Merge pull request #9 from Mezgrman/transpotter
Implemented TranspOtter modifications
This commit is contained in:
commit
fdbfe28749
93
Inc/config.h
93
Inc/config.h
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@ -1,11 +1,18 @@
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#pragma once
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#include "stm32f1xx_hal.h"
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// ############################### DEFINE FIRMWARE VARIANT ###############################
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// #define TRANSPOTTER // Uncomment this line for TRANSPORTER configuration
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// ############################### DO-NOT-TOUCH SETTINGS ###############################
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#define PWM_FREQ 16000 // PWM frequency in Hz
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#define DEAD_TIME 32 // PWM deadtime
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#define DELAY_IN_MAIN_LOOP 5 // in ms. default 5. it is independent of all the timing critical stuff. do not touch if you do not know what you are doing.
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#ifdef TRANSPOTTER
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#define DELAY_IN_MAIN_LOOP 2
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#else
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#define DELAY_IN_MAIN_LOOP 5 // in ms. default 5. it is independent of all the timing critical stuff. do not touch if you do not know what you are doing.
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#endif
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#define TIMEOUT 5 // number of wrong / missing input commands before emergency off
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#define A2BIT_CONV 50 // A to bit for current conversion on ADC. Example: 1 A = 50, 2 A = 100, etc
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@ -79,8 +86,10 @@
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// ############################### SERIAL DEBUG ###############################
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//#define DEBUG_SERIAL_SERVOTERM
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#define DEBUG_SERIAL_ASCII // "1:345 2:1337 3:0 4:0 5:0 6:0 7:0 8:0\r\n"
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#ifndef TRANSPOTTER
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//#define DEBUG_SERIAL_SERVOTERM
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#define DEBUG_SERIAL_ASCII // "1:345 2:1337 3:0 4:0 5:0 6:0 7:0 8:0\r\n"
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#endif
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// ############################### INPUT ###############################
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@ -95,11 +104,13 @@
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// #define FEEDBACK_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used!
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// #define DEBUG_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used!
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#define USART3_BAUD 38400 // UART3 baud rate (short wired cable)
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#define USART3_WORDLENGTH UART_WORDLENGTH_8B // UART_WORDLENGTH_8B or UART_WORDLENGTH_9B
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// #define CONTROL_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuck or lcd) is used! For Arduino control check the hoverSerial.ino
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// #define FEEDBACK_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuck or lcd) is used!
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#define DEBUG_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuck or lcd) is used!
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#ifndef TRANSPOTTER
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#define USART3_BAUD 38400 // UART3 baud rate (short wired cable)
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#define USART3_WORDLENGTH UART_WORDLENGTH_8B // UART_WORDLENGTH_8B or UART_WORDLENGTH_9B
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// #define CONTROL_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuck or lcd) is used! For Arduino control check the hoverSerial.ino
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// #define FEEDBACK_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuck or lcd) is used!
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#define DEBUG_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuck or lcd) is used!
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#endif
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#if defined(FEEDBACK_SERIAL_USART2) || defined(DEBUG_SERIAL_USART2)
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#define UART_DMA_CHANNEL DMA1_Channel7
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@ -122,15 +133,17 @@
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* For middle resting potis: Let the potis in the middle resting position, write value 1 to ADC1_MID and value 2 to ADC2_MID
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* Make, flash and test it.
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*/
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#define CONTROL_ADC // use ADC as input. disable CONTROL_SERIAL_USART2, FEEDBACK_SERIAL_USART2, DEBUG_SERIAL_USART2!
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// #define ADC1_MID_POT // ADC1 middle resting poti: comment-out if NOT a middle resting poti
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#define ADC1_MIN 0 // min ADC1-value while poti at minimum-position (0 - 4095)
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#define ADC1_MID 1963 // mid ADC1-value while poti at minimum-position (ADC1_MIN - ADC1_MAX)
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#define ADC1_MAX 4095 // max ADC1-value while poti at maximum-position (0 - 4095)
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// #define ADC2_MID_POT // ADC2 middle resting poti: comment-out if NOT a middle resting poti
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#define ADC2_MIN 0 // min ADC2-value while poti at minimum-position (0 - 4095)
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#define ADC2_MID 2006 // mid ADC2-value while poti at minimum-position (ADC2_MIN - ADC2_MAX)
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#define ADC2_MAX 4095 // max ADC2-value while poti at maximum-position (0 - 4095)
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#ifndef TRANSPOTTER
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#define CONTROL_ADC // use ADC as input. disable CONTROL_SERIAL_USART2, FEEDBACK_SERIAL_USART2, DEBUG_SERIAL_USART2!
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// #define ADC1_MID_POT // ADC1 middle resting poti: comment-out if NOT a middle resting poti
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#define ADC1_MIN 0 // min ADC1-value while poti at minimum-position (0 - 4095)
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#define ADC1_MID 1963 // mid ADC1-value while poti at minimum-position (ADC1_MIN - ADC1_MAX)
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#define ADC1_MAX 4095 // max ADC1-value while poti at maximum-position (0 - 4095)
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// #define ADC2_MID_POT // ADC2 middle resting poti: comment-out if NOT a middle resting poti
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#define ADC2_MIN 0 // min ADC2-value while poti at minimum-position (0 - 4095)
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#define ADC2_MID 2006 // mid ADC2-value while poti at minimum-position (ADC2_MIN - ADC2_MAX)
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#define ADC2_MAX 4095 // max ADC2-value while poti at maximum-position (0 - 4095)
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#endif
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// ###### CONTROL VIA NINTENDO NUNCHUCK ######
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/* left sensor board cable.
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@ -192,29 +205,53 @@
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* - speedR and speedL: normal driving INPUT_MIN to INPUT_MAX
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*/
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// Beep in Reverse
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#define BEEPS_BACKWARD 0 // 0 or 1
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// Value of RATE is in fixdt(1,16,4): VAL_fixedPoint = VAL_floatingPoint * 2^4. In this case 480 = 30 * 2^4
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#define RATE 480 // 30.0f [-] lower value == slower rate [0, 32767] = [0.0, 2047.9375]. Do NOT make rate negative (>32767)
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// Value of FILTER is in fixdt(0,16,16): VAL_fixedPoint = VAL_floatingPoint * 2^16. In this case 6553 = 0.1 * 2^16
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#define FILTER 6553 // 0.1f [-] lower value == softer filter [0, 65535] = [0.0, 1.0].
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#define FILTER 6553 // 0.1f [-] lower value == softer filter [0, 65535] = [0.0 - 1.0].
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// Value of COEFFICIENT is in fixdt(1,16,14)
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// If VAL_floatingPoint >= 0, VAL_fixedPoint = VAL_floatingPoint * 2^14
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// If VAL_floatingPoint < 0, VAL_fixedPoint = 2^16 + floor(VAL_floatingPoint * 2^14).
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#define SPEED_COEFFICIENT 16384 // 1.0f [-] higher value == stronger. [0, 65535] = [-2.0, 2.0]. In this case 16384 = 1.0 * 2^14
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#define STEER_COEFFICIENT 8192 // 0.5f [-] higher value == stronger. [0, 65535] = [-2.0, 2.0]. In this case 8192 = 0.5 * 2^14. If you do not want any steering, set it to 0.
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// ################################# DEFAULT SETTINGS ############################
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#ifndef TRANSPOTTER
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// Value of COEFFICIENT is in fixdt(1,16,14)
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// If VAL_floatingPoint >= 0, VAL_fixedPoint = VAL_floatingPoint * 2^14
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// If VAL_floatingPoint < 0, VAL_fixedPoint = 2^16 + floor(VAL_floatingPoint * 2^14).
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#define SPEED_COEFFICIENT 16384 // 1.0f [-] higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14
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#define STEER_COEFFICIENT 8192 // 0.5f [-] higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 8192 = 0.5 * 2^14. If you do not want any steering, set it to 0.
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#define INVERT_R_DIRECTION
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#define INVERT_L_DIRECTION
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#define BEEPS_BACKWARD 0 // 0 or 1
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#define INVERT_R_DIRECTION
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#define INVERT_L_DIRECTION
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#endif
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// ###### SIMPLE BOBBYCAR ######
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// ################################# TRANSPOTTER SETTINGS ############################
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#ifdef TRANSPOTTER
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#define CONTROL_GAMETRAK
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#define SUPPORT_LCD
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#define SUPPORT_NUNCHUCK
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#define GAMETRAK_CONNECTION_NORMAL // for normal wiring according to the wiki instructions
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//#define GAMETRAK_CONNECTION_ALTERNATE // use this define instead if you messed up the gametrak ADC wiring (steering is speed, and length of the wire is steering)
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#define ROT_P 1.2 // P coefficient for the direction controller. Positive / Negative values to invert gametrak steering direction.
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//#define INVERT_R_DIRECTION // Invert right motor
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#define INVERT_L_DIRECTION // Invert left motor
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// during nunchuck control (only relevant when activated)
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#define SPEED_COEFFICIENT 14746 // 0.9f - higher value == stronger. 0.0 to ~2.0?
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#define STEER_COEFFICIENT 8192 // 0.5f - higher value == stronger. if you do not want any steering, set it to 0.0; 0.0 to 1.0
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#endif
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// ################################# SIMPLE BOBBYCAR #################################
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// for better bobbycar code see: https://github.com/larsmm/hoverboard-firmware-hack-bbcar
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// #define FILTER 6553 // 0.1f
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// #define SPEED_COEFFICIENT 49152 // -1.0f
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// #define STEER_COEFFICIENT 0 // 0.0f
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// ###### ARMCHAIR ######
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// ################################# ARMCHAIR #################################
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// #define FILTER 3276 // 0.05f
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// #define SPEED_COEFFICIENT 8192 // 0.5f
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// #define STEER_COEFFICIENT 62259 // -0.2f
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@ -157,8 +157,18 @@ typedef struct {
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uint16_t l_rx2;
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} adc_buf_t;
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// Define Beep functions
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void longBeep(uint8_t freq);
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void shortBeep(uint8_t freq);
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// Define low-pass filter functions. Implementation is in main.c
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void filtLowPass16(int16_t u, uint16_t coef, int16_t *y);
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void filtLowPass32(int32_t u, uint16_t coef, int32_t *y);
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void mixerFcn(int16_t rtu_speed, int16_t rtu_steer, int16_t *rty_speedR, int16_t *rty_speedL);
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void rateLimiter16(int16_t u, int16_t rate, int16_t *y);
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void rateLimiter16(int16_t u, int16_t rate, int16_t *y);
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// Define I2C and Nunchuck functions
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void I2C_Init(void);
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void Nunchuck_Init(void);
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void Nunchuck_Read(void);
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uint8_t Nunchuck_Ping(void);
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@ -0,0 +1,223 @@
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/**
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******************************************************************************
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* @file EEPROM_Emulation/inc/eeprom.h
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* @author MCD Application Team
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* @version V1.3.0
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* @date 18-December-2015
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* @brief This file contains all the functions prototypes for the EEPROM
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* emulation firmware library.
