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Merge branch 'master' of https://github.com/olonho/carkot

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This commit is contained in:
e5l
2016-07-08 17:10:15 +03:00
parent 5ba772fff9 4cb33ba88f
commit beed98a1e5
6 changed files with 198 additions and 89 deletions
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car_fmw/src/car_engine.h
+36 -10
View File
@@ -3,21 +3,25 @@
#include "stm32f4_discovery.h"
#include "stm32f4xx_conf.h"
//#define CAR_ENGINE_ENABLE
#define CAR_ENGINE_ENABLE
#define CAR_ENGINE_GPIO_PORT_CLOCK RCC_AHB1Periph_GPIOB
#define CAR_ENGINE_GPIO_PORT GPIOB
#define CAR_ENGINE_ENABLE_PIN GPIO_Pin_4
#define CAR_ENGINE_DIRECTION_FORWARD_PIN GPIO_Pin_5
#define CAR_ENGINE_DIRECTION_BACKWARD_PIN GPIO_Pin_6
#define CAR_ENGINE_ENABLE_PIN GPIO_Pin_3
#define CAR_ENGINE_LWHEEL_FWD_PIN GPIO_Pin_4
#define CAR_ENGINE_LWHEEL_BKWD_PIN GPIO_Pin_5
#define CAR_ENGINE_RWHEEL_FWD_PIN GPIO_Pin_6
#define CAR_ENGINE_RWHEEL_BKWD_PIN GPIO_Pin_7
inline void engine_init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_AHB1PeriphClockCmd(CAR_ENGINE_GPIO_PORT_CLOCK, ENABLE);
GPIO_InitStructure.GPIO_Pin = CAR_ENGINE_ENABLE_PIN
| CAR_ENGINE_DIRECTION_FORWARD_PIN
| CAR_ENGINE_DIRECTION_BACKWARD_PIN;
| CAR_ENGINE_LWHEEL_FWD_PIN
| CAR_ENGINE_LWHEEL_BKWD_PIN
| CAR_ENGINE_RWHEEL_FWD_PIN
| CAR_ENGINE_RWHEEL_BKWD_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
@@ -28,9 +32,11 @@ inline void engine_init(void)
inline void engine_stop(void)
{
GPIO_ResetBits(CAR_ENGINE_GPIO_PORT, 0
| CAR_ENGINE_DIRECTION_BACKWARD_PIN
| CAR_ENGINE_LWHEEL_BKWD_PIN
| CAR_ENGINE_ENABLE_PIN
| CAR_ENGINE_DIRECTION_FORWARD_PIN);
| CAR_ENGINE_LWHEEL_FWD_PIN
| CAR_ENGINE_RWHEEL_FWD_PIN
| CAR_ENGINE_RWHEEL_BKWD_PIN);
}
#ifdef CAR_ENGINE_ENABLE
@@ -38,16 +44,36 @@ inline void engine_forward(void)
{
engine_stop();
GPIO_SetBits(CAR_ENGINE_GPIO_PORT, CAR_ENGINE_ENABLE_PIN);
GPIO_SetBits(CAR_ENGINE_GPIO_PORT, CAR_ENGINE_DIRECTION_FORWARD_PIN);
GPIO_SetBits(CAR_ENGINE_GPIO_PORT, CAR_ENGINE_LWHEEL_FWD_PIN);
GPIO_SetBits(CAR_ENGINE_GPIO_PORT, CAR_ENGINE_RWHEEL_FWD_PIN);
}
inline void engine_backward(void)
{
engine_stop();
GPIO_SetBits(CAR_ENGINE_GPIO_PORT, CAR_ENGINE_ENABLE_PIN);
GPIO_SetBits(CAR_ENGINE_GPIO_PORT, CAR_ENGINE_DIRECTION_BACKWARD_PIN);
GPIO_SetBits(CAR_ENGINE_GPIO_PORT, CAR_ENGINE_LWHEEL_BKWD_PIN);
GPIO_SetBits(CAR_ENGINE_GPIO_PORT, CAR_ENGINE_RWHEEL_BKWD_PIN);
}
inline void engine_turn_left(void)
{
engine_stop();
GPIO_SetBits(CAR_ENGINE_GPIO_PORT, CAR_ENGINE_ENABLE_PIN);
GPIO_SetBits(CAR_ENGINE_GPIO_PORT, CAR_ENGINE_LWHEEL_BKWD_PIN);
