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Extra features and Manufacturing info #2

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847323f
* Various formatting changes, to flow, changed some variables to fixe…
DarrenLevine Aug 31, 2019
a2e777f
Added a hook for user to define additional kill on commands. As an ex…
DarrenLevine Sep 15, 2019
1ab8aca
updates to the python interface
Oct 5, 2019
3528362
* delay_ticks() and delay_ms() added.
DarrenLevine Nov 9, 2019
01ffecc
Merge branch 'master' of https://github.com/DarrenLevine/DirectServo
DarrenLevine Nov 9, 2019
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4 changes: 4 additions & 0 deletions .gitignore
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Original file line number Diff line number Diff line change
@@ -0,0 +1,4 @@
*.pdf
*/temp
*/logs
*/__pycache__
271 changes: 139 additions & 132 deletions Firmware/Buttons.cpp
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#include <main.h>
#include "main.h"

volatile bool buttonIdPressed;
volatile bool buttonCalibPressed;
volatile int buttonPressId = 0;
volatile int32_t buttonPressId = 0;

const int BLINK_PERIOD = 0x100;
const int BLINK_DUTY_CYCLE = 0x40;
const int BLINK_PRESCALER = 0x6000;
const int32_t BLINK_PERIOD = 0x100;
const int32_t BLINK_DUTY_CYCLE = 0x40;
const int32_t BLINK_PRESCALER = 0x6000;

void stopIdTimer();
void stopCalibTimer();

extern "C"
void EXTI2_3_IRQHandler(void) {
delay(50);

if ((EXTI->IMR & EXTI_IMR_MR2) && (EXTI->PR & EXTI_PR_PR2))
//if (GPIOA->IDR & GPIO_IDR_2)
{
if (GPIOA->IDR & GPIO_IDR_2) {
stopIdTimer();

GPIOB->BSRR |= 0x02; // set pin B-1
delay(50);
GPIOB->BRR |= 0x02; // reset pin B-1

buttonIdPressed = true;
}

EXTI->PR |= EXTI_PR_PR2;
}

if ((EXTI->IMR & EXTI_IMR_MR3) && (EXTI->PR & EXTI_PR_PR3))
//if (GPIOA->IDR & GPIO_IDR_3)
{
if (GPIOA->IDR & GPIO_IDR_3){
stopCalibTimer();

GPIOA->BSRR |= 0x01; // set pin A-0
delay(50);
GPIOA->BRR |= 0x01; // reset pin A-0

buttonCalibPressed = true;
}

EXTI->PR |= EXTI_PR_PR3;
}
extern "C" void EXTI2_3_IRQHandler(void)
{
delay_ms(5);

if ((EXTI->IMR & EXTI_IMR_MR2) && (EXTI->PR & EXTI_PR_PR2))
//if (GPIOA->IDR & GPIO_IDR_2)
{
if (GPIOA->IDR & GPIO_IDR_2)
{
stopIdTimer();

GPIOB->BSRR |= 0x02; // set pin B-1
delay_ms(100);
GPIOB->BRR |= 0x02; // reset pin B-1

buttonIdPressed = true;
}

EXTI->PR |= EXTI_PR_PR2;
}

if ((EXTI->IMR & EXTI_IMR_MR3) && (EXTI->PR & EXTI_PR_PR3))
//if (GPIOA->IDR & GPIO_IDR_3)
{
if (GPIOA->IDR & GPIO_IDR_3)
{
stopCalibTimer();

GPIOA->BSRR |= 0x01; // set pin A-0
delay_ms(100);
GPIOA->BRR |= 0x01; // reset pin A-0