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******************************************************************************
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* @attention
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*
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* <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
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*
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* Redistribution and use in source and binary forms, with or without modification,
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* are permitted provided that the following conditions are met:
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* 1. Redistributions of source code must retain the above copyright notice,
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* this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright notice,
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* this list of conditions and the following disclaimer in the documentation
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* and/or other materials provided with the distribution.
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* 3. Neither the name of STMicroelectronics nor the names of its contributors
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* may be used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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******************************************************************************
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*/
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/* Define to prevent recursive inclusion -------------------------------------*/
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#ifndef __EEPROM_H
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#define __EEPROM_H
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/* Includes ------------------------------------------------------------------*/
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#include "stm32f1xx_hal.h"
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/* Exported constants --------------------------------------------------------*/
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/* Base address of the Flash sectors */
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#define ADDR_FLASH_PAGE_0 ((uint32_t)0x08000000) /* Base @ of Page 0, 1 Kbytes */
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#define ADDR_FLASH_PAGE_1 ((uint32_t)0x08000400) /* Base @ of Page 1, 1 Kbytes */
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#define ADDR_FLASH_PAGE_2 ((uint32_t)0x08000800) /* Base @ of Page 2, 1 Kbytes */
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#define ADDR_FLASH_PAGE_3 ((uint32_t)0x08000C00) /* Base @ of Page 3, 1 Kbytes */
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#define ADDR_FLASH_PAGE_4 ((uint32_t)0x08001000) /* Base @ of Page 4, 1 Kbytes */
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#define ADDR_FLASH_PAGE_5 ((uint32_t)0x08001400) /* Base @ of Page 5, 1 Kbytes */
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#define ADDR_FLASH_PAGE_6 ((uint32_t)0x08001800) /* Base @ of Page 6, 1 Kbytes */
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#define ADDR_FLASH_PAGE_7 ((uint32_t)0x08001C00) /* Base @ of Page 7, 1 Kbytes */
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#define ADDR_FLASH_PAGE_8 ((uint32_t)0x08002000) /* Base @ of Page 8, 1 Kbytes */
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#define ADDR_FLASH_PAGE_9 ((uint32_t)0x08002400) /* Base @ of Page 9, 1 Kbytes */
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#define ADDR_FLASH_PAGE_10 ((uint32_t)0x08002800) /* Base @ of Page 10, 1 Kbytes */
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#define ADDR_FLASH_PAGE_11 ((uint32_t)0x08002C00) /* Base @ of Page 11, 1 Kbytes */
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#define ADDR_FLASH_PAGE_12 ((uint32_t)0x08003000) /* Base @ of Page 12, 1 Kbytes */
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#define ADDR_FLASH_PAGE_13 ((uint32_t)0x08003400) /* Base @ of Page 13, 1 Kbytes */
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#define ADDR_FLASH_PAGE_14 ((uint32_t)0x08003800) /* Base @ of Page 14, 1 Kbytes */
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#define ADDR_FLASH_PAGE_15 ((uint32_t)0x08003C00) /* Base @ of Page 15, 1 Kbytes */
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#define ADDR_FLASH_PAGE_16 ((uint32_t)0x08004000) /* Base @ of Page 16, 1 Kbytes */
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#define ADDR_FLASH_PAGE_17 ((uint32_t)0x08004400) /* Base @ of Page 17, 1 Kbytes */
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#define ADDR_FLASH_PAGE_18 ((uint32_t)0x08004800) /* Base @ of Page 18, 1 Kbytes */
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#define ADDR_FLASH_PAGE_19 ((uint32_t)0x08004C00) /* Base @ of Page 19, 1 Kbytes */
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#define ADDR_FLASH_PAGE_20 ((uint32_t)0x08005000) /* Base @ of Page 20, 1 Kbytes */
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#define ADDR_FLASH_PAGE_21 ((uint32_t)0x08005400) /* Base @ of Page 21, 1 Kbytes */
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#define ADDR_FLASH_PAGE_22 ((uint32_t)0x08005800) /* Base @ of Page 22, 1 Kbytes */
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#define ADDR_FLASH_PAGE_23 ((uint32_t)0x08005C00) /* Base @ of Page 23, 1 Kbytes */
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#define ADDR_FLASH_PAGE_24 ((uint32_t)0x08006000) /* Base @ of Page 24, 1 Kbytes */
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#define ADDR_FLASH_PAGE_25 ((uint32_t)0x08006400) /* Base @ of Page 25, 1 Kbytes */
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#define ADDR_FLASH_PAGE_26 ((uint32_t)0x08006800) /* Base @ of Page 26, 1 Kbytes */
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#define ADDR_FLASH_PAGE_27 ((uint32_t)0x08006C00) /* Base @ of Page 27, 1 Kbytes */
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#define ADDR_FLASH_PAGE_28 ((uint32_t)0x08007000) /* Base @ of Page 28, 1 Kbytes */
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#define ADDR_FLASH_PAGE_29 ((uint32_t)0x08007400) /* Base @ of Page 29, 1 Kbytes */
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#define ADDR_FLASH_PAGE_30 ((uint32_t)0x08007800) /* Base @ of Page 30, 1 Kbytes */
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#define ADDR_FLASH_PAGE_31 ((uint32_t)0x08007C00) /* Base @ of Page 31, 1 Kbytes */
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#define ADDR_FLASH_PAGE_32 ((uint32_t)0x08008000) /* Base @ of Page 32, 1 Kbytes */
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#define ADDR_FLASH_PAGE_33 ((uint32_t)0x08008400) /* Base @ of Page 33, 1 Kbytes */
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#define ADDR_FLASH_PAGE_34 ((uint32_t)0x08008800) /* Base @ of Page 34, 1 Kbytes */
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#define ADDR_FLASH_PAGE_35 ((uint32_t)0x08008C00) /* Base @ of Page 35, 1 Kbytes */
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#define ADDR_FLASH_PAGE_36 ((uint32_t)0x08009000) /* Base @ of Page 36, 1 Kbytes */
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#define ADDR_FLASH_PAGE_37 ((uint32_t)0x08009400) /* Base @ of Page 37, 1 Kbytes */
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#define ADDR_FLASH_PAGE_38 ((uint32_t)0x08009800) /* Base @ of Page 38, 1 Kbytes */
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#define ADDR_FLASH_PAGE_39 ((uint32_t)0x08009C00) /* Base @ of Page 39, 1 Kbytes */
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#define ADDR_FLASH_PAGE_40 ((uint32_t)0x0800A000) /* Base @ of Page 40, 1 Kbytes */
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#define ADDR_FLASH_PAGE_41 ((uint32_t)0x0800A400) /* Base @ of Page 41, 1 Kbytes */
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#define ADDR_FLASH_PAGE_42 ((uint32_t)0x0800A800) /* Base @ of Page 42, 1 Kbytes */
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#define ADDR_FLASH_PAGE_43 ((uint32_t)0x0800AC00) /* Base @ of Page 43, 1 Kbytes */
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#define ADDR_FLASH_PAGE_44 ((uint32_t)0x0800B000) /* Base @ of Page 44, 1 Kbytes */
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#define ADDR_FLASH_PAGE_45 ((uint32_t)0x0800B400) /* Base @ of Page 45, 1 Kbytes */
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#define ADDR_FLASH_PAGE_46 ((uint32_t)0x0800B800) /* Base @ of Page 46, 1 Kbytes */
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#define ADDR_FLASH_PAGE_47 ((uint32_t)0x0800BC00) /* Base @ of Page 47, 1 Kbytes */
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#define ADDR_FLASH_PAGE_48 ((uint32_t)0x0800C000) /* Base @ of Page 48, 1 Kbytes */
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#define ADDR_FLASH_PAGE_49 ((uint32_t)0x0800C400) /* Base @ of Page 49, 1 Kbytes */
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#define ADDR_FLASH_PAGE_50 ((uint32_t)0x0800C800) /* Base @ of Page 50, 1 Kbytes */
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#define ADDR_FLASH_PAGE_51 ((uint32_t)0x0800CC00) /* Base @ of Page 51, 1 Kbytes */
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#define ADDR_FLASH_PAGE_52 ((uint32_t)0x0800D000) /* Base @ of Page 52, 1 Kbytes */
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#define ADDR_FLASH_PAGE_53 ((uint32_t)0x0800D400) /* Base @ of Page 53, 1 Kbytes */
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#define ADDR_FLASH_PAGE_54 ((uint32_t)0x0800D800) /* Base @ of Page 54, 1 Kbytes */
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#define ADDR_FLASH_PAGE_55 ((uint32_t)0x0800DC00) /* Base @ of Page 55, 1 Kbytes */
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#define ADDR_FLASH_PAGE_56 ((uint32_t)0x0800E000) /* Base @ of Page 56, 1 Kbytes */
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#define ADDR_FLASH_PAGE_57 ((uint32_t)0x0800E400) /* Base @ of Page 57, 1 Kbytes */
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#define ADDR_FLASH_PAGE_58 ((uint32_t)0x0800E800) /* Base @ of Page 58, 1 Kbytes */