GPIO_SetBits(CAR_ENGINE_GPIO_PORT, CAR_ENGINE_RWHEEL_FWD_PIN);
}
inline void engine_turn_right(void)
{
engine_stop();
GPIO_SetBits(CAR_ENGINE_GPIO_PORT, CAR_ENGINE_ENABLE_PIN);
GPIO_SetBits(CAR_ENGINE_GPIO_PORT, CAR_ENGINE_LWHEEL_FWD_PIN);
GPIO_SetBits(CAR_ENGINE_GPIO_PORT, CAR_ENGINE_RWHEEL_BKWD_PIN);
}
#else
#define engine_forward(...);
#define engine_backward(...);
#define engine_turn_right(...);
#define engine_turn_left(...);
#endif // CAR_ENGINE_ENABLE
car_fmw/src/car_leds.h
+10 -37
View File
@@ -5,54 +5,27 @@
#include "stm32f4_discovery.h"
#include "stm32f4xx_conf.h"
#define CAR_LED_GPIO_PORT_CLOCK RCC_AHB1Periph_GPIOD
#define CAR_LED_GPIO_PORT GPIOD
#define CAR_LED_PIN_GREEN GPIO_Pin_12
#define CAR_LED_PIN_ORANGE GPIO_Pin_13
#define CAR_LED_PIN_RED GPIO_Pin_14
#define CAR_LED_PIN_BLUE GPIO_Pin_15
inline void leds_init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_AHB1PeriphClockCmd(CAR_LED_GPIO_PORT_CLOCK, ENABLE);
GPIO_InitStructure.GPIO_Pin = CAR_LED_PIN_GREEN
| CAR_LED_PIN_ORANGE
| CAR_LED_PIN_RED
| CAR_LED_PIN_BLUE;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(CAR_LED_GPIO_PORT, &GPIO_InitStructure);
STM_EVAL_LEDInit(LED4);
STM_EVAL_LEDInit(LED3);
STM_EVAL_LEDInit(LED5);
STM_EVAL_LEDInit(LED6);
}
typedef enum
{
LED_GREEN,
LED_ORANGE,
LED_RED,
LED_BLUE
LED_GREEN = LED4,
LED_ORANGE = LED3,
LED_RED = LED5,
LED_BLUE = LED6
} led_t;
inline void led_set(led_t led, bool on)
{
int led_pin = CAR_LED_PIN_GREEN;
switch(led) {
case LED_ORANGE:
led_pin = CAR_LED_PIN_ORANGE;
break;
case LED_RED:
led_pin = CAR_LED_PIN_RED;
break;
case LED_BLUE:
led_pin = CAR_LED_PIN_BLUE;
break;
}
if (on)
GPIO_SetBits(CAR_LED_GPIO_PORT, led_pin);
STM_EVAL_LEDOn(led);
else
GPIO_ResetBits(CAR_LED_GPIO_PORT, led_pin);
STM_EVAL_LEDOff(led);
}
car_fmw/src/car_user_btn.h
+26
View File
@@ -0,0 +1,26 @@
#pragma once
#include <stdbool.h>
#include "stm32f4_discovery.h"
typedef void (*user_btn_handler_t)(void);
static user_btn_handler_t user_btn_handler;
// @handler can be NULL
inline void user_btn_init(user_btn_handler_t handler)
{
user_btn_handler = handler;
STM_EVAL_PBInit(BUTTON_USER, BUTTON_MODE_EXTI);
}
inline bool user_btn_is_pushed(void)
{
return STM_EVAL_PBGetState(BUTTON_USER) == Bit_SET;
}
void EXTI0_IRQHandler(void)
{
if (user_btn_handler)
user_btn_handler();
EXTI_ClearITPendingBit(USER_BUTTON_EXTI_LINE);
}
car_fmw/src/delay.h
-16
View File
@@ -1,16 +0,0 @@
#pragma once
#include "stm32f4_discovery.h"
#include "stm32f4xx_conf.h"
/**
* @brief Delay Function.
* @param nCount:specifies the Delay time length.
