From 865a74dd0f02b46c6cc37a5c33314baaf90fa6e2 Mon Sep 17 00:00:00 2001 From: Vegard Storheil Eriksen Date: Sun, 3 Jul 2011 17:11:47 +0200 Subject: Moved peripheral classes to seperate files. --- i2c.cpp | 74 ++++++++++++++++++++++ i2c.h | 16 +++++ main.cpp | 203 +++---------------------------------------------------------- ppmsum.cpp | 53 ++++++++++++++++ ppmsum.h | 26 ++++++++ usart.h | 24 ++++++++ xbee.h | 40 ++++++++++++ 7 files changed, 242 insertions(+), 194 deletions(-) create mode 100644 i2c.cpp create mode 100644 i2c.h create mode 100644 ppmsum.cpp create mode 100644 ppmsum.h create mode 100644 usart.h create mode 100644 xbee.h diff --git a/i2c.cpp b/i2c.cpp new file mode 100644 index 0000000..90c0ce1 --- /dev/null +++ b/i2c.cpp @@ -0,0 +1,74 @@ +#include "i2c.h" + +#include "stm32.h" + +void I2C::enable() { + RCC.enable(RCC.I2C2); + asm volatile("nop"); + + I2C2.CR1 = 0x8000; + I2C2.CR1 = 0; + + I2C2.CR2 = 36; + I2C2.TRISE = 37; + I2C2.CCR = 180; + I2C2.CR1 = 1; +} + +void I2C::write_reg(uint8_t addr, uint8_t reg, uint8_t data) { + I2C2.CR1 |= 0x100; + while(!(I2C2.SR1 & 0x01)); + + I2C2.DR = (addr << 1) | 0; + while (!(I2C2.SR1 & 0x02)); + I2C2.SR2; + + I2C2.DR = reg; + while (!(I2C2.SR1 & 0x80)); + + I2C2.DR = data; + while (!(I2C2.SR1 & 0x04)); + + I2C2.CR1 |= 0x200; +} + +void I2C::read_reg(uint8_t addr, uint8_t reg, uint8_t len, uint8_t* buf) { + I2C2.CR1 |= 0x100; + while(!(I2C2.SR1 & 0x01)); + + I2C2.DR = (addr << 1) | 0; + while (!(I2C2.SR1 & 0x02)); + I2C2.SR2; + + I2C2.DR = reg; + while (!(I2C2.SR1 & 0x80)); + + I2C2.CR1 |= 0x100; + while(!(I2C2.SR1 & 0x01)); + + I2C2.DR = (addr << 1) | 1; + while (!(I2C2.SR1 & 0x02)); + I2C2.SR2; + + I2C2.CR1 |= 0x400; // Set ACK. + + while(len) { + if(len == 3) { + while (!(I2C2.SR1 & 0x04)); // Wait for BTF + + I2C2.CR1 &= ~0x400; // Clear ACK. + *buf++ = I2C2.DR; + len--; + + I2C2.CR1 |= 0x200; // Set STOP. + *buf++ = I2C2.DR; + len--; + + } else { + while (!(I2C2.SR1 & 0x40)); // Wait for RXNE + + *buf++ = I2C2.DR; + len--; + } + } +} diff --git a/i2c.h b/i2c.h new file mode 100644 index 0000000..0681160 --- /dev/null +++ b/i2c.h @@ -0,0 +1,16 @@ +#ifndef I2C_H +#define I2C_H + +#include + +class I2C { + public: + void enable(); + + void write_reg(uint8_t addr, uint8_t reg, uint8_t data); + void read_reg(uint8_t addr, uint8_t reg, uint8_t len, uint8_t* buf); +}; + + + +#endif diff --git a/main.cpp b/main.cpp index 7af1122..440cad4 100644 --- a/main.cpp +++ b/main.cpp @@ -1,180 +1,10 @@ #include "stm32.h" #include "interrupt.h" -volatile unsigned int cnt; - -void i2c_write_reg(uint8_t addr, uint8_t reg, uint8_t data) { - I2C2.CR1 |= 0x100; - while(!(I2C2.SR1 & 0x01)); - - I2C2.DR = (addr << 1) | 0; - while (!(I2C2.SR1 & 0x02)); - I2C2.SR2; - - I2C2.DR = reg; - while (!(I2C2.SR1 & 0x80)); - - I2C2.DR = data; - while (!(I2C2.SR1 & 0x04)); - - I2C2.CR1 |= 0x200; -} - -void i2c_read_reg(uint8_t addr, uint8_t reg, uint8_t len, uint8_t* buf) { - I2C2.CR1 |= 0x100; - while(!