仓库迁移

2023-06-10 11:52:00 +08:00
parent e4616bfae5
commit 077c27f2bb
499 changed files with 199745 additions and 92 deletions
--- a/source/interface/if_pwm.c
+++ b/source/interface/if_pwm.c
@@ -0,0 +1,426 @@
+
+
+#include "stm32f4xx.h"
+#include "board.h"
+#include "if_pwm.h"
+#include "math.h"
+
+
+// PE0 PWM 输出脚
+// PE0,PE1,PE2,PE4,都不是定时器输出脚
+// 只能使用普通方式
+// PB7==0时到达上升零点
+// tim2用于调速
+
+#define GPIO_Initer() {.GPIO_Mode=GPIO_Mode_OUT,\
+  .GPIO_Speed=GPIO_Speed_100MHz,\
+  .GPIO_OType=GPIO_OType_PP,\
+  .GPIO_PuPd=GPIO_PuPd_UP \
+}
+
+// 重装载值设为31us，引脚翻转一个周期是62us
+#define TIMER_Initer(){\
+	.TIM_Period = 31-1,\
+	.TIM_Prescaler= 84-1,\
+	.TIM_CounterMode=TIM_CounterMode_Up,\
+	.TIM_ClockDivision=TIM_CKD_DIV1,\
+}
+
+#define NVIC_Initer() {0}
+
+
+#define EXTI_Initer() {\
+  .EXTI_Mode=EXTI_Mode_Interrupt,\
+  .EXTI_Trigger=EXTI_Trigger_Falling,\
+  .EXTI_LineCmd=ENABLE,\
+}
+
+
+
+typedef struct{
+  char *name;
+  TIM_TypeDef *tim;
+  void (*tim_clock_fun)(uint32_t,FunctionalState);
+  uint32_t tim_rcc;
+  int irq_channel;
+
+  TIM_TypeDef *tim2;
+  void (*tim2_clock_fun)(uint32_t,FunctionalState);
+  uint32_t tim2_rcc;
+  int irq2_channel;
+  
+  void (*gpio_tx_clock_fun)(uint32_t,FunctionalState);
+  uint32_t gpio_tx_rcc;
+  GPIO_TypeDef *gpio_tx_base;
+  uint16_t gpio_tx_pin;
+  volatile uint32_t *bitmap_pin;
+
+  void (*gpio_dir_clock_fun)(uint32_t,FunctionalState);
+  uint32_t gpio_dir_rcc;
+  GPIO_TypeDef *gpio_dir_base;
+  uint16_t gpio_dir_pin;
+  volatile uint32_t *bitmap_pin_dir;
+
+  void (*gpio_zero_clock_fun)(uint32_t,FunctionalState);
+  uint32_t gpio_zero_rcc;
+  GPIO_TypeDef *gpio_zero_base;
+  uint16_t gpio_zero_pin;
+  volatile uint32_t *bitmap_pin_zero;
+  int zero_irq_channel;
+  uint8_t exti_src_port;
+}pwm_dtb;
+
+
+// 可以基于定时器2345
+static const pwm_dtb g_pwmdtb[]={
+  {
+    .name="pwm1",
+    .tim=TIM2,
+    .tim_clock_fun=RCC_APB1PeriphClockCmd,
+    .tim_rcc=RCC_APB1Periph_TIM2,
+    .irq_channel=TIM2_IRQn,
+
+    .tim2=TIM3,
+    .tim2_clock_fun=RCC_APB1PeriphClockCmd,
+    .tim2_rcc=RCC_APB1Periph_TIM3,
+    .irq2_channel=TIM3_IRQn,
+    
+    .gpio_tx_clock_fun=RCC_AHB1PeriphClockCmd,
+    .gpio_tx_rcc=RCC_AHB1Periph_GPIOE,
+    .gpio_tx_base=GPIOE,
+    .gpio_tx_pin=0,
+    .bitmap_pin=&PINOUT(E,0),
+
+    .gpio_dir_clock_fun=RCC_AHB1PeriphClockCmd,
+    .gpio_dir_rcc=RCC_AHB1Periph_GPIOE,
+    .gpio_dir_base=GPIOE,
+    .gpio_dir_pin=1,
+    .bitmap_pin_dir=&PINOUT(E,1),