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#define ADDR_FLASH_PAGE_59 ((uint32_t)0x0800EC00) /* Base @ of Page 59, 1 Kbytes */
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#define ADDR_FLASH_PAGE_60 ((uint32_t)0x0800F000) /* Base @ of Page 60, 1 Kbytes */
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#define ADDR_FLASH_PAGE_61 ((uint32_t)0x0800F400) /* Base @ of Page 61, 1 Kbytes */
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#define ADDR_FLASH_PAGE_62 ((uint32_t)0x0800F800) /* Base @ of Page 62, 1 Kbytes */
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#define ADDR_FLASH_PAGE_63 ((uint32_t)0x0800FC00) /* Base @ of Page 63, 1 Kbytes */
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#define ADDR_FLASH_PAGE_64 ((uint32_t)0x08010000) /* Base @ of Page 64, 1 Kbytes */
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||||
#define ADDR_FLASH_PAGE_65 ((uint32_t)0x08010400) /* Base @ of Page 65, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_66 ((uint32_t)0x08010800) /* Base @ of Page 66, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_67 ((uint32_t)0x08010C00) /* Base @ of Page 67, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_68 ((uint32_t)0x08011000) /* Base @ of Page 68, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_69 ((uint32_t)0x08011400) /* Base @ of Page 69, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_70 ((uint32_t)0x08011800) /* Base @ of Page 70, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_71 ((uint32_t)0x08011C00) /* Base @ of Page 71, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_72 ((uint32_t)0x08012000) /* Base @ of Page 72, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_73 ((uint32_t)0x08012400) /* Base @ of Page 73, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_74 ((uint32_t)0x08012800) /* Base @ of Page 74, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_75 ((uint32_t)0x08012C00) /* Base @ of Page 75, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_76 ((uint32_t)0x08013000) /* Base @ of Page 76, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_77 ((uint32_t)0x08013400) /* Base @ of Page 77, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_78 ((uint32_t)0x08013800) /* Base @ of Page 78, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_79 ((uint32_t)0x08013C00) /* Base @ of Page 79, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_80 ((uint32_t)0x08014000) /* Base @ of Page 80, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_81 ((uint32_t)0x08014400) /* Base @ of Page 81, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_82 ((uint32_t)0x08014800) /* Base @ of Page 82, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_83 ((uint32_t)0x08014C00) /* Base @ of Page 83, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_84 ((uint32_t)0x08015000) /* Base @ of Page 84, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_85 ((uint32_t)0x08015400) /* Base @ of Page 85, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_86 ((uint32_t)0x08015800) /* Base @ of Page 86, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_87 ((uint32_t)0x08015C00) /* Base @ of Page 87, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_88 ((uint32_t)0x08016000) /* Base @ of Page 88, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_89 ((uint32_t)0x08016400) /* Base @ of Page 89, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_90 ((uint32_t)0x08016800) /* Base @ of Page 90, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_91 ((uint32_t)0x08016C00) /* Base @ of Page 91, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_92 ((uint32_t)0x08017000) /* Base @ of Page 92, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_93 ((uint32_t)0x08017400) /* Base @ of Page 93, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_94 ((uint32_t)0x08017800) /* Base @ of Page 94, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_95 ((uint32_t)0x08017C00) /* Base @ of Page 95, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_96 ((uint32_t)0x08018000) /* Base @ of Page 96, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_97 ((uint32_t)0x08018400) /* Base @ of Page 97, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_98 ((uint32_t)0x08018800) /* Base @ of Page 98, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_99 ((uint32_t)0x08018C00) /* Base @ of Page 99, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_100 ((uint32_t)0x08019000) /* Base @ of Page 100, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_101 ((uint32_t)0x08019400) /* Base @ of Page 101, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_102 ((uint32_t)0x08019800) /* Base @ of Page 102, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_103 ((uint32_t)0x08019C00) /* Base @ of Page 103, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_104 ((uint32_t)0x0801A000) /* Base @ of Page 104, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_105 ((uint32_t)0x0801A400) /* Base @ of Page 105, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_106 ((uint32_t)0x0801A800) /* Base @ of Page 106, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_107 ((uint32_t)0x0801AC00) /* Base @ of Page 107, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_108 ((uint32_t)0x0801B000) /* Base @ of Page 108, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_109 ((uint32_t)0x0801B400) /* Base @ of Page 109, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_110 ((uint32_t)0x0801B800) /* Base @ of Page 110, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_111 ((uint32_t)0x0801BC00) /* Base @ of Page 111, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_112 ((uint32_t)0x0801C000) /* Base @ of Page 112, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_113 ((uint32_t)0x0801C400) /* Base @ of Page 113, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_114 ((uint32_t)0x0801C800) /* Base @ of Page 114, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_115 ((uint32_t)0x0801CC00) /* Base @ of Page 115, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_116 ((uint32_t)0x0801D000) /* Base @ of Page 116, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_117 ((uint32_t)0x0801D400) /* Base @ of Page 117, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_118 ((uint32_t)0x0801D800) /* Base @ of Page 118, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_119 ((uint32_t)0x0801DC00) /* Base @ of Page 119, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_120 ((uint32_t)0x0801E000) /* Base @ of Page 120, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_121 ((uint32_t)0x0801E400) /* Base @ of Page 121, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_122 ((uint32_t)0x0801E800) /* Base @ of Page 122, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_123 ((uint32_t)0x0801EC00) /* Base @ of Page 123, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_124 ((uint32_t)0x0801F000) /* Base @ of Page 124, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_125 ((uint32_t)0x0801F400) /* Base @ of Page 125, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_126 ((uint32_t)0x0801F800) /* Base @ of Page 126, 1 Kbytes */
|
||||
#define ADDR_FLASH_PAGE_127 ((uint32_t)0x0801FC00) /* Base @ of Page 127, 1 Kbytes */
|
||||
|
||||
/* Define the size of the sectors to be used */
|
||||
#define PAGE_SIZE (uint32_t)FLASH_PAGE_SIZE /* Page size */
|
||||
|
||||
/* EEPROM start address in Flash */
|
||||
#define EEPROM_START_ADDRESS ((uint32_t)ADDR_FLASH_PAGE_32) /* EEPROM emulation start address */
|
||||
|
||||
/* Pages 0 and 1 base and end addresses */
|
||||
#define PAGE0_BASE_ADDRESS ((uint32_t)(EEPROM_START_ADDRESS + 0x0000))
|
||||
#define PAGE0_END_ADDRESS ((uint32_t)(EEPROM_START_ADDRESS + (PAGE_SIZE - 1)))
|
||||
#define PAGE0_ID ADDR_FLASH_PAGE_32
|
||||
|
||||
#define PAGE1_BASE_ADDRESS ((uint32_t)(EEPROM_START_ADDRESS + 0x10000))
|
||||
#define PAGE1_END_ADDRESS ((uint32_t)(EEPROM_START_ADDRESS + 0x10000 + PAGE_SIZE - 1))
|
||||
#define PAGE1_ID ADDR_FLASH_PAGE_96
|
||||
|
||||
/* Used Flash pages for EEPROM emulation */
|
||||
#define PAGE0 ((uint16_t)0x0000)
|
||||
#define PAGE1 ((uint16_t)0x0040)
|
||||
|
||||
/* No valid page define */
|
||||
#define NO_VALID_PAGE ((uint16_t)0x00AB)
|
||||
|
||||
/* Page status definitions */
|
||||
#define ERASED ((uint16_t)0xFFFF) /* Page is empty */
|
||||
#define RECEIVE_DATA ((uint16_t)0xEEEE) /* Page is marked to receive data */
|
||||
#define VALID_PAGE ((uint16_t)0x0000) /* Page containing valid data */
|
||||
|
||||
/* Valid pages in read and write defines */
|
||||
#define READ_FROM_VALID_PAGE ((uint8_t)0x00)
|
||||
#define WRITE_IN_VALID_PAGE ((uint8_t)0x01)
|
||||
|
||||
/* Page full define */
|
||||
#define PAGE_FULL ((uint8_t)0x80)
|
||||
|
||||
/* Variables' number */
|
||||
#define NB_OF_VAR ((uint8_t)0x03)
|
||||
|
||||
/* Exported types ------------------------------------------------------------*/
|
||||
/* Exported macro ------------------------------------------------------------*/
|
||||
/* Exported functions ------------------------------------------------------- */
|
||||
uint16_t EE_Init(void);
|
||||
uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t* Data);
|
||||
uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data);
|
||||
|
||||
#endif /* __EEPROM_H */
|
||||
|
||||
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
|
|
@ -0,0 +1,294 @@
|
|||
/*
|
||||
* hd44780.h
|
||||
*
|
||||
* Created on: Feb 20, 2014
|
||||
* Author: Peter
|
||||
*/
|
||||
|
||||
#ifndef HD44780_H_
|
||||
#define HD44780_H_
|
||||
|
||||
#include <stdio.h>
|
||||
#include <stdint.h>
|
||||
#include "stm32f1xx_hal.h"
|
||||
#include "pcf8574.h"
|
||||
|
||||
/**
|
||||
* @file hd44780.h
|
||||
* @brief Header file for communication with the HD44780 LCD driver.
|
||||
* To use it you will have to create a variable of type LCD_PCF8574_HandleTypeDef (e.g. "lcd") and then
|
||||
* set the I2C address based on the address pins on your PCF8574 (0-7) (lcd.pcf8574.PCF_I2C_ADDRESS),
|
||||
* set the I2C timeout (in milliseconds) (lcd.pcf8574.PCF_I2C_TIMEOUT),
|
||||
* set the I2C instance (e.g. I2C1 or I2C2) (lcd.pcf8574.i2c.Instance),
|
||||
* set the I2C clock speed (in Hertz) (lcd.pcf8574.i2c.Init.ClockSpeed),
|
||||
* set the number of lines (has to be type of LCD_NUMBER_OF_LINES) (lcd.NUMBER_OF_LINES),
|
||||
* set the interface type (has to be type of LCD_TYPE) (lcd.type).