buttonCalibPressed = true;
}

EXTI->PR |= EXTI_PR_PR3;
}
}

void stopIdTimer()
{
TIM3->CR1 &= ~TIM_CR1_CEN; // disable timer 3
GPIOB->MODER &= ~GPIO_MODER_MODER1_Msk;
GPIOB->MODER |= (0x01 << GPIO_MODER_MODER1_Pos); // output mode for pin B-1
GPIOB->BRR |= 0x02; // reset pin B-1
TIM3->CR1 &= ~TIM_CR1_CEN; // disable timer 3
GPIOB->MODER &= ~GPIO_MODER_MODER1_Msk;
GPIOB->MODER |= (0x01 << GPIO_MODER_MODER1_Pos);// output mode for pin B-1
GPIOB->BRR |= 0x02; // reset pin B-1
}
void stopCalibTimer()
{
TIM2->CR1 &= ~TIM_CR1_CEN; // disable timer 2
GPIOA->MODER &= ~GPIO_MODER_MODER0_Msk;
GPIOA->MODER |= (0x01 << GPIO_MODER_MODER0_Pos); // output mode for A-0
GPIOA->BRR |= 0x01; // reset pin A-0
TIM2->CR1 &= ~TIM_CR1_CEN; // disable timer 2
GPIOA->MODER &= ~GPIO_MODER_MODER0_Msk;
GPIOA->MODER |= (0x01 << GPIO_MODER_MODER0_Pos); // output mode for A-0
GPIOA->BRR |= 0x01; // reset pin A-0
}

void blinkId(bool onOff)
{
if (onOff)
{
// pin 19 - PB-1 configure as led timer 3 blinker

RCC->AHBENR |= RCC_AHBENR_GPIOBEN; // enable clock for GPIOB
RCC->APB1ENR |= RCC_APB1ENR_TIM3EN; // enable timer 3

TIM3->ARR = BLINK_PERIOD; // tim3 period
TIM3->PSC = BLINK_PRESCALER; // prescaler

// tim3 config channel

TIM3->CCMR2 |= TIM_CCMR2_OC4PE | // Output compare 4 preload enable
(0x06 << TIM_CCMR2_OC4M_Pos); // Output compare 4 mode = 110

// GPIOB

GPIOB->MODER &= ~GPIO_MODER_MODER1_Msk;
GPIOB->MODER |= (0x02 << GPIO_MODER_MODER1_Pos);// alternative function for pin B-1
GPIOB->OSPEEDR |= GPIO_OSPEEDR_OSPEEDR1; // high speed for pin B-1
GPIOB->AFR[0] |= (0x01 << GPIO_AFRL_AFSEL1_Pos);// alternative funciton 1 for pin B-1

TIM3->CCR4 = BLINK_DUTY_CYCLE; // duty cycle of tim3 channel 4
TIM3->CCER |= TIM_CCER_CC4E; // enable tim3 channel 4, positive
TIM3->CR1 |= TIM_CR1_CEN; // enable timer 3
}
else
{
stopIdTimer();
}
}

void blinkId(bool onOff) {
if (onOff)
{
// pin 19 - PB-1 configure as led timer 3 blinker

RCC->AHBENR |= RCC_AHBENR_GPIOBEN; // enable clock for GPIOB
RCC->APB1ENR |= RCC_APB1ENR_TIM3EN; // enable timer 3

TIM3->ARR = BLINK_PERIOD; // tim3 period
TIM3->PSC = BLINK_PRESCALER; // prescaler

// tim3 config channel

TIM3->CCMR2 |= TIM_CCMR2_OC4PE | // Output compare 4 preload enable
(0x06 << TIM_CCMR2_OC4M_Pos); // Output compare 4 mode = 110

// GPIOB

GPIOB->MODER &= ~GPIO_MODER_MODER1_Msk;
GPIOB->MODER |= (0x02 << GPIO_MODER_MODER1_Pos); // alternative function for pin B-1
GPIOB->OSPEEDR |= GPIO_OSPEEDR_OSPEEDR1; // high speed for pin B-1
GPIOB->AFR[0] |= (0x01 << GPIO_AFRL_AFSEL1_Pos); // alternative funciton 1 for pin B-1

TIM3->CCR4 = BLINK_DUTY_CYCLE; // duty cycle of tim3 channel 4
TIM3->CCER |= TIM_CCER_CC4E; // enable tim3 channel 4, positive
TIM3->CR1 |= TIM_CR1_CEN; // enable timer 3
}
else
{
stopIdTimer();
}
void blinkCalib(bool onOff)
{
if (onOff)
{
// pin 11 - PA-0 configure as led timer 2 blinker

RCC->AHBENR |= RCC_AHBENR_GPIOAEN; // enable clock for GPIOA
RCC->APB1ENR |= RCC_APB1ENR_TIM2EN; // enable timer 2

TIM2->ARR = BLINK_PERIOD; // tim2 period
TIM2->PSC = BLINK_PRESCALER; // prescaler

// tim2 config channel

TIM2->CCMR1 |= TIM_CCMR1_OC1PE | // Output compare 1 preload enable
(0x06 << TIM_CCMR1_OC1M_Pos); // Output compare 1 mode = 110