* @retval None
*/
inline void Delay(__IO uint32_t nCount)
{
while(nCount--)
{
}
}
car_fmw/src/main.c
+120 -26
View File
@@ -1,10 +1,123 @@
#include <stddef.h>
#include "car_leds.h"
#include "car_engine.h"
#include "delay.h"
#include "car_user_btn.h"
#include "wait.h"
const uint32_t PROGRAM_DURATION = 0x3FFFFF;
static void program_forward(void)
{
engine_forward();
wait(PROGRAM_DURATION);
}
static void program_backward(void)
{
engine_backward();
wait(PROGRAM_DURATION);
}
static void program_rotation_left(void)
{
engine_turn_left();
wait(PROGRAM_DURATION);
}
static void program_rotation_right(void)
{
engine_turn_right();
wait(PROGRAM_DURATION);
}
static void program_arbitraty_route(void)
{
const int ROUTE_PIECE_DURATION = 6 * PROGRAM_DURATION;
engine_forward();
wait(ROUTE_PIECE_DURATION);
engine_backward();
wait(ROUTE_PIECE_DURATION);
engine_forward();
wait(ROUTE_PIECE_DURATION / 2);
engine_turn_right();
wait(ROUTE_PIECE_DURATION);
engine_forward();
wait(ROUTE_PIECE_DURATION / 2);
engine_backward();
wait(ROUTE_PIECE_DURATION / 2);
engine_turn_left();
wait(ROUTE_PIECE_DURATION);
engine_backward();
wait(ROUTE_PIECE_DURATION / 2);
engine_stop();
wait(ROUTE_PIECE_DURATION / 2);
}
typedef void (*car_program_code_t)(void);
typedef struct car_program_desc {
car_program_code_t code;
struct {
bool green : 1;
bool orange : 1;
bool red : 1;
bool blue : 1;
} leds;
} car_program_desc_t;
static car_program_desc_t const PROGRAMS[] = {
{ .code = program_forward, .leds = { .green = 1 } },
{ .code = program_backward, .leds = { .orange = 1 } },
{ .code = program_rotation_left, .leds = { .red = 1 } },
{ .code = program_rotation_right, .leds = { .blue = 1 } },
{ .code = program_arbitraty_route, .leds = { .green = 1, .orange = 1 } }
};
static const size_t PROGRAMS_CNT = sizeof(PROGRAMS) / sizeof(PROGRAMS[0]);
static size_t cur_program_ix;
static __IO bool next_program_pending = false;
static void set_cur_program(size_t program_ix)
{
cur_program_ix = program_ix;
led_set(LED_GREEN, false);
led_set(LED_ORANGE, false);
led_set(LED_RED, false);
led_set(LED_BLUE, false);
const car_program_desc_t *cpd = &PROGRAMS[cur_program_ix];
if (cpd->leds.green)
led_set(LED_GREEN, true);
if (cpd->leds.orange)
led_set(LED_ORANGE, true);
if (cpd->leds.red)
led_set(LED_RED, true);
if (cpd->leds.blue)
led_set(LED_BLUE, true);
}
void proc_next_program_pending(void)
{
if (!next_program_pending)
return;
next_program_pending = false;
set_cur_program((cur_program_ix + 1) % PROGRAMS_CNT);
}
void set_next_program_pending(void)
{
next_program_pending = true;
}
int main(void)
{
/*!< At this stage the microcontroller clock setting is already configured,
/*!< At this stage the microcontroller clock setting is already configured,
this is done through SystemInit() function which is called from startup
file (startup_stm32f4xx.s) before to branch to application main.
To reconfigure the default setting of SystemInit() function, refer to
@@ -13,30 +126,11 @@ int main(void)
leds_init();
engine_init();
user_btn_init(set_next_program_pending);
set_cur_program(0);
const int DELAY = 0x3FFFFF;
while (1)
{
led_set(LED_GREEN, true);
Delay(DELAY);
engine_forward();
led_set(LED_ORANGE, true);
Delay(DELAY);
engine_stop();
led_set(LED_RED, true);
Delay(DELAY);
engine_backward();
led_set(LED_BLUE, true);
Delay(DELAY);
engine_stop();
led_set(LED_GREEN, false);
led_set(LED_ORANGE, false);
led_set(LED_RED, false);
led_set(LED_BLUE, false);
Delay(DELAY);
while(1) {
proc_next_program_pending();
PROGRAMS[cur_program_ix].code();
}
}
car_fmw/src/wait.h
+6
View File
@@ -0,0 +1,6 @@
#pragma once
inline void wait(uint32_t loops)
{
while(--loops);
}