|
||||
*
|
||||
* Example:
|
||||
* example.c
|
||||
* example_msp.c
|
||||
*/
|
||||
|
||||
/** LCD Interface possibilities
|
||||
*/
|
||||
typedef enum{
|
||||
PCF8574, /*!< Use PCF8574 I2C IO expander as the interface */
|
||||
GPIO /*!< Use GPIO pins directly */
|
||||
} LCD_INTERFACE;
|
||||
|
||||
/** Possible return values for the functions
|
||||
*/
|
||||
typedef enum{
|
||||
LCD_OK, /*!< Everything went OK */
|
||||
LCD_ERROR /*!< An error occured */
|
||||
} LCD_RESULT;
|
||||
|
||||
/** Type of hardware to use
|
||||
*/
|
||||
typedef enum{
|
||||
TYPE0,
|
||||
TYPE1,
|
||||
TYPE2
|
||||
} LCD_TYPE;
|
||||
|
||||
|
||||
/** Number of lines on your LCD
|
||||
*/
|
||||
typedef enum{
|
||||
NUMBER_OF_LINES_1=0,
|
||||
NUMBER_OF_LINES_4=3,
|
||||
NUMBER_OF_LINES_2=1
|
||||
} LCD_NUMBER_OF_LINES;
|
||||
|
||||
/**
|
||||
* Structure that hold all the required variables in
|
||||
* order to simplify the communication process
|
||||
*/
|
||||
typedef struct{
|
||||
LCD_NUMBER_OF_LINES NUMBER_OF_LINES; /**< Number of lines on your LCD */
|
||||
uint8_t D;
|
||||
uint8_t C;
|
||||
uint8_t B;
|
||||
char lcdbuf[2][16]; /**< Buffer for the LCD */
|
||||
int x, oldx, y, oldy;
|
||||
uint8_t state; /**< Holds current state of the PCF8574 expander */
|
||||
uint32_t* pins; /**< Array of pins based on your hardware (wiring) */
|
||||
LCD_TYPE type; /**< Type of hardware you want to use */
|
||||
PCF8574_HandleTypeDef pcf8574; /**< PCF8574_HandleTypeDef for communication with PCF8574 */
|
||||
void (*errorCallback)(LCD_RESULT);
|
||||
} LCD_PCF8574_HandleTypeDef;
|
||||
|
||||
/** @def INTERFACE - Selector for the type of interface you want to use (has to be a type of LCD_INTERFACE) */
|
||||
#define LCD_INTERFACE_SELECTOR PCF8574
|
||||
|
||||
/** Enumeration of the LCD pins */
|
||||
typedef enum{
|
||||
LCD_PIN_D4=0,
|
||||
LCD_PIN_D5=1,
|
||||
LCD_PIN_D6=2,
|
||||
LCD_PIN_D7=3,
|
||||
LCD_PIN_RS=4,
|
||||
LCD_PIN_RW=5,
|
||||
LCD_PIN_E=6,
|
||||
LCD_PIN_LED=7
|
||||
} LCD_PIN;
|
||||
|
||||
/** Used to specify the direction in certain LCD operations */
|
||||
typedef enum{
|
||||
DIRECTION_LEFT=0,
|
||||
DIRECTION_RIGHT=1
|
||||
} LCD_DIRECTION;
|
||||
|
||||
/** */
|
||||
typedef enum{
|
||||
DIRECTION_INCREMENT=1,
|
||||
DIRECTION_DECREMENT=2
|
||||
} LCD_DIRECTION_INC_DEC;
|
||||
|
||||
/** */
|
||||
typedef enum{
|
||||
SHIFT_YES=1,
|
||||
SHIFT_NO=0
|
||||
} LCD_SHIFT;
|
||||
|
||||
#if LCD_INTERFACE_SELECTOR==PCF8574
|
||||
|
||||
/**
|
||||
* LCD initialization function
|
||||
* @param handle - a pointer to the LCD handle
|
||||
* @return whether the function was successful or not
|
||||
*/
|
||||
LCD_RESULT LCD_Init(LCD_PCF8574_HandleTypeDef* handle);
|
||||
|
||||
/**
|
||||
* LCD deinitialization function
|
||||
* @param handle - a pointer to the LCD handle
|
||||
* @return whether the function was successful or not
|
||||
*/
|
||||
LCD_RESULT LCD_DeInit(LCD_PCF8574_HandleTypeDef* handle);
|
||||
|
||||
/**
|
||||
* Sends a command to the HD44780 controller
|
||||
* @param handle - a pointer to the LCD handle
|
||||
* @param cmd - a command you want to send
|
||||
* @return whether the function was successful or not
|
||||
*/
|
||||
LCD_RESULT LCD_WriteCMD(LCD_PCF8574_HandleTypeDef* handle, uint8_t cmd);
|
||||
|
||||
/**
|
||||
* Sends data to the HD44780 controller
|
||||
* @param handle - a pointer to the LCD handle
|
||||
* @param data - data you want to send
|
||||
* @return whether the function was successful or not
|
||||
*/
|
||||
LCD_RESULT LCD_WriteDATA(LCD_PCF8574_HandleTypeDef* handle, uint8_t data);
|
||||
|
||||
/**
|
||||
* Gets the state of the busy flag
|
||||
* @param handle - a pointer to the LCD handle
|
||||
* @param flag - a pointer to a variable that will contain the state of the flag
|
||||
* @return whether the function was successful or not
|
||||
*/
|
||||
LCD_RESULT LCD_GetBusyFlag(LCD_PCF8574_HandleTypeDef* handle,uint8_t* flag);
|
||||
|
||||
/**
|
||||
* Writes lower 4bits of data to the data bus of the controller
|
||||
* @param handle - a pointer to the LCD handle
|
||||
* @param data - data you want to put on the data bus (lower 4bits)
|
||||
* @return whether the function was successful or not
|
||||
*/
|
||||
LCD_RESULT LCD_WriteToDataBus(LCD_PCF8574_HandleTypeDef* handle, uint8_t data);
|
||||
|
||||
/**
|
||||
* Clears the LCD
|
||||
* @param handle - a pointer to the LCD handle
|
||||
* @return whether the function was successful or not
|
||||
*/
|
||||
LCD_RESULT LCD_ClearDisplay(LCD_PCF8574_HandleTypeDef* handle);
|
||||
|
||||
/**
|
||||
* Writes a string to the LCD
|
||||
* @param handle - a pointer to the LCD handle
|
||||
* @param s - string you want to write to the LCD
|
||||
* @return whether the function was successful or not
|
||||
*/
|
||||
LCD_RESULT LCD_WriteString(LCD_PCF8574_HandleTypeDef* handle, char *s);
|
||||
|
||||
/**
|
||||
* Sets the location of the memory pointer in the controller (used to control other operations (for example where to write a string))
|
||||
* @param handle - a pointer to the LCD handle
|
||||
* @param x - x-coordinate of the location
|
||||
* @param y - y-coordinate of the location
|
||||
* @return whether the function was successful or not
|
||||
*/
|
||||
LCD_RESULT LCD_SetLocation(LCD_PCF8574_HandleTypeDef* handle, uint8_t x, uint8_t y);
|
||||
|
||||
/**
|
||||
* Turns ON the display
|
||||
* @param handle - a pointer to the LCD handle
|
||||
* @return whether the function was successful or not
|
||||
*/
|
||||
LCD_RESULT LCD_DisplayON(LCD_PCF8574_HandleTypeDef* handle);
|
||||
|
||||
/**
|
||||
* Turns OFF the display
|
||||
* @param handle - a pointer to the LCD handle
|
||||
* @return whether the function was successful or not
|
||||
*/
|
||||
LCD_RESULT LCD_DisplayOFF(LCD_PCF8574_HandleTypeDef* handle);
|
||||
|
||||
/**
|
||||
* Turns ON the cursor
|
||||
* @param handle - a pointer to the LCD handle
|
||||
* @param blink - if you want the cursor to blink set this to 1, else 0
|
||||
* @return whether the function was successful or not
|
||||
*/
|
||||
LCD_RESULT LCD_CursorON(LCD_PCF8574_HandleTypeDef* handle, uint8_t blink);
|
||||
|
||||
/**
|
||||
* Turns OFF the cursor
|
||||
* @param handle - a pointer to the LCD handle
|
||||
* @return whether the function was successful or not
|
||||
*/
|
||||
LCD_RESULT LCD_CursorOFF(LCD_PCF8574_HandleTypeDef* handle);
|
||||
|
||||
/**
|
||||
* Shifts the cursor in the specified direction certain number of steps
|
||||
* @param handle - a pointer to the LCD handle
|
||||
* @param direction - specifies the direction
|
||||
* @param steps - specifies how many positions to shift the cursor by
|
||||
* @return whether the function was successful or not
|
||||
*/
|
||||
LCD_RESULT LCD_ShiftCursor(LCD_PCF8574_HandleTypeDef* handle, LCD_DIRECTION direction,uint8_t steps);
|
||||
|
||||
/**
|
||||
* Shifts the contents of the LCD
|
||||
* @param handle - a pointer to the LCD handle
|
||||
* @param direction - directions of the shift
|
||||
* @param steps - how many positions to shift the contents by
|
||||
* @return whether the function was successful or not
|
||||
*/
|
||||
LCD_RESULT LCD_ShiftDisplay(LCD_PCF8574_HandleTypeDef* handle, uint8_t direction, uint8_t steps);
|
||||
|
||||
/**
|
||||
* Writes a number to the LCD
|
||||
* @param handle - a pointer to the LCD handle
|
||||
* @param n - a number you want to write to the LCD
|
||||
* @return whether the function was successful or not
|
||||
*/
|
||||
LCD_RESULT LCD_WriteNumber(LCD_PCF8574_HandleTypeDef* handle, unsigned long n, uint8_t base);
|
||||
|
||||
|
||||
LCD_RESULT LCD_WriteFloat(LCD_PCF8574_HandleTypeDef* handle, double number, uint8_t digits);
|
||||
|
||||
/**
|
||||
* Sets the mode by which data is written to the LCD
|
||||
* @param handle - a pointer to the LCD handle
|
||||
* @param direction
|
||||
* @param shift
|
||||
* @return whether the function was successful or not
|
||||
*/
|
||||
LCD_RESULT LCD_EntryModeSet(LCD_PCF8574_HandleTypeDef* handle, LCD_DIRECTION_INC_DEC direction,LCD_SHIFT shift);
|
||||
|
||||
/**
|
||||
* Creates a custom character at the given address
|
||||
* @param handle - a pointer to the LCD handle
|
||||
* @param pattern - pointer to the bit pattern of the character
|
||||
* @param address - an address to which the character will be written
|
||||
* @return whether the function was successful or not
|
||||
*/
|
||||
LCD_RESULT LCD_CustomChar(LCD_PCF8574_HandleTypeDef* handle, uint8_t *pattern,uint8_t address);
|
||||
|
||||
/**
|
||||
* Writes the current state to the PCF8574 expander
|
||||
* @param handle - a pointer to the LCD handle
|
||||
* @return whether the function was successful or not
|
||||
*/
|
||||
LCD_RESULT LCD_I2C_WriteOut(LCD_PCF8574_HandleTypeDef* handle);
|
||||
|
||||
/**
|
||||
* Controls the state of the LCD backlight
|
||||
* @param handle - a pointer to the LCD handle
|
||||
* @param on - set it to 1 if you want to turn the backlight on, else 0
|
||||
* @return whether the function was successful or not
|
||||
*/
|
||||
LCD_RESULT LCD_StateLEDControl(LCD_PCF8574_HandleTypeDef* handle, uint8_t on);
|
||||
|
||||
/**
|
||||
* Rewrites a bit in the state variable with the value specified
|
||||
* @param handle - a pointer to the LCD handle
|
||||
* @param value - value of the bit (0 or 1)
|
||||
* @param pin - pin which you want to write to
|
||||
* @return whether the function was successful or not
|
||||
*/
|
||||
LCD_RESULT LCD_StateWriteBit(LCD_PCF8574_HandleTypeDef* handle, uint8_t value, LCD_PIN pin);
|
||||
|
||||
/**
|
||||
* Waits until the busy flag is reset
|
||||
* @param handle - a pointer to the LCD handle
|
||||
*/
|
||||
void LCD_WaitForBusyFlag(LCD_PCF8574_HandleTypeDef* handle);
|
||||
|
||||
#endif
|
||||
|
||||
#endif /* HD44780_H_ */
|
|
@ -0,0 +1,82 @@
|
|||
/*
|
||||
* pcf8574.h
|
||||
*
|
||||
* Created on: Dec 30, 2014
|
||||
* Author: peter
|
||||
*/
|
||||
|
||||
#ifndef INC_PCF8574_H_
|
||||
#define INC_PCF8574_H_
|
||||
|
||||
#include "stm32f1xx_hal.h"
|
||||
|
||||
/** @file pcf8574.h
|
||||
* @brief In order to use this you have to create a PCF8574_HandleTypeDef variable (e.g. "pcf").