+    
+    .gpio_zero_clock_fun=RCC_AHB1PeriphClockCmd,
+    .gpio_zero_rcc=RCC_AHB1Periph_GPIOB,
+    .gpio_zero_base=GPIOB,
+    .gpio_zero_pin=7,
+    .bitmap_pin_zero=&PININ(B,7),
+    .zero_irq_channel=EXTI9_5_IRQn,
+    .exti_src_port=EXTI_PortSourceGPIOB,
+  },
+};
+
+
+
+typedef struct{
+  int tick;
+  int step;
+  int fre;
+  int fre_max;
+  int fre_min;
+  int up_tick;
+}ctrl_fre;
+
+typedef struct{
+  const pwm_dtb *dtb;
+  int count_all;
+  int count_past;
+  int fre;
+  ctrl_fre cfre;
+  void (*end_irq)(void *t);
+  void *t;
+}self_data;
+
+
+static self_data g_self[LENGTH(g_pwmdtb)];
+
+
+def_find_fun(pwm_dtb,g_pwmdtb)
+
+
+
+static int init(pwm_def *p)
+{
+  param_check(p);
+  if(p->private_data) return 0;
+  GPIO_InitTypeDef init=GPIO_Initer();
+	TIM_TimeBaseInitTypeDef init2=TIMER_Initer();
+  NVIC_InitTypeDef init3=NVIC_Initer();
+  EXTI_InitTypeDef init4=EXTI_Initer();
+  int index;
+  const pwm_dtb *dtb=find(p->name,&index);
+  self_data *self=&g_self[index];
+  self->dtb=dtb;
+  self->cfre.step=320;
+  self->cfre.fre_min=1100;
+  p->private_data=self;
+  
+	dtb->tim_clock_fun(dtb->tim_rcc,ENABLE);
+	TIM_TimeBaseInit(dtb->tim,&init2);
+  TIM_ITConfig(dtb->tim,TIM_IT_Update,ENABLE);
+
+  init2.TIM_Period=1000-1;
+	dtb->tim2_clock_fun(dtb->tim2_rcc,ENABLE);
+	TIM_TimeBaseInit(dtb->tim2,&init2);
+  TIM_ITConfig(dtb->tim2,TIM_IT_Update,ENABLE);
+
+  dtb->gpio_tx_clock_fun(dtb->gpio_tx_rcc,ENABLE);
+	init.GPIO_Pin = 1<<dtb->gpio_tx_pin;	 
+	GPIO_Init(dtb->gpio_tx_base, &init);	
+  dtb->gpio_dir_clock_fun(dtb->gpio_dir_rcc,ENABLE);
+	init.GPIO_Pin = 1<<dtb->gpio_dir_pin;	 
+	GPIO_Init(dtb->gpio_dir_base, &init);	
+  dtb->gpio_zero_clock_fun(dtb->gpio_zero_rcc,ENABLE);
+	init.GPIO_Pin = 1<<dtb->gpio_zero_pin;	
+  init.GPIO_Mode=GPIO_Mode_IN;
+	GPIO_Init(dtb->gpio_zero_base, &init);	
+
+  init3.NVIC_IRQChannel = dtb->irq_channel;
+  init3.NVIC_IRQChannelPreemptionPriority=0;
+  init3.NVIC_IRQChannelSubPriority =0;
+  init3.NVIC_IRQChannelCmd = ENABLE;
+  NVIC_Init(&init3);
+  init3.NVIC_IRQChannel = dtb->irq2_channel;
+  init3.NVIC_IRQChannelPreemptionPriority=1;
+  init3.NVIC_IRQChannelSubPriority =1;
+  NVIC_Init(&init3);
+  
+  init4.EXTI_Line=1<<dtb->gpio_zero_pin;
+  EXTI_Init(&init4);
+  SYSCFG_EXTILineConfig(dtb->exti_src_port,dtb->gpio_zero_pin);
+  init3.NVIC_IRQChannel = dtb->zero_irq_channel;
+  init3.NVIC_IRQChannelPreemptionPriority=0;