// GPIOA

GPIOA->MODER &= ~GPIO_MODER_MODER0_Msk;
GPIOA->MODER |= (0x02 << GPIO_MODER_MODER0_Pos);// alternative function for pin A-0
GPIOA->OSPEEDR |= GPIO_OSPEEDR_OSPEEDR0; // high speed for pin A-0
GPIOA->AFR[0] |= (0x02 << GPIO_AFRL_AFSEL0_Pos);// alternative funciton 2 for pin A-0

TIM2->CCR1 = BLINK_DUTY_CYCLE; // duty cycle of tim2 channel 1
TIM2->CCER |= TIM_CCER_CC1E; // enable tim2 channel 1, positive
TIM2->CR1 |= TIM_CR1_CEN; // enable timer 2
}
else
{
stopCalibTimer();
}
}

void blinkCalib(bool onOff){
if (onOff)
{
// pin 11 - PA-0 configure as led timer 2 blinker

RCC->AHBENR |= RCC_AHBENR_GPIOAEN; // enable clock for GPIOA
RCC->APB1ENR |= RCC_APB1ENR_TIM2EN; // enable timer 2

TIM2->ARR = BLINK_PERIOD; // tim2 period
TIM2->PSC = BLINK_PRESCALER; // prescaler

// tim2 config channel

TIM2->CCMR1 |= TIM_CCMR1_OC1PE | // Output compare 1 preload enable
(0x06 << TIM_CCMR1_OC1M_Pos); // Output compare 1 mode = 110

// GPIOA

GPIOA->MODER &= ~GPIO_MODER_MODER0_Msk;
GPIOA->MODER |= (0x02 << GPIO_MODER_MODER0_Pos); // alternative function for pin A-0
GPIOA->OSPEEDR |= GPIO_OSPEEDR_OSPEEDR0; // high speed for pin A-0
GPIOA->AFR[0] |= (0x02 << GPIO_AFRL_AFSEL0_Pos); // alternative funciton 2 for pin A-0

TIM2->CCR1 = BLINK_DUTY_CYCLE; // duty cycle of tim2 channel 1
TIM2->CCER |= TIM_CCER_CC1E; // enable tim2 channel 1, positive
TIM2->CR1 |= TIM_CR1_CEN; // enable timer 2
}
else
{
stopCalibTimer();
}
void incrementIdAndSave()
{
ConfigData lc;
memcpy(&lc, config, sizeof(ConfigData));
lc.controllerId = ++buttonPressId;

writeFlash((uint16_t*) &lc, sizeof(ConfigData) / sizeof(uint16_t));
}

void incrementIdAndSave(){
ConfigData lc;
memcpy(&lc, config, sizeof(ConfigData));
lc.controllerId = ++buttonPressId;

writeFlash((uint16_t*)&lc, sizeof(ConfigData) / sizeof(uint16_t));
void initButtons()
{
buttonIdPressed = false;
buttonCalibPressed = false;

GPIOA->PUPDR |= (0x02 << GPIO_PUPDR_PUPDR2_Pos) | // pull-down A-2
(0x02 << GPIO_PUPDR_PUPDR3_Pos); // pull-down A-3

EXTI->IMR |= EXTI_IMR_MR2 | // enable line 2
EXTI_IMR_MR3; // enable line 3

EXTI->RTSR |= EXTI_RTSR_RT2 | // raizing edge for line 2
EXTI_RTSR_RT3; // raizing edge for line 3

HAL_NVIC_SetPriority(EXTI2_3_IRQn, 1, 0);
HAL_NVIC_EnableIRQ(EXTI2_3_IRQn);
}

void initButtons() {
buttonIdPressed = false;
buttonCalibPressed = false;

GPIOA->PUPDR |= (0x02 << GPIO_PUPDR_PUPDR2_Pos) | // pull-down A-2
(0x02 << GPIO_PUPDR_PUPDR3_Pos); // pull-down A-3

EXTI->IMR |= EXTI_IMR_MR2 | // enable line 2
EXTI_IMR_MR3; // enable line 3

EXTI->RTSR |= EXTI_RTSR_RT2 | // raizing edge for line 2
EXTI_RTSR_RT3; // raizing edge for line 3

HAL_NVIC_SetPriority(EXTI2_3_IRQn, 1, 0);
HAL_NVIC_EnableIRQ(EXTI2_3_IRQn);
}
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