim);
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}
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void TIM13_IRQHandler(void)
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{
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self_def *s=&g_self;
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HAL_TIM_IRQHandler(&s->htim2);
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}
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