|
||||
* Then you will set the the address based on the configuration of your chip (pins A0, A1, A2) ( pcf.PCF_I2C_ADDRESS ) (0 to 7),
|
||||
* timeout ( pcf.PCF_I2C_TIMEOUT ) (e.g. 1000 (=1 sec)),
|
||||
* I2C instance to use ( pcf.i2c.Instance ) (e.g. I2C1 or I2C2 ...),
|
||||
* speed of the communication ( pcf.i2c.Init.ClockSpeed ) (e.g. 100 000 (=100kHz)).
|
||||
*
|
||||
* Example:
|
||||
* example.c
|
||||
* example_msp.c
|
||||
*/
|
||||
|
||||
/**
|
||||
* Provides possible return values for the functions
|
||||
*/
|
||||
typedef enum{
|
||||
PCF8574_OK, /**< Everything went OK */
|
||||
PCF8574_ERROR /**< An error occured */
|
||||
} PCF8574_RESULT;
|
||||
|
||||
/** @def PCF8574_I2C_ADDRESS_MASK - Pulled from the datasheet
|
||||
*/
|
||||
#define PCF8574_I2C_ADDRESS_MASK 0x40
|
||||
|
||||
/**
|
||||
* PCF8574 handle structure which wraps all the necessary variables together in
|
||||
* order to simplify the communication with the chip
|
||||
*/
|
||||
typedef struct{
|
||||
uint8_t PCF_I2C_ADDRESS; /**< address of the chip you want to communicate with */
|
||||
uint32_t PCF_I2C_TIMEOUT; /**< timeout value for the communication in milliseconds */
|
||||
I2C_HandleTypeDef i2c; /**< I2C_HandleTypeDef structure */
|
||||
void (*errorCallback)(PCF8574_RESULT);
|
||||
} PCF8574_HandleTypeDef;
|
||||
|
||||
/** @var PCF8574_Type0Pins[8] - characterization of pins for hardware of type 0
|
||||
*/
|
||||
extern uint32_t PCF8574_Type0Pins[];
|
||||
|
||||
/**
|
||||
* Initializes the I2C for communication
|
||||
* @param handle - a pointer to the PCF8574 handle
|
||||
* @return whether the function was successful or not
|
||||
*/
|
||||
PCF8574_RESULT PCF8574_Init(PCF8574_HandleTypeDef* handle);
|
||||
|
||||
/**
|
||||
* Deinitializes the I2C
|
||||
* @param handle - a pointer to the PCF8574 handle
|
||||
* @return whether the function was successful or not
|
||||
*/
|
||||
PCF8574_RESULT PCF8574_DeInit(PCF8574_HandleTypeDef* handle);
|
||||
|
||||
/**
|
||||
* Writes a given value to the port of PCF8574
|
||||
* @param handle - a pointer to the PCF8574 handle
|
||||
* @param val - a value to be written to the port
|
||||
* @return whether the function was successful or not
|
||||
*/
|
||||
PCF8574_RESULT PCF8574_Write(PCF8574_HandleTypeDef* handle, uint8_t val);
|
||||
|
||||
/**
|
||||
* Reads the current state of the port of PCF8574
|
||||
* @param handle - a pointer to the PCF8574 handle
|
||||
* @param val - a pointer to the variable that will be assigned a value from the chip
|
||||
* @return whether the function was successful or not
|
||||
*/
|
||||
PCF8574_RESULT PCF8574_Read(PCF8574_HandleTypeDef* handle, uint8_t* val);
|
||||
|
||||
#endif /* INC_PCF8574_H_ */
|
3
Makefile
3
Makefile
|
@ -40,6 +40,9 @@ Src/setup.c \
|
|||
Src/control.c \
|
||||
Src/main.c \
|
||||
Src/bldc.c \
|
||||
Src/eeprom.c \
|
||||
Src/hd44780.c \
|
||||
Src/pcf8574.c \
|
||||
Src/comms.c \
|
||||
Src/stm32f1xx_it.c \
|
||||
Src/BLDC_controller_data.c \
|
||||
|
|
|
@ -84,6 +84,13 @@ void PPM_Init(void) {
|
|||
}
|
||||
#endif
|
||||
|
||||
uint8_t Nunchuck_Ping(void) {
|
||||
if (HAL_I2C_Master_Receive(&hi2c2,0xA4,(uint8_t*)nunchuck_data, 1, 10) == HAL_OK) {
|
||||
return 1;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
void Nunchuck_Init(void) {
|
||||
//-- START -- init WiiNunchuck
|
||||
i2cBuffer[0] = 0xF0;
|
||||
|
@ -101,18 +108,20 @@ void Nunchuck_Init(void) {
|
|||
|
||||
void Nunchuck_Read(void) {
|
||||
i2cBuffer[0] = 0x00;
|
||||
HAL_I2C_Master_Transmit(&hi2c2,0xA4,(uint8_t*)i2cBuffer, 1, 100);
|
||||
HAL_Delay(5);
|
||||
if (HAL_I2C_Master_Receive(&hi2c2,0xA4,(uint8_t*)nunchuck_data, 6, 100) == HAL_OK) {
|
||||
HAL_I2C_Master_Transmit(&hi2c2,0xA4,(uint8_t*)i2cBuffer, 1, 10);
|
||||
HAL_Delay(3);
|
||||
if (HAL_I2C_Master_Receive(&hi2c2,0xA4,(uint8_t*)nunchuck_data, 6, 10) == HAL_OK) {
|
||||
timeout = 0;
|
||||
} else {
|
||||
timeout++;
|
||||
}
|
||||
|
||||
#ifndef TRANSPOTTER
|
||||
if (timeout > 3) {
|
||||
HAL_Delay(50);
|
||||
Nunchuck_Init();
|
||||
}
|
||||
#endif
|
||||
|
||||
//setScopeChannel(0, (int)nunchuck_data[0]);
|
||||
//setScopeChannel(1, (int)nunchuck_data[1]);
|
||||
|
|
|
@ -0,0 +1,730 @@
|
|||
/**
|
||||
******************************************************************************
|
||||
* @file EEPROM_Emulation/src/eeprom.c
|
||||
* @author MCD Application Team
|
||||
* @version V1.3.0
|
||||
* @date 18-December-2015
|
||||
* @brief This file provides all the EEPROM emulation firmware functions.
|
||||
******************************************************************************
|
||||
* @attention
|
||||
*
|
||||
* <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without modification,
|
||||
* are permitted provided that the following conditions are met:
|
||||
* 1. Redistributions of source code must retain the above copyright notice,
|
||||
* this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright notice,
|
||||
* this list of conditions and the following disclaimer in the documentation
|
||||
* and/or other materials provided with the distribution.
|
||||
* 3. Neither the name of STMicroelectronics nor the names of its contributors
|
||||
* may be used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
|
||||
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
|
||||
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
|
||||
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
||||
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
|
||||
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
||||
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
******************************************************************************
|
||||
*/
|
||||
|
||||
/** @addtogroup EEPROM_Emulation
|
||||
* @{
|
||||
*/
|
||||
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include "eeprom.h"
|
||||
|
||||
/* Private typedef -----------------------------------------------------------*/
|
||||
/* Private define ------------------------------------------------------------*/
|
||||
/* Private macro -------------------------------------------------------------*/
|
||||
/* Private variables ---------------------------------------------------------*/
|
||||
|
||||
/* Global variable used to store variable value in read sequence */
|
||||
uint16_t DataVar = 0;
|
||||
|
||||
/* Virtual address defined by the user: 0xFFFF value is prohibited */
|
||||
extern uint16_t VirtAddVarTab[NB_OF_VAR];
|
||||
|
||||
/* Private function prototypes -----------------------------------------------*/
|
||||
/* Private functions ---------------------------------------------------------*/
|
||||
static HAL_StatusTypeDef EE_Format(void);
|
||||
static uint16_t EE_FindValidPage(uint8_t Operation);
|
||||
static uint16_t EE_VerifyPageFullWriteVariable(uint16_t VirtAddress, uint16_t Data);
|
||||
static uint16_t EE_PageTransfer(uint16_t VirtAddress, uint16_t Data);
|
||||
static uint16_t EE_VerifyPageFullyErased(uint32_t Address);
|
||||
|
||||
/**
|
||||
* @brief Restore the pages to a known good state in case of page's status
|
||||
* corruption after a power loss.