(I2C2.SR1 & 0x01)); - - I2C2.DR = (addr << 1) | 0; - while (!(I2C2.SR1 & 0x02)); - I2C2.SR2; - - I2C2.DR = reg; - while (!(I2C2.SR1 & 0x80)); - - I2C2.CR1 |= 0x100; - while(!(I2C2.SR1 & 0x01)); - - I2C2.DR = (addr << 1) | 1; - while (!(I2C2.SR1 & 0x02)); - I2C2.SR2; - - I2C2.CR1 |= 0x400; // Set ACK. - - while(len) { - if(len == 3) { - while (!(I2C2.SR1 & 0x04)); // Wait for BTF - - I2C2.CR1 &= ~0x400; // Clear ACK. - *buf++ = I2C2.DR; - len--; - - I2C2.CR1 |= 0x200; // Set STOP. - *buf++ = I2C2.DR; - len--; - - } else { - while (!(I2C2.SR1 & 0x40)); // Wait for RXNE - - *buf++ = I2C2.DR; - len--; - } - } -} +#include "ppmsum.h" +#include "i2c.h" -template<> -void interrupt() { - USART1.DR; - GPIOA.ODR ^= 1 << 5; -} - -void usart_send(uint8_t data) { - while(!(USART1.SR & 0x80)); // Wait for TXE. - - USART1.DR = data; -} - -void xbee_send(int len, const uint8_t* buf) { - // Start and length. - usart_send(0x7e); - usart_send(((len + 14) >> 8) & 0xff); - usart_send((len + 14) & 0xff); - - // Frame type and ID. - usart_send(0x10); - usart_send(0x01); - - // Destination address. - usart_send(0x00); - usart_send(0x13); - usart_send(0xa2); - usart_send(0x00); - usart_send(0x40); - usart_send(0x6f); - usart_send(0x19); - usart_send(0xf1); - - usart_send(0x00); - usart_send(0x00); - usart_send(0x00); - usart_send(0x00); - - uint8_t chsum = 0x80; - - // Payload - for(int i = 0; i < len; i++) { - usart_send(buf[i]); - chsum -= buf[i]; - } - - usart_send(chsum); -} - -class PPMSum { - friend void interrupt(); - - private: - static PPMSum* self; - - uint8_t index; - uint16_t channels[16]; - - void irq() { - int16_t sr = TIM4.SR; - TIM4.SR = 0; - - if(sr & 0x06) { - GPIOA.ODR = 1 << 5; - } else { - GPIOA.ODR = 0; - } - - - if(sr & 0x01) { - // Timeout. - - // TODO: Indicate failsafe. - - } else if(sr & 0x02) { - // Period. - - if(TIM4.CCR1 > 5000) { - index = 0; - } else { - index++; - } - - } else if(sr & 0x04) { - // Pulsewidth. - - channels[index] = TIM4.CCR2; - } - } - - public: - PPMSum() { - self = this; - } - - void start() { - RCC.enable(RCC.TIM4); - TIM4.PSC = 36; - TIM4.CCMR1 = 0x0201; - TIM4.SMCR = 0x54; - TIM4.CCER = 0x31; - TIM4.DIER = 0x07; - - Interrupt::enable(Interrupt::TIM4); - - TIM4.CR1 = 0x05; - } -}; - -PPMSum* PPMSum::self = 0; - -template<> -void interrupt() { - PPMSum::self->irq(); -} +volatile unsigned int cnt; int main() { RCC.enable(RCC.AFIO); @@ -188,33 +18,18 @@ int main() { GPIOB.CRH = 0x4444ff44; cnt = 0; - while(cnt++ < (1 << 20)); - - // 100 kHz. - RCC.enable(RCC.I2C2); - while(cnt++ < (1 << 20)); - I2C2.CR1 = 0x8000; - I2C2.CR1 = 0; + I2C i2c; - I2C2.CR2 = 36; - I2C2.TRISE = 37; - I2C2.CCR = 180; - I2C2.CR1 = 1; + i2c.enable(); - i2c_write_reg(0x68, 0x3e, 0x03); - i2c_write_reg(0x68, 0x16, 0x18 | 0x02); + i2c.write_reg(0x68, 0x3e, 0x03); + i2c.write_reg(0x68, 0x16, 0x18 | 0x02); uint8_t buf[6]; - RCC.enable(RCC.USART1); - USART1.BRR = 7500; // 9600 baud - USART1.CR1 = 0x202c; - - Interrupt::enable(Interrupt::USART1); - PPMSum ppmsum; - ppmsum.start(); + ppmsum.enable(); while(1) { cnt++; @@ -225,7 +40,7 @@ int main() { } if(!