Initial commit.HEADmaster

6 files changed, 348 insertions, 0 deletions

diff --git a/.gdbinit b/.gdbinit
new file mode 100644
index 0000000..ead22c6
--- /dev/null
+++ b/.gdbinit
@@ -0,0 +1,23 @@
+define flash
+file esc.elf
+load
+end
+
+define restart
+run
+end
+
+define attach_swd
+mon swdp_scan
+attach 1
+end
+
+define attach_jtag
+mon jtag_scan
+attach 1
+end
+
+file esc.elf
+target extended-remote /dev/cu.usbmodem7FC181B1
+
+set mem inaccessible-by-default off
diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..b137a4a
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,5 @@
+*.o
+*.a
+*.elf
+*.swp
+.sconsign.dblite
diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 0000000..cd4f3c2
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,3 @@
+[submodule "laks"]
+	path = laks
+	url = git://git.jvnv.net/laks.git
diff --git a/SConstruct b/SConstruct
new file mode 100644
index 0000000..1790b7b
--- /dev/null
+++ b/SConstruct
@@ -0,0 +1,11 @@
+import os

+

+env = Environment(

+	ENV = os.environ,

+)

+

+SConscript('laks/build_rules')

+

+env.SelectMCU('stm32f103c8')

+

+env.Firmware('esc.elf', ['main.cpp'])