|
||||
* @param None.
|
||||
* @retval - Flash error code: on write Flash error
|
||||
* - FLASH_COMPLETE: on success
|
||||
*/
|
||||
uint16_t EE_Init(void)
|
||||
{
|
||||
uint16_t pagestatus0 = 6, pagestatus1 = 6;
|
||||
uint16_t varidx = 0;
|
||||
uint16_t eepromstatus = 0, readstatus = 0;
|
||||
int16_t x = -1;
|
||||
HAL_StatusTypeDef flashstatus;
|
||||
uint32_t page_error = 0;
|
||||
FLASH_EraseInitTypeDef s_eraseinit;
|
||||
|
||||
|
||||
/* Get Page0 status */
|
||||
pagestatus0 = (*(__IO uint16_t*)PAGE0_BASE_ADDRESS);
|
||||
/* Get Page1 status */
|
||||
pagestatus1 = (*(__IO uint16_t*)PAGE1_BASE_ADDRESS);
|
||||
|
||||
/* Fill EraseInit structure*/
|
||||
s_eraseinit.TypeErase = FLASH_TYPEERASE_PAGES;
|
||||
s_eraseinit.PageAddress = PAGE0_ID;
|
||||
s_eraseinit.NbPages = 1;
|
||||
|
||||
/* Check for invalid header states and repair if necessary */
|
||||
switch (pagestatus0)
|
||||
{
|
||||
case ERASED:
|
||||
if (pagestatus1 == VALID_PAGE) /* Page0 erased, Page1 valid */
|
||||
{
|
||||
/* Erase Page0 */
|
||||
if(!EE_VerifyPageFullyErased(PAGE0_BASE_ADDRESS))
|
||||
{
|
||||
flashstatus = HAL_FLASHEx_Erase(&s_eraseinit, &page_error);
|
||||
/* If erase operation was failed, a Flash error code is returned */
|
||||
if (flashstatus != HAL_OK)
|
||||
{
|
||||
return flashstatus;
|
||||
}
|
||||
}
|
||||
}
|
||||
else if (pagestatus1 == RECEIVE_DATA) /* Page0 erased, Page1 receive */
|
||||
{
|
||||
/* Erase Page0 */
|
||||
if(!EE_VerifyPageFullyErased(PAGE0_BASE_ADDRESS))
|
||||
{
|
||||
flashstatus = HAL_FLASHEx_Erase(&s_eraseinit, &page_error);
|
||||
/* If erase operation was failed, a Flash error code is returned */
|
||||
if (flashstatus != HAL_OK)
|
||||
{
|
||||
return flashstatus;
|
||||
}
|
||||
}
|
||||
/* Mark Page1 as valid */
|
||||
flashstatus = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, PAGE1_BASE_ADDRESS, VALID_PAGE);
|
||||
/* If program operation was failed, a Flash error code is returned */
|
||||
if (flashstatus != HAL_OK)
|
||||
{
|
||||
return flashstatus;
|
||||
}
|
||||
}
|
||||
else /* First EEPROM access (Page0&1 are erased) or invalid state -> format EEPROM */
|
||||
{
|
||||
/* Erase both Page0 and Page1 and set Page0 as valid page */
|
||||
flashstatus = EE_Format();
|
||||
/* If erase/program operation was failed, a Flash error code is returned */
|
||||
if (flashstatus != HAL_OK)
|
||||
{
|
||||
return flashstatus;
|
||||
}
|
||||
}
|
||||
break;
|
||||
|
||||
case RECEIVE_DATA:
|
||||
if (pagestatus1 == VALID_PAGE) /* Page0 receive, Page1 valid */
|
||||
{
|
||||
/* Transfer data from Page1 to Page0 */
|
||||
for (varidx = 0; varidx < NB_OF_VAR; varidx++)
|
||||
{
|
||||
if (( *(__IO uint16_t*)(PAGE0_BASE_ADDRESS + 6)) == VirtAddVarTab[varidx])
|
||||
{
|
||||
x = varidx;
|
||||
}
|
||||
if (varidx != x)
|
||||
{
|
||||
/* Read the last variables' updates */
|
||||
readstatus = EE_ReadVariable(VirtAddVarTab[varidx], &DataVar);
|
||||
/* In case variable corresponding to the virtual address was found */
|
||||
if (readstatus != 0x1)
|
||||
{
|
||||
/* Transfer the variable to the Page0 */
|
||||
eepromstatus = EE_VerifyPageFullWriteVariable(VirtAddVarTab[varidx], DataVar);
|
||||
/* If program operation was failed, a Flash error code is returned */
|
||||
if (eepromstatus != HAL_OK)
|
||||
{
|
||||
return eepromstatus;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
/* Mark Page0 as valid */
|
||||
flashstatus = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, PAGE0_BASE_ADDRESS, VALID_PAGE);
|
||||
/* If program operation was failed, a Flash error code is returned */
|
||||
if (flashstatus != HAL_OK)
|
||||
{
|
||||
return flashstatus;
|
||||
}
|
||||
s_eraseinit.TypeErase = FLASH_TYPEERASE_PAGES;
|
||||
s_eraseinit.PageAddress = PAGE1_ID;
|
||||
s_eraseinit.NbPages = 1;
|
||||
/* Erase Page1 */
|
||||
if(!EE_VerifyPageFullyErased(PAGE1_BASE_ADDRESS))
|
||||
{
|
||||
flashstatus = HAL_FLASHEx_Erase(&s_eraseinit, &page_error);
|
||||
/* If erase operation was failed, a Flash error code is returned */
|
||||
if (flashstatus != HAL_OK)
|
||||
{
|
||||
return flashstatus;
|
||||
}
|
||||
}
|
||||
}
|
||||
else if (pagestatus1 == ERASED) /* Page0 receive, Page1 erased */
|
||||
{
|
||||
s_eraseinit.TypeErase = FLASH_TYPEERASE_PAGES;
|
||||
s_eraseinit.PageAddress = PAGE1_ID;
|
||||
s_eraseinit.NbPages = 1;
|
||||
/* Erase Page1 */
|
||||
if(!EE_VerifyPageFullyErased(PAGE1_BASE_ADDRESS))
|
||||
{
|
||||
flashstatus = HAL_FLASHEx_Erase(&s_eraseinit, &page_error);
|
||||
/* If erase operation was failed, a Flash error code is returned */
|
||||
if (flashstatus != HAL_OK)
|
||||
{
|
||||
return flashstatus;
|
||||
}
|
||||
}
|
||||
/* Mark Page0 as valid */
|
||||
flashstatus = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, PAGE0_BASE_ADDRESS, VALID_PAGE);
|
||||
/* If program operation was failed, a Flash error code is returned */
|
||||
if (flashstatus != HAL_OK)
|
||||
{
|
||||
return flashstatus;
|
||||
}
|
||||
}
|
||||
else /* Invalid state -> format eeprom */
|
||||
{
|
||||
/* Erase both Page0 and Page1 and set Page0 as valid page */
|
||||
flashstatus = EE_Format();
|
||||
/* If erase/program operation was failed, a Flash error code is returned */
|
||||
if (flashstatus != HAL_OK)
|
||||
{
|
||||
return flashstatus;
|
||||
}
|
||||
}
|
||||
break;
|
||||
|
||||
case VALID_PAGE:
|
||||
if (pagestatus1 == VALID_PAGE) /* Invalid state -> format eeprom */
|
||||
{
|
||||
/* Erase both Page0 and Page1 and set Page0 as valid page */
|
||||
flashstatus = EE_Format();
|
||||
/* If erase/program operation was failed, a Flash error code is returned */
|
||||
if (flashstatus != HAL_OK)
|
||||
{
|
||||
return flashstatus;
|
||||
}
|
||||
}
|
||||
else if (pagestatus1 == ERASED) /* Page0 valid, Page1 erased */
|
||||
{
|
||||
s_eraseinit.TypeErase = FLASH_TYPEERASE_PAGES;
|
||||
s_eraseinit.PageAddress = PAGE1_ID;
|
||||
s_eraseinit.NbPages = 1;
|
||||
/* Erase Page1 */
|
||||
if(!EE_VerifyPageFullyErased(PAGE1_BASE_ADDRESS))
|
||||
{
|
||||
flashstatus = HAL_FLASHEx_Erase(&s_eraseinit, &page_error);
|
||||
/* If erase operation was failed, a Flash error code is returned */
|
||||
if (flashstatus != HAL_OK)
|
||||
{
|
||||
return flashstatus;
|
||||
}
|
||||
}
|
||||
}
|
||||
else /* Page0 valid, Page1 receive */
|
||||
{
|
||||
/* Transfer data from Page0 to Page1 */
|
||||
for (varidx = 0; varidx < NB_OF_VAR; varidx++)
|
||||
{
|
||||
if ((*(__IO uint16_t*)(PAGE1_BASE_ADDRESS + 6)) == VirtAddVarTab[varidx])
|
||||
{
|
||||
x = varidx;
|
||||
}
|
||||
if (varidx != x)
|
||||
{
|
||||
/* Read the last variables' updates */
|
||||
readstatus = EE_ReadVariable(VirtAddVarTab[varidx], &DataVar);
|
||||
/* In case variable corresponding to the virtual address was found */
|
||||
if (readstatus != 0x1)
|
||||
{
|
||||
/* Transfer the variable to the Page1 */
|
||||
eepromstatus = EE_VerifyPageFullWriteVariable(VirtAddVarTab[varidx], DataVar);
|
||||
/* If program operation was failed, a Flash error code is returned */
|
||||
if (eepromstatus != HAL_OK)
|
||||
{
|
||||
return eepromstatus;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
/* Mark Page1 as valid */
|
||||
flashstatus = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, PAGE1_BASE_ADDRESS, VALID_PAGE);
|
||||
/* If program operation was failed, a Flash error code is returned */
|
||||
if (flashstatus != HAL_OK)
|
||||
{
|
||||
return flashstatus;
|
||||
}
|
||||
s_eraseinit.TypeErase = FLASH_TYPEERASE_PAGES;
|
||||
s_eraseinit.PageAddress = PAGE0_ID;
|
||||
s_eraseinit.NbPages = 1;
|
||||
/* Erase Page0 */
|
||||
if(!EE_VerifyPageFullyErased(PAGE0_BASE_ADDRESS))
|
||||
{
|
||||
flashstatus = HAL_FLASHEx_Erase(&s_eraseinit, &page_error);
|
||||
/* If erase operation was failed, a Flash error code is returned */
|
||||
if (flashstatus != HAL_OK)
|
||||
{
|
||||
return flashstatus;
|
||||
}
|
||||
}
|
||||
}
|
||||
break;
|
||||
|
||||
default: /* Any other state -> format eeprom */
|
||||
/* Erase both Page0 and Page1 and set Page0 as valid page */
|
||||
flashstatus = EE_Format();
|
||||
/* If erase/program operation was failed, a Flash error code is returned */
|
||||
if (flashstatus != HAL_OK)
|
||||
{
|
||||
return flashstatus;
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
return HAL_OK;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Verify if specified page is fully erased.