+  init3.NVIC_IRQChannelSubPriority =0;
+  init3.NVIC_IRQChannelCmd = ENABLE;
+  NVIC_Init(&init3);
+  return 0;
+}
+
+
+static int deinit(pwm_def *p)
+{
+  param_check(p);
+  if(p->private_data==0) return 0;
+  NVIC_InitTypeDef init3=NVIC_Initer();
+  const pwm_dtb *dtb=find(p->name,0);
+  {
+    TIM_Cmd(dtb->tim, DISABLE);	
+    dtb->tim_clock_fun(dtb->tim_rcc,DISABLE);
+    dtb->gpio_tx_clock_fun(dtb->gpio_tx_rcc,DISABLE);
+    init3.NVIC_IRQChannelCmd = DISABLE;
+    NVIC_Init(&init3);
+    TIM_ITConfig(dtb->tim,TIM_IT_Update,DISABLE);
+    p->private_data=0;
+  }
+  return 0;
+}
+
+
+// step_count有方向，向下为正
+static int start(pwm_def *p,int step_count)
+{
+  param_check(p);
+  param_check(p->private_data);
+  self_data *self=p->private_data;
+  if(step_count==0) return 0;
+  if((*self->dtb->bitmap_pin_zero==0)&&(step_count<0))
+  {
+    // 到达零点后不能继续上升
+    if(self->end_irq)
+      self->end_irq(self->t);
+    return -1;
+  }
+  if(step_count>0)
+    *self->dtb->bitmap_pin_dir=0;
+  else{
+    step_count=-step_count;
+    *self->dtb->bitmap_pin_dir=1;
+  }
+  if(self->fre==0)
+  {
+    ctrl_fre *cfre=&self->cfre;
+    memset(cfre,0,sizeof(ctrl_fre));
+    int max_count=0;
+    cfre->tick=0;
+    cfre->step=320;
+    cfre->fre_max=16000;
+    cfre->fre_min=1100;
+    cfre->up_tick=0;
+    cfre->fre=cfre->fre_min;
+  }
+  irq_disable();
+  if(step_count>0)
+  {
+    self->count_all=step_count;
+  }else{
+    self->count_all=0;
+  }
+  self->count_past=0;
+  irq_enable();
+  TIM_Cmd(self->dtb->tim, ENABLE);	
+  TIM_Cmd(self->dtb->tim2, ENABLE);	
+  return 0;
+}
+
+static inline void self_stop__(self_data *self);
+
+static int stop(pwm_def *p)
+{
+  param_check(p);
+  param_check(p->private_data);
+  self_data *self=p->private_data;
+  self_stop__(self);
+  return 0;
+}
+
+
+
+static inline void self_set_fre(self_data *self,int fre)
+{
+  // 两个定时器溢出为一个翻转周期，这里重装载值要除2
+  TIM_SetAutoreload(self->dtb->tim,1000000/2/fre);
+  TIM_SetCounter(self->dtb->tim,0);
+}
+
+// 设置频率，最低8hz，最高16000hz
+// 如果设置fre为0，则自动运行
+static int set_fre(pwm_def *p,int fre)
+{
+  param_check(p);
+  param_check(p->private_data);
+  self_data *self=p->private_data;
+  if(fre==0)
+  {
+    self->fre=fre;
+    return 0;
+  }
+  if((fre<8)||(fre>16000)) return -1;
+  self->fre=fre;
+  self_set_fre(self,fre);
+  return 0;
+}
+
+
+// 设置中断回调
+static int set_irq_fun(pwm_def *p,void (*fun)(void *t),void *t)
+{
+  param_check(p);
+  param_check(p->private_data);