diff --git a/laks b/laks
new file mode 160000
+Subproject 9ae91599772ee81d352014a8ff293c5feec0439
diff --git a/main.cpp b/main.cpp
new file mode 100644
index 0000000..105d89d
--- /dev/null
+++ b/main.cpp
@@ -0,0 +1,306 @@
+#include <interrupt/interrupt.h>
+#include <os/thread.h>
+#include <os/time.h>
+#include <can/can.h>
+#include <usart/usart.h>
+#include <gpio/pin.h>
+#include <timer/timer.h>
+#include <adc/adc.h>
+
+static Pin& led_ready = PB3;
+static Pin& led_error = PB4;
+
+static Pin& foo = PA9;
+
+static Pin& a_l = PA7;
+static Pin& b_l = PB0;
+static Pin& c_l = PB1;
+
+static Pin& a_h = PB6;
+static Pin& b_h = PB7;
+static Pin& c_h = PB8;
+
+static Pin& sense_a = PA1; // ADC IN1
+static Pin& sense_b = PA2; // ADC IN2
+static Pin& sense_c = PA3; // ADC IN3
+
+volatile bool sense_rising = 0;
+
+class Commutator {
+	private:
+		int state;
+		volatile uint32_t* active_pwm;
+	
+	public:
+		Commutator() : state(0), active_pwm(&TIM4.CCR1) {}
+		
+		void set_pwm(uint32_t pwm) {
+			*active_pwm = pwm;
+		}
+		
+		void next() {
+			uint32_t temp;
+			
+			switch(state++) {
+				case 0:
+					b_l.off();
+					c_l.on();
+					ADC1.JSQR = 2 << 15;
+					sense_rising = true;
+					break;
+				
+				case 1:
+					temp = *active_pwm;
+					*active_pwm = 0;
+					active_pwm = &TIM4.CCR2;
+					*active_pwm = temp;
+					ADC1.JSQR = 1 << 15;
+					sense_rising = false;
+					break;
+				
+				case 2:
+					c_l.off();
+					a_l.on();
+					ADC1.JSQR = 3 << 15;
+					sense_rising = true;
+					break;
+				
+				case 3:
+					temp = *active_pwm;
+					*active_pwm = 0;
+					active_pwm = &TIM4.CCR3;
+					*active_pwm = temp;
+					ADC1.JSQR = 2 << 15;
+					sense_rising = false;
+					break;
+				
+				case 4:
+					a_l.off();
+					b_l.on();
+					ADC1.JSQR = 1 << 15;
+					sense_rising = true;
+					break;
+				
+				case 5:
+					temp = *active_pwm;
+					*active_pwm = 0;
+					active_pwm = &TIM4.CCR1;
+					*active_pwm = temp;
+					ADC1.JSQR = 3 << 15;
+					sense_rising = false;
+					
+					state = 0;
+					break;
+			}
+		}
+};
+
+Commutator commutator;
+
+volatile uint32_t ctv = 170;
+
+volatile uint32_t ct = 0;
+volatile uint32_t cc = 200;
+
+volatile bool do_cc_est = 0;
+volatile bool done_cc_est = 0;
+
+template <>
+void interrupt<Interrupt::ADC1_2>() {
+	if(ADC1.SR & 0x04) {
+		USART1.reg.DR = ADC1.JDR1;
+		
+		if(sense_rising ? ADC1.JDR1 > ctv : ADC1.JDR1 < ctv) {
+			//foo.on();
+			if(do_cc_est && !done_cc_est && ct > 10) {
+				cc = cc * 0.95 + (ct * 2) * 0.05;
+				done_cc_est = true;
+			}
+		} else {
+			//foo.off();
+		}
+	}
+	
+	ADC1.SR = 0;
+}
+
+int main() {
+	// Initialize system timer.
+	STK.LOAD = 72000000 / 8 / 1000; // 1000 Hz.
+	STK.CTRL = 0x03;
+	
+	RCC.enable(RCC.AFIO);
+	RCC.enable(RCC.GPIOA);
+	RCC.enable(RCC.GPIOB);
+	
+	//AFIO.MAPR = 0x02000000; // Free JTAG pins used for LEDs.
+	
+	//led_ready.set_mode(Pin::Output);
+	//led_error.set_mode(Pin::Output);
+	
+	RCC.enable(RCC.CAN);
+	CAN1.enable();
+	
+	PA12.set_mode(Pin::AF);
+	
+	foo.set_mode(Pin::AF);
+	RCC.enable(RCC.USART1);
+	USART1.set_baudrate(1000000);
+	USART1.enable();
+	USART1.reg.CR1 |= 1 << 12;
+	
+	// ADC.
+	RCC.enable(RCC.ADC1);
+	
+	// Calibrate ADC.
+	ADC1.CR2 = 0x9;
+	while(ADC1.CR2 & 0x8);
+	ADC1.CR2 = 0x5;
+	while(ADC1.CR2 & 0x4);
+	
+	sense_a.set_mode(Pin::Analog);
+	sense_b.set_mode(Pin::Analog);
+	sense_c.set_mode(Pin::Analog);
+	
+	// Motor outputs.
+	a_l.off();
+	a_l.set_mode(Pin::Output);
+	//b_l.off();
+	b_l.on();
+	b_l.set_mode(Pin::Output);
+	c_l.off();
+	c_l.set_mode(Pin::Output);
+	
+	a_h.set_mode(Pin::AF);
+	b_h.set_mode(Pin::AF);
+	c_h.set_mode(Pin::AF);
+	
+	RCC.enable(RCC.TIM4);
+	TIM4.PSC = 0;
+	TIM4.ARR = 1000;
+	TIM4.CCER = 0x1111;
+	TIM4.CCMR1 = 0x6868;
+	TIM4.CCMR2 = 0x6868;
+	
+	TIM4.CR2 = 0x70;
+	
+	TIM4.CR1 = 0x40;
+	TIM4.CR1 = 0x41;
+	
+	TIM4.CCR1 = 0;
+	TIM4.CCR2 = 0;
+	TIM4.CCR3 = 0;
+	TIM4.CCR4 = 1;
+	
+	Interrupt::enable(Interrupt::ADC1_2);
+	
+	ADC1.CR1 |= 0x80;
+	ADC1.CR2 |= 0xd001;
+	
+	ADC1.JSQR = 3 << 15;
+	
+	// Give all hardware enough time to initialize.
+	Time::sleep(200);
+	
+	led_ready.on();
+	
+	// Configure CAN.
+	CAN1.f_reg.FR[0][0] = 0;
+	CAN1.f_reg.FR[0][1] = 0;
+	CAN1.f_reg.FS1R[0] = 0x1;
+	CAN1.f_reg.FA1R[0] = 0x1;
+	CAN1.f_reg.FMR = 0;
+	
+	uint32_t pwm = 0;
+	
+	while(1) {
+		// Check for CAN message.
+		if(CAN1.reg.RF0R & 0x3) {
+			switch(CAN1.mb_reg.RDL0R) {
+				case '1':
+					led_ready.toggle();
+					break;
+				
+				case '2':
+					led_error.toggle();
+					break;
+				
+				case '+':
+					pwm += 10;
+					commutator.set_pwm(pwm);
+					break;
+				
+				case '-':
+					if(pwm >= 10) {
+						pwm -= 10;
+						commutator.set_pwm(pwm);
+					}
+					break;
+				
+				case 'e':
+					pwm += 1;
+					commutator.set_pwm(pwm);
+					break;
+				
+				case 'd':
+					if(pwm) {
+						pwm -= 1;
+						commutator.set_pwm(pwm);
+					}
+					break;
+				
+				case 'q':
+					cc += 10;
+					break;
+				
+				case 'a':
+					cc -= 10;
+					break;
+				
+				case 'w':
+					cc++;
+					break;
+				
+				case 's':
+					cc--;
+					break;
+				
+				case 'r':
+					ctv += 1;
+					break;
+				
+				case 'f':
+					ctv -= 1;
+					break;
+				
+				case 'y':
+					do_cc_est = !do_cc_est;
+					break;
+				
+				case '0':
+					commutator.set_pwm(pwm = 0);
+					cc = 200;
+					do_cc_est = false;
+					break;
+			}
+			
+			// Release mailbox.
+			CAN1.reg.RF0R = 0x20;
+		}
+		
+		// Check for pwm update.
+		if(TIM4.SR & 0x01) {
+			TIM4.SR &= ~0x01;
+			if(++ct >= cc) {
+				commutator.next();
+				done_cc_est = false;
+				ct = 0;
+			}
+		}
+		
+		// Check for pulse center.
+		if(TIM4.SR & 0x10) {
+			TIM4.SR &= ~0x10;
+		}
+	}
+}