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[Krobot-commits] [SCM] krobot branch, master, updated. d67edc588cdf218373b4dfeab3453c77e2242a36
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From: Xavier L. <Ba...@us...> - 2011-03-16 15:13:20
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- Log -----------------------------------------------------------------
commit d67edc588cdf218373b4dfeab3453c77e2242a36
Author: Xavier Lagorce <Xav...@cr...>
Date: Wed Mar 16 16:01:52 2011 +0100
[Controller_Motor_STM32] Little changes in test firmware main function
* Blink LEDs at the end of initialization sequence to show we are alive
* More friendly speed test sequence for repeated testing
commit 85de23d27522edc5162dfbd3c75713163963cfec
Author: Xavier Lagorce <Xav...@cr...>
Date: Wed Mar 16 16:00:11 2011 +0100
[Controller_Motor_STM32] Refactored can_monitor to use Events instead of callbacks
commit 2cd2334d1be8b5d90e38c45c6f6250f9e41e9050
Author: Xavier Lagorce <Xav...@cr...>
Date: Wed Mar 16 15:40:11 2011 +0100
[Controller_Motor_STM32] Add Signal support to used kernel features
commit eb637d931a5f01f8ca74d54fd44a5a116f4505b2
Author: Xavier Lagorce <Xav...@cr...>
Date: Wed Mar 16 15:39:35 2011 +0100
[Controller_Motor_STM32] Added LEDs indicator on motor command saturation
commit 8f295e48a1048325ac191b996632bf73301a0363
Author: Xavier Lagorce <Xav...@cr...>
Date: Sat Mar 12 16:31:12 2011 +0100
[Controller_Motor_STM32] Added a simple CAN monitor for motor identification
-----------------------------------------------------------------------
Changes:
diff --git a/elec/boards/Controller_Motor_STM32/Firmware/bertos/cpu/cortex-m3/drv/can_stm32.c b/elec/boards/Controller_Motor_STM32/Firmware/bertos/cpu/cortex-m3/drv/can_stm32.c
index b92fb9f..f47e99a 100644
--- a/elec/boards/Controller_Motor_STM32/Firmware/bertos/cpu/cortex-m3/drv/can_stm32.c
+++ b/elec/boards/Controller_Motor_STM32/Firmware/bertos/cpu/cortex-m3/drv/can_stm32.c
@@ -137,14 +137,13 @@ void can_hw_init(void)
can_drv_init(CAND1);
CAND1->can = CAN1;
- // Set the pins to the right mode for CAN.
- stm32_gpioRemap(GPIO_REMAP1_CAN1, GPIO_REMAP_ENABLE);
- stm32_gpioPinConfig((struct stm32_gpio *)GPIOB_BASE, BV(8), GPIO_MODE_IPU, GPIO_SPEED_50MHZ);
- stm32_gpioPinConfig((struct stm32_gpio *)GPIOB_BASE, BV(9), GPIO_MODE_AF_PP, GPIO_SPEED_50MHZ);
-
// Enable the clocks
RCC->APB2ENR |= RCC_APB2_AFIO;
- RCC->APB2ENR |= RCC_APB2_GPIOB;
+ RCC->APB2ENR |= RCC_APB2_GPIOA;
+
+ // Set the pins to the right mode for CAN.
+ stm32_gpioPinConfig((struct stm32_gpio *)GPIOA_BASE, BV(11), GPIO_MODE_IN_FLOATING, GPIO_SPEED_50MHZ);
+ stm32_gpioPinConfig((struct stm32_gpio *)GPIOA_BASE, BV(12), GPIO_MODE_AF_PP, GPIO_SPEED_50MHZ);
}
void can_hw_start(can_driver *drv) {
diff --git a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/can_monitor.c b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/can_monitor.c
new file mode 100644
index 0000000..ccbd670
--- /dev/null
+++ b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/can_monitor.c
@@ -0,0 +1,98 @@
+/*
+ * can_monitor.c
+ * -------------
+ * Copyright : (c) 2011, Xavier Lagorce <Xav...@cr...>
+ * Licence : BSD3
+ *
+ * This file is a part of [kro]bot.
+ */
+
+#include "can_monitor.h"
+#include "hw/hw_led.h"
+
+typedef struct {
+ uint16_t encoder1_pos __attribute__((__packed__));
+ uint16_t encoder2_pos __attribute__((__packed__));
+ uint8_t encoder1_dir;
+ uint8_t encoder2_dir;
+ uint16_t padding __attribute__((__packed__));
+} encoder_msg_t;
+
+typedef union {
+ encoder_msg_t data_f;
+ uint32_t data32[2];
+} encoder_can_msg_t;
+
+// Process for communication
+static void NORETURN canMonitor_process(void);
+
+void canMonitorInit(void) {
+ can_config cfg;
+
+ // Configure CAN driver
+ cfg.mcr = CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP;
+ cfg.btr = CAN_BTR_SJW(0) | CAN_BTR_TS1(8) | CAN_BTR_TS2(1) | CAN_BTR_BRP(6);// | CAN_BTR_LBKM; // Add LBKM for loopback mode
+ cfg.n_filters = 0;
+ cfg.filters = NULL;
+
+ // Initialize CAN driver
+ can_init();
+ can_start(CAND1, &cfg);
+
+ // Start communication process
+ proc_new(canMonitor_process, NULL, KERN_MINSTACKSIZE * 8, NULL);
+}
+
+static void NORETURN canMonitor_process(void) {
+ encoder_can_msg_t msg;
+ can_tx_frame txm;
+ Timer timer_can;
+ uint8_t ind = 0;
+
+ // Initialize constant parameters of TX frame
+ txm.dlc = 6;
+ txm.rtr = 0;
+ txm.ide = 1;
+ txm.sid = 0;
+
+ timer_setDelay(&timer_can, ms_to_ticks(1000));
+ timer_setEvent(&timer_can);
+ while(1) {
+
+ timer_add(&timer_can);
+
+ // Sending ENCODER1 and ENCODER2 data
+ msg.data_f.encoder1_pos = getEncoderPosition(ENCODER1);
+ msg.data_f.encoder2_pos = getEncoderPosition(ENCODER2);
+ msg.data_f.encoder1_dir = getEncoderDirection(ENCODER1);
+ msg.data_f.encoder2_dir = getEncoderDirection(ENCODER2);
+
+ txm.data32[0] = msg.data32[0];
+ txm.data32[1] = msg.data32[1];
+ txm.eid = 100;
+ can_transmit(CAND1, &txm, ms_to_ticks(10));
+
+ // Sending ENCODER3 and ENCODER4 data
+ msg.data_f.encoder1_pos = getEncoderPosition(ENCODER3);
+ msg.data_f.encoder2_pos = getEncoderPosition(ENCODER4);
+ msg.data_f.encoder1_dir = getEncoderDirection(ENCODER3);
+ msg.data_f.encoder2_dir = getEncoderDirection(ENCODER4);
+
+ txm.data32[0] = msg.data32[0];
+ txm.data32[1] = msg.data32[1];
+ txm.eid = 101;
+ can_transmit(CAND1, &txm, ms_to_ticks(10));
+
+ // Wait for the next transmission timer
+ timer_waitEvent(&timer_can);
+ // blink !
+ if (ind == 0) {
+ LED2_OFF();
+ ind = 1 |