|
||||
* @param Address: page address
|
||||
* This parameter can be one of the following values:
|
||||
* @arg PAGE0_BASE_ADDRESS: Page0 base address
|
||||
* @arg PAGE1_BASE_ADDRESS: Page1 base address
|
||||
* @retval page fully erased status:
|
||||
* - 0: if Page not erased
|
||||
* - 1: if Page erased
|
||||
*/
|
||||
uint16_t EE_VerifyPageFullyErased(uint32_t Address)
|
||||
{
|
||||
uint32_t readstatus = 1;
|
||||
uint16_t addressvalue = 0x5555;
|
||||
|
||||
/* Check each active page address starting from end */
|
||||
while (Address <= PAGE0_END_ADDRESS)
|
||||
{
|
||||
/* Get the current location content to be compared with virtual address */
|
||||
addressvalue = (*(__IO uint16_t*)Address);
|
||||
|
||||
/* Compare the read address with the virtual address */
|
||||
if (addressvalue != ERASED)
|
||||
{
|
||||
|
||||
/* In case variable value is read, reset readstatus flag */
|
||||
readstatus = 0;
|
||||
|
||||
break;
|
||||
}
|
||||
/* Next address location */
|
||||
Address = Address + 4;
|
||||
}
|
||||
|
||||
/* Return readstatus value: (0: Page not erased, 1: Page erased) */
|
||||
return readstatus;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Returns the last stored variable data, if found, which correspond to
|
||||
* the passed virtual address
|
||||
* @param VirtAddress: Variable virtual address
|
||||
* @param Data: Global variable contains the read variable value
|
||||
* @retval Success or error status:
|
||||
* - 0: if variable was found
|
||||
* - 1: if the variable was not found
|
||||
* - NO_VALID_PAGE: if no valid page was found.
|
||||
*/
|
||||
uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t* Data)
|
||||
{
|
||||
uint16_t validpage = PAGE0;
|
||||
uint16_t addressvalue = 0x5555, readstatus = 1;
|
||||
uint32_t address = EEPROM_START_ADDRESS, PageStartAddress = EEPROM_START_ADDRESS;
|
||||
|
||||
/* Get active Page for read operation */
|
||||
validpage = EE_FindValidPage(READ_FROM_VALID_PAGE);
|
||||
|
||||
/* Check if there is no valid page */
|
||||
if (validpage == NO_VALID_PAGE)
|
||||
{
|
||||
return NO_VALID_PAGE;
|
||||
}
|
||||
|
||||
/* Get the valid Page start Address */
|
||||
PageStartAddress = (uint32_t)(EEPROM_START_ADDRESS + (uint32_t)(validpage * PAGE_SIZE));
|
||||
|
||||
/* Get the valid Page end Address */
|
||||
address = (uint32_t)((EEPROM_START_ADDRESS - 2) + (uint32_t)((1 + validpage) * PAGE_SIZE));
|
||||
|
||||
/* Check each active page address starting from end */
|
||||
while (address > (PageStartAddress + 2))
|
||||
{
|
||||
/* Get the current location content to be compared with virtual address */
|
||||
addressvalue = (*(__IO uint16_t*)address);
|
||||
|
||||
/* Compare the read address with the virtual address */
|
||||
if (addressvalue == VirtAddress)
|
||||
{
|
||||
/* Get content of Address-2 which is variable value */
|
||||
*Data = (*(__IO uint16_t*)(address - 2));
|
||||
|
||||
/* In case variable value is read, reset readstatus flag */
|
||||
readstatus = 0;
|
||||
|
||||
break;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Next address location */
|
||||
address = address - 4;
|
||||
}
|
||||
}
|
||||
|
||||
/* Return readstatus value: (0: variable exist, 1: variable doesn't exist) */
|
||||
return readstatus;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Writes/upadtes variable data in EEPROM.
|
||||
* @param VirtAddress: Variable virtual address
|
||||
* @param Data: 16 bit data to be written
|
||||
* @retval Success or error status:
|
||||
* - FLASH_COMPLETE: on success
|
||||
* - PAGE_FULL: if valid page is full
|
||||
* - NO_VALID_PAGE: if no valid page was found
|
||||
* - Flash error code: on write Flash error
|
||||
*/
|
||||
uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data)
|
||||
{
|
||||
uint16_t Status = 0;
|
||||
|
||||
/* Write the variable virtual address and value in the EEPROM */
|
||||
Status = EE_VerifyPageFullWriteVariable(VirtAddress, Data);
|
||||
|
||||
/* In case the EEPROM active page is full */
|
||||
if (Status == PAGE_FULL)
|
||||
{
|
||||
/* Perform Page transfer */
|
||||
Status = EE_PageTransfer(VirtAddress, Data);
|
||||
}
|
||||
|
||||
/* Return last operation status */
|
||||
return Status;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Erases PAGE and PAGE1 and writes VALID_PAGE header to PAGE
|
||||
* @param None
|
||||
* @retval Status of the last operation (Flash write or erase) done during
|
||||
* EEPROM formating
|
||||
*/
|
||||
static HAL_StatusTypeDef EE_Format(void)
|
||||
{
|
||||
HAL_StatusTypeDef flashstatus = HAL_OK;
|
||||
uint32_t page_error = 0;
|
||||
FLASH_EraseInitTypeDef s_eraseinit;
|
||||
|
||||
s_eraseinit.TypeErase = FLASH_TYPEERASE_PAGES;
|
||||
s_eraseinit.PageAddress = PAGE0_ID;
|
||||
s_eraseinit.NbPages = 1;
|
||||
/* Erase Page0 */
|
||||
if(!EE_VerifyPageFullyErased(PAGE0_BASE_ADDRESS))
|
||||
{
|
||||
flashstatus = HAL_FLASHEx_Erase(&s_eraseinit, &page_error);
|
||||
/* If erase operation was failed, a Flash error code is returned */
|
||||
if (flashstatus != HAL_OK)
|
||||
{
|
||||
return flashstatus;
|
||||
}
|
||||
}
|
||||
/* Set Page0 as valid page: Write VALID_PAGE at Page0 base address */
|
||||
flashstatus = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, PAGE0_BASE_ADDRESS, VALID_PAGE);
|
||||
/* If program operation was failed, a Flash error code is returned */
|
||||
if (flashstatus != HAL_OK)
|
||||
{
|
||||
return flashstatus;
|
||||
}
|
||||
|
||||
s_eraseinit.PageAddress = PAGE1_ID;
|
||||
/* Erase Page1 */
|
||||
if(!EE_VerifyPageFullyErased(PAGE1_BASE_ADDRESS))
|
||||
{
|
||||
flashstatus = HAL_FLASHEx_Erase(&s_eraseinit, &page_error);
|
||||
/* If erase operation was failed, a Flash error code is returned */
|
||||
if (flashstatus != HAL_OK)
|
||||
{
|
||||
return flashstatus;
|
||||
}
|
||||
}
|
||||
|
||||
return HAL_OK;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Find valid Page for write or read operation
|
||||
* @param Operation: operation to achieve on the valid page.
|
||||
* This parameter can be one of the following values:
|
||||
* @arg READ_FROM_VALID_PAGE: read operation from valid page
|
||||
* @arg WRITE_IN_VALID_PAGE: write operation from valid page
|
||||
* @retval Valid page number (PAGE or PAGE1) or NO_VALID_PAGE in case
|
||||
* of no valid page was found
|
||||
*/
|
||||
static uint16_t EE_FindValidPage(uint8_t Operation)
|
||||
{
|
||||
uint16_t pagestatus0 = 6, pagestatus1 = 6;
|
||||
|
||||
/* Get Page0 actual status */
|
||||
pagestatus0 = (*(__IO uint16_t*)PAGE0_BASE_ADDRESS);
|
||||
|
||||
/* Get Page1 actual status */
|
||||
pagestatus1 = (*(__IO uint16_t*)PAGE1_BASE_ADDRESS);
|
||||
|
||||
/* Write or read operation */
|
||||
switch (Operation)
|
||||
{
|
||||
case WRITE_IN_VALID_PAGE: /* ---- Write operation ---- */
|
||||
if (pagestatus1 == VALID_PAGE)
|
||||
{
|
||||
/* Page0 receiving data */
|
||||
if (pagestatus0 == RECEIVE_DATA)
|
||||
{
|
||||
return PAGE0; /* Page0 valid */
|
||||
}
|
||||
else
|
||||
{
|
||||
return PAGE1; /* Page1 valid */
|
||||
}
|
||||
}
|
||||
else if (pagestatus0 == VALID_PAGE)
|
||||
{
|
||||
/* Page1 receiving data */
|
||||
if (pagestatus1 == RECEIVE_DATA)
|
||||
{
|
||||
return PAGE1; /* Page1 valid */
|
||||
}
|
||||
else
|
||||
{
|
||||
return PAGE0; /* Page0 valid */
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
return NO_VALID_PAGE; /* No valid Page */
|
||||
}
|
||||
|
||||
case READ_FROM_VALID_PAGE: /* ---- Read operation ---- */
|
||||
if (pagestatus0 == VALID_PAGE)
|
||||
{
|
||||
return PAGE0; /* Page0 valid */
|
||||
}
|
||||
else if (pagestatus1 == VALID_PAGE)
|
||||
{
|
||||
return PAGE1; /* Page1 valid */
|
||||
}
|
||||
else
|
||||
{
|
||||
return NO_VALID_PAGE ; /* No valid Page */
|
||||
}
|
||||
|
||||
default:
|
||||
return PAGE0; /* Page0 valid */
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Verify if active page is full and Writes variable in EEPROM.
