From d6c747ec1c5c27ba0940517346da75bc4945dc9e Mon Sep 17 00:00:00 2001 From: Vegard Storheil Eriksen Date: Sun, 28 Aug 2011 01:23:06 +0200 Subject: Adapted code to changes on new controller board. --- i2c.cpp | 74 ++++++++++++++++++++++++++++++------------------------------- main.cpp | 27 +++++++++++----------- openocd.cfg | 2 +- ppmsum.cpp | 36 +++++++++++++++++------------- ppmsum.h | 3 ++- 5 files changed, 75 insertions(+), 67 deletions(-) diff --git a/i2c.cpp b/i2c.cpp index 90c0ce1..77eb67a 100644 --- a/i2c.cpp +++ b/i2c.cpp @@ -3,71 +3,71 @@ #include "stm32.h" void I2C::enable() { - RCC.enable(RCC.I2C2); + RCC.enable(RCC.I2C1); asm volatile("nop"); - I2C2.CR1 = 0x8000; - I2C2.CR1 = 0; + I2C1.CR1 = 0x8000; + I2C1.CR1 = 0; - I2C2.CR2 = 36; - I2C2.TRISE = 37; - I2C2.CCR = 180; - I2C2.CR1 = 1; + I2C1.CR2 = 36; + I2C1.TRISE = 37; + I2C1.CCR = 180; + I2C1.CR1 = 1; } void I2C::write_reg(uint8_t addr, uint8_t reg, uint8_t data) { - I2C2.CR1 |= 0x100; - while(!(I2C2.SR1 & 0x01)); + I2C1.CR1 |= 0x100; + while(!(I2C1.SR1 & 0x01)); - I2C2.DR = (addr << 1) | 0; - while (!(I2C2.SR1 & 0x02)); - I2C2.SR2; + I2C1.DR = (addr << 1) | 0; + while (!(I2C1.SR1 & 0x02)); + I2C1.SR2; - I2C2.DR = reg; - while (!(I2C2.SR1 & 0x80)); + I2C1.DR = reg; + while (!(I2C1.SR1 & 0x80)); - I2C2.DR = data; - while (!(I2C2.SR1 & 0x04)); + I2C1.DR = data; + while (!(I2C1.SR1 & 0x04)); - I2C2.CR1 |= 0x200; + I2C1.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)); + I2C1.CR1 |= 0x100; + while(!(I2C1.SR1 & 0x01)); - I2C2.DR = (addr << 1) | 0; - while (!(I2C2.SR1 & 0x02)); - I2C2.SR2; + I2C1.DR = (addr << 1) | 0; + while (!(I2C1.SR1 & 0x02)); + I2C1.SR2; - I2C2.DR = reg; - while (!(I2C2.SR1 & 0x80)); + I2C1.DR = reg; + while (!(I2C1.SR1 & 0x80)); - I2C2.CR1 |= 0x100; - while(!(I2C2.SR1 & 0x01)); + I2C1.CR1 |= 0x100; + while(!(I2C1.SR1 & 0x01)); - I2C2.DR = (addr << 1) | 1; - while (!(I2C2.SR1 & 0x02)); - I2C2.SR2; + I2C1.DR = (addr << 1) | 1; + while (!(I2C1.SR1 & 0x02)); + I2C1.SR2; - I2C2.CR1 |= 0x400; // Set ACK. + I2C1.CR1 |= 0x400; // Set ACK. while(len) { if(len == 3) { - while (!(I2C2.SR1 & 0x04)); // Wait for BTF + while (!(I2C1.SR1 & 0x04)); // Wait for BTF - I2C2.CR1 &= ~0x400; // Clear ACK. - *buf++ = I2C2.DR; + I2C1.CR1 &= ~0x400; // Clear ACK. + *buf++ = I2C1.DR; len--; - I2C2.CR1 |= 0x200; // Set STOP. - *buf++ = I2C2.DR; + I2C1.CR1 |= 0x200; // Set STOP. + *buf++ = I2C1.DR; len--; } else { - while (!(I2C2.SR1 & 0x40)); // Wait for RXNE + while (!(I2C1.SR1 & 0x40)); // Wait for RXNE - *buf++ = I2C2.DR; + *buf++ = I2C1.DR; len--; } } diff --git a/main.cpp b/main.cpp index 72c0389..d3c14b3 100644 --- a/main.cpp +++ b/main.cpp @@ -57,11 +57,12 @@ int main() { RCC.enable(RCC.IOPA); RCC.enable(RCC.IOPB); - GPIOA.CRL = 0x4434bbbb; + GPIOA.CRL = 0x4444bbbb; GPIOA.CRH = 0x444444b4; - GPIOA.ODR = 1 << 5; - GPIOB.CRH = 0x4444ff44; + GPIOB.CRL = 0xff444434; + GPIOB.CRH = 0x44444444; + GPIOB.ODR = 1 << 1; I2C i2c; i2c.enable(); @@ -81,9 +82,9 @@ int main() { TIM2.CR1 = 0x05; - PID pid_pitch(3000, 