(cnt & ((1 << 20) - 1))) { - i2c_read_reg(0x68, 0x1d, 6, buf); + i2c.read_reg(0x68, 0x1d, 6, buf); //xbee_send(6, buf); } } diff --git a/ppmsum.cpp b/ppmsum.cpp new file mode 100644 index 0000000..7b77036 --- /dev/null +++ b/ppmsum.cpp @@ -0,0 +1,53 @@ +#include "ppmsum.h" + +PPMSum* PPMSum::self = 0; + +template<> +void interrupt() { + PPMSum::self->irq(); +} + +void PPMSum::irq() { + int16_t sr = TIM4.SR; + TIM4.SR = 0; + + if(sr & 0x06) { + GPIOA.ODR = 1 << 5; + } else { + GPIOA.ODR = 0; + } + + + if(sr & 0x01) { + // Timeout. + + // TODO: Indicate failsafe. + + } else if(sr & 0x02) { + // Period. + + if(TIM4.CCR1 > 5000) { + index = 0; + } else { + index++; + } + + } else if(sr & 0x04) { + // Pulsewidth. + + channels[index] = TIM4.CCR2; + } +} + +void PPMSum::enable() { + RCC.enable(RCC.TIM4); + TIM4.PSC = 36; + TIM4.CCMR1 = 0x0201; + TIM4.SMCR = 0x54; + TIM4.CCER = 0x31; + TIM4.DIER = 0x07; + + Interrupt::enable(Interrupt::TIM4); + + TIM4.CR1 = 0x05; +} diff --git a/ppmsum.h b/ppmsum.h new file mode 100644 index 0000000..3c4ce79 --- /dev/null +++ b/ppmsum.h @@ -0,0 +1,26 @@ +#ifndef PPMSUM_H +#define PPMSUM_H + +#include +#include "interrupt.h" + +class PPMSum { + friend void interrupt(); + + private: + static PPMSum* self; + + uint8_t index; + uint16_t channels[16]; + + void irq(); + + public: + PPMSum() { + self = this; + } + + void enable(); +}; + +#endif diff --git a/usart.h b/usart.h new file mode 100644 index 0000000..6c145c6 --- /dev/null +++ b/usart.h @@ -0,0 +1,24 @@ +#ifndef USART_H +#define USART_H + +template<> +void interrupt() { + USART1.DR; + GPIOA.ODR ^= 1 << 5; +} + +void usart_enable() { + RCC.enable(RCC.USART1); + USART1.BRR = 7500; // 9600 baud + USART1.CR1 = 0x202c; + + Interrupt::enable(Interrupt::USART1); +} + +void usart_send(uint8_t data) { + while(!(USART1.SR & 0x80)); // Wait for TXE. + + USART1.DR = data; +} + +#endif diff --git a/xbee.h b/xbee.h new file mode 100644 index 0000000..2b577b2 --- /dev/null +++ b/xbee.h @@ -0,0 +1,40 @@ +#ifndef XBEE_H +#define XBEE_H + +void xbee_send(int len, const uint8_t* buf) { + // Start and length. + usart_send(0x7e); + usart_send(((len + 14) >> 8) & 0xff); + usart_send((len + 14) & 0xff); + + // Frame type and ID. + usart_send(0x10); + usart_send(0x01); + + // Destination address. + usart_send(0x00); + usart_send(0x13); + usart_send(0xa2); + usart_send(0x00); + usart_send(0x40); + usart_send(0x6f); + usart_send(0x19); + usart_send(0xf1); + + usart_send(0x00); + usart_send(0x00); + usart_send(0x00); + usart_send(0x00); + + uint8_t chsum = 0x80; + + // Payload + for(int i = 0; i < len; i++) { + usart_send(buf[i]); + chsum -= buf[i]; + } + + usart_send(chsum); +} + +#endif -- cgit v1.2.3