+  self_data *self=p->private_data;
+  irq_disable();
+  self->end_irq=fun;
+  self->t=t;
+  irq_enable();
+  return 0;
+}
+
+
+static inline void self_stop__(self_data *self)
+{
+  TIM_Cmd(self->dtb->tim, DISABLE);	
+  TIM_Cmd(self->dtb->tim2, DISABLE);	
+  if(self->end_irq)
+    self->end_irq(self->t);
+}
+
+
+static inline void self_irq(self_data *self)
+{
+	rt_interrupt_enter();
+  volatile uint32_t *pin=self->dtb->bitmap_pin;
+  if(TIM_GetFlagStatus(self->dtb->tim,TIM_FLAG_Update))
+  {
+    TIM_ClearFlag(self->dtb->tim,TIM_FLAG_Update);
+    *pin=!(*pin);
+    irq_disable();
+    self->count_past++;
+    irq_enable();
+    if(self->count_all>0&&(self->count_all<=self->count_past))
+    {
+      self_stop__(self);
+    }
+  }
+	rt_interrupt_leave();
+}
+
+
+static inline void calc_up(self_data *self)
+{
+  ctrl_fre *cfre=&self->cfre;
+  if(self->count_past<self->count_all/2)
+  {
+    if(cfre->fre<cfre->fre_max)
+      cfre->fre+=cfre->step;
+    else
+      cfre->up_tick++;
+  }else{
+    if(cfre->up_tick>0)
+      cfre->up_tick--;
+    else{
+      cfre->fre-=cfre->step;
+    }
+  }
+  // 防止速度减到0，永远不停止
+  if(cfre->fre<cfre->fre_min)
+    cfre->fre=cfre->fre_min;
+}
+
+
+static int calc_fre(self_data *self)
+{
+  ctrl_fre *cfre=&self->cfre;
+  int fre=0;
+  calc_up(self);
+  fre=cfre->fre;
+  // 会每1ms更新一次频率，因此频率必须大于1000
+  param_check(fre>1000);
+  cfre->tick++;
+  return fre;
+}
+static inline void self_irq2(self_data *self)
+{
+	rt_interrupt_enter();
+  volatile uint32_t *pin=self->dtb->bitmap_pin;
+  if(TIM_GetFlagStatus(self->dtb->tim2,TIM_FLAG_Update))
+  {
+    TIM_ClearFlag(self->dtb->tim2,TIM_FLAG_Update);
+    if(self->fre==0)
+      self_set_fre(self,calc_fre(self));
+  }
+	rt_interrupt_leave();
+}
+
+
+static inline void self_stop_irq(self_data *self)
+{
+	rt_interrupt_enter();
+  if(EXTI_GetFlagStatus(1<<self->dtb->gpio_zero_pin)){
+    irq_disable();
+    self->count_past=0;
+    self->count_all=0;
+    irq_enable();
+    self_stop__(self);
+    EXTI_ClearFlag(1<<self->dtb->gpio_zero_pin);
+  }
+	rt_interrupt_leave();
+}
+
+void TIM2_IRQHandler(void)
+{
+  self_data *self=&g_self[0];
+  self_irq(self);
+}
+void TIM3_IRQHandler(void)
+{
+  self_data *self=&g_self[0];
+  self_irq2(self);
+}
+
+
+void EXTI9_5_IRQHandler(void)
+{
+  self_data *self=&g_self[0];
+  self_stop_irq(self);
+}
+
+
+pwm_init_export(pwm1,init,deinit,start,stop,set_fre,set_irq_fun,0)
+
+