0, 0); - PID pid_roll(3000, 0, 0); - PID pid_yaw(2000, 0, 0); + PID pid_pitch(6000, 0, 0); + PID pid_roll(6000, 0, 0); + PID pid_yaw(6000, 0, 0); while(1) { // Wait for a new update. @@ -97,9 +98,9 @@ int main() { // Generate motor mix. int16_t throttle = ppmsum.channels[2] - 1000; - int16_t pitch = pid_pitch.update((ppmsum.channels[1] - 1500) * 3 - gyro.x); - int16_t roll = pid_roll.update((ppmsum.channels[0] - 1500) * 3 - gyro.y); - int16_t yaw = pid_yaw.update((ppmsum.channels[3] - 1500) * 5 - gyro.z); + int16_t pitch = pid_pitch.update((ppmsum.channels[1] - 1500) * 1 - gyro.x); + int16_t roll = pid_roll.update((ppmsum.channels[0] - 1500) * 1 - gyro.y); + int16_t yaw = pid_yaw.update((ppmsum.channels[3] - 1500) * -1 - gyro.z); int16_t max = throttle > 250 ? 250 : throttle; saturate(pitch, max); @@ -107,10 +108,10 @@ int main() { saturate(yaw, max); int cmds[] = { - 1000 + throttle + pitch + roll + yaw, - 1000 + throttle + pitch - roll - yaw, - 1000 + throttle - pitch + roll - yaw, - 1000 + throttle - pitch - roll + yaw, + 1000 + throttle + pitch - roll + yaw, + 1000 + throttle - pitch - roll - yaw, + 1000 + throttle - pitch + roll + yaw, + 1000 + throttle + pitch + roll - yaw, }; TIM2.CCR1 = limit(cmds[0], 1000, 2000); diff --git a/openocd.cfg b/openocd.cfg index 2343753..1321413 100644 --- a/openocd.cfg +++ b/openocd.cfg @@ -9,7 +9,7 @@ ft2232_device_desc "USB<=>JTAG&RS232" reset_config trst_and_srst -source [find target/stm32.cfg] +source [find target/stm32f1x.cfg] proc flash_chip {} { halt diff --git a/ppmsum.cpp b/ppmsum.cpp index 75faa17..927efa8 100644 --- a/ppmsum.cpp +++ b/ppmsum.cpp @@ -3,18 +3,23 @@ PPMSum* PPMSum::self = 0; template<> -void interrupt() { +void interrupt() { + PPMSum::self->irq(); +} + +template<> +void interrupt() { PPMSum::self->irq(); } void PPMSum::irq() { - int16_t sr = TIM4.SR; - TIM4.SR = 0; + int16_t sr = TIM1.SR; + TIM1.SR = 0; if(sr & 0x06) { - GPIOA.ODR = 1 << 5; + GPIOB.ODR = 1 << 1; } else { - GPIOA.ODR = 0; + GPIOB.ODR = 0; } @@ -26,7 +31,7 @@ void PPMSum::irq() { } else if(sr & 0x02) { // Period. - if(TIM4.CCR1 > 5000) { + if(TIM1.CCR1 > 5000) { synced = true; index = 0; } else { @@ -36,19 +41,20 @@ void PPMSum::irq() { } else if(sr & 0x04) { // Pulsewidth. - channels[index] = TIM4.CCR2; + channels[index] = TIM1.CCR2; } } void PPMSum::enable() { - RCC.enable(RCC.TIM4); - TIM4.PSC = 72; - TIM4.CCMR1 = 0x0201; - TIM4.SMCR = 0x54; - TIM4.CCER = 0x31; - TIM4.DIER = 0x07; + RCC.enable(RCC.TIM1); + TIM1.PSC = 72; + TIM1.CCMR1 = 0x0201; + TIM1.SMCR = 0x54; + TIM1.CCER = 0x31; + TIM1.DIER = 0x07; - Interrupt::enable(Interrupt::TIM4); + Interrupt::enable(Interrupt::TIM1_UP); + Interrupt::enable(Interrupt::TIM1_CC); - TIM4.CR1 = 0x05; + TIM1.CR1 = 0x05; } diff --git a/ppmsum.h b/ppmsum.h index efc7287..90bb860 100644 --- a/ppmsum.h +++ b/ppmsum.h @@ -5,7 +5,8 @@ #include "interrupt.h" class PPMSum { - friend void interrupt(); + friend void interrupt(); + friend void interrupt(); private: static PPMSum* self; -- cgit v1.2.3