|
||||
* @param VirtAddress: 16 bit virtual address of the variable
|
||||
* @param Data: 16 bit data to be written as variable value
|
||||
* @retval Success or error status:
|
||||
* - FLASH_COMPLETE: on success
|
||||
* - PAGE_FULL: if valid page is full
|
||||
* - NO_VALID_PAGE: if no valid page was found
|
||||
* - Flash error code: on write Flash error
|
||||
*/
|
||||
static uint16_t EE_VerifyPageFullWriteVariable(uint16_t VirtAddress, uint16_t Data)
|
||||
{
|
||||
HAL_StatusTypeDef flashstatus = HAL_OK;
|
||||
uint16_t validpage = PAGE0;
|
||||
uint32_t address = EEPROM_START_ADDRESS, pageendaddress = EEPROM_START_ADDRESS+PAGE_SIZE;
|
||||
|
||||
/* Get valid Page for write operation */
|
||||
validpage = EE_FindValidPage(WRITE_IN_VALID_PAGE);
|
||||
|
||||
/* Check if there is no valid page */
|
||||
if (validpage == NO_VALID_PAGE)
|
||||
{
|
||||
return NO_VALID_PAGE;
|
||||
}
|
||||
|
||||
/* Get the valid Page start address */
|
||||
address = (uint32_t)(EEPROM_START_ADDRESS + (uint32_t)(validpage * PAGE_SIZE));
|
||||
|
||||
/* Get the valid Page end address */
|
||||
pageendaddress = (uint32_t)((EEPROM_START_ADDRESS - 1) + (uint32_t)((validpage + 1) * PAGE_SIZE));
|
||||
|
||||
/* Check each active page address starting from begining */
|
||||
while (address < pageendaddress)
|
||||
{
|
||||
/* Verify if address and address+2 contents are 0xFFFFFFFF */
|
||||
if ((*(__IO uint32_t*)address) == 0xFFFFFFFF)
|
||||
{
|
||||
/* Set variable data */
|
||||
flashstatus = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, address, Data);
|
||||
/* If program operation was failed, a Flash error code is returned */
|
||||
if (flashstatus != HAL_OK)
|
||||
{
|
||||
return flashstatus;
|
||||
}
|
||||
/* Set variable virtual address */
|
||||
flashstatus = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, address + 2, VirtAddress);
|
||||
/* Return program operation status */
|
||||
return flashstatus;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Next address location */
|
||||
address = address + 4;
|
||||
}
|
||||
}
|
||||
|
||||
/* Return PAGE_FULL in case the valid page is full */
|
||||
return PAGE_FULL;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Transfers last updated variables data from the full Page to
|
||||
* an empty one.
|
||||
* @param VirtAddress: 16 bit virtual address of the variable
|
||||
* @param Data: 16 bit data to be written as variable value
|
||||
* @retval Success or error status:
|
||||
* - FLASH_COMPLETE: on success
|
||||
* - PAGE_FULL: if valid page is full
|
||||
* - NO_VALID_PAGE: if no valid page was found
|
||||
* - Flash error code: on write Flash error
|
||||
*/
|
||||
static uint16_t EE_PageTransfer(uint16_t VirtAddress, uint16_t Data)
|
||||
{
|
||||
HAL_StatusTypeDef flashstatus = HAL_OK;
|
||||
uint32_t newpageaddress = EEPROM_START_ADDRESS;
|
||||
uint32_t oldpageid = 0;
|
||||
uint16_t validpage = PAGE0, varidx = 0;
|
||||
uint16_t eepromstatus = 0, readstatus = 0;
|
||||
uint32_t page_error = 0;
|
||||
FLASH_EraseInitTypeDef s_eraseinit;
|
||||
|
||||
/* Get active Page for read operation */
|
||||
validpage = EE_FindValidPage(READ_FROM_VALID_PAGE);
|
||||
|
||||
if (validpage == PAGE1) /* Page1 valid */
|
||||
{
|
||||
/* New page address where variable will be moved to */
|
||||
newpageaddress = PAGE0_BASE_ADDRESS;
|
||||
|
||||
/* Old page ID where variable will be taken from */
|
||||
oldpageid = PAGE1_ID;
|
||||
}
|
||||
else if (validpage == PAGE0) /* Page0 valid */
|
||||
{
|
||||
/* New page address where variable will be moved to */
|
||||
newpageaddress = PAGE1_BASE_ADDRESS;
|
||||
|
||||
/* Old page ID where variable will be taken from */
|
||||
oldpageid = PAGE0_ID;
|
||||
}
|
||||
else
|
||||
{
|
||||
return NO_VALID_PAGE; /* No valid Page */
|
||||
}
|
||||
|
||||
/* Set the new Page status to RECEIVE_DATA status */
|
||||
flashstatus = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, newpageaddress, RECEIVE_DATA);
|
||||
/* If program operation was failed, a Flash error code is returned */
|
||||
if (flashstatus != HAL_OK)
|
||||
{
|
||||
return flashstatus;
|
||||
}
|
||||
|
||||
/* Write the variable passed as parameter in the new active page */
|
||||
eepromstatus = EE_VerifyPageFullWriteVariable(VirtAddress, Data);
|
||||
/* If program operation was failed, a Flash error code is returned */
|
||||
if (eepromstatus != HAL_OK)
|
||||
{
|
||||
return eepromstatus;
|
||||
}
|
||||
|
||||
/* Transfer process: transfer variables from old to the new active page */
|
||||
for (varidx = 0; varidx < NB_OF_VAR; varidx++)
|
||||
{
|
||||
if (VirtAddVarTab[varidx] != VirtAddress) /* Check each variable except the one passed as parameter */
|
||||
{
|
||||
/* Read the other last variable updates */
|
||||
readstatus = EE_ReadVariable(VirtAddVarTab[varidx], &DataVar);
|
||||
/* In case variable corresponding to the virtual address was found */
|
||||
if (readstatus != 0x1)
|
||||
{
|
||||
/* Transfer the variable to the new active page */
|
||||
eepromstatus = EE_VerifyPageFullWriteVariable(VirtAddVarTab[varidx], DataVar);
|
||||
/* If program operation was failed, a Flash error code is returned */
|
||||
if (eepromstatus != HAL_OK)
|
||||
{
|
||||
return eepromstatus;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
s_eraseinit.TypeErase = FLASH_TYPEERASE_PAGES;
|
||||
s_eraseinit.PageAddress = oldpageid;
|
||||
s_eraseinit.NbPages = 1;
|
||||
|
||||
/* Erase the old Page: Set old Page status to ERASED status */
|
||||
flashstatus = HAL_FLASHEx_Erase(&s_eraseinit, &page_error);
|
||||
/* If erase operation was failed, a Flash error code is returned */
|
||||
if (flashstatus != HAL_OK)
|
||||
{
|
||||
return flashstatus;
|
||||
}
|
||||
|
||||
/* Set new Page status to VALID_PAGE status */
|
||||
flashstatus = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, newpageaddress, VALID_PAGE);
|
||||
/* If program operation was failed, a Flash error code is returned */
|
||||
if (flashstatus != HAL_OK)
|
||||
{
|
||||
return flashstatus;
|
||||
}
|
||||
|
||||
|
||||
|
||||
/* Return last operation flash status */
|
||||
return flashstatus;
|
||||
}
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
|
|
@ -0,0 +1,402 @@
|
|||
/*
|
||||
* * hd44780.c
|
||||
*
|
||||
* Created on: Feb 20, 2014
|
||||
* Author: Peter
|
||||
*/
|
||||
|
||||
#include "hd44780.h"
|
||||
|
||||
uint32_t PCF8574_Type0Pins[8] = { 4, 5, 6, 7, 0, 1, 2, 3 };
|
||||
uint8_t LCDerrorFlag = 0;
|
||||
|
||||
void LCD_WaitForBusyFlag(LCD_PCF8574_HandleTypeDef* handle) {
|
||||
uint8_t flag;
|
||||
LCD_GetBusyFlag(handle, &flag);
|
||||
//uint32_t startTick=HAL_GetTick();
|
||||
//while (flag == 1 && HAL_GetTick()-startTick<handle->pcf8574.PCF_I2C_TIMEOUT) {
|
||||
// LCD_GetBusyFlag(handle, &flag);
|
||||
//}
|
||||
return;
|
||||
}
|
||||
|
||||
LCD_RESULT LCD_I2C_WriteOut(LCD_PCF8574_HandleTypeDef* handle) {
|
||||
if (!LCDerrorFlag) {
|
||||
if (PCF8574_Write(&handle->pcf8574, handle->state) != PCF8574_OK) {
|
||||
//handle->errorCallback(LCD_ERROR);
|
||||
LCDerrorFlag = 1;
|
||||
return LCD_ERROR;
|
||||
}
|
||||
return LCD_OK;
|
||||
}
|
||||
return LCD_ERROR;
|
||||
}
|
||||
|
||||
LCD_RESULT LCD_StateLEDControl(LCD_PCF8574_HandleTypeDef* handle, uint8_t on) {
|
||||
return LCD_StateWriteBit(handle, on & 1, LCD_PIN_LED);
|
||||
}
|
||||
|
||||
LCD_RESULT LCD_StateWriteBit(LCD_PCF8574_HandleTypeDef* handle, uint8_t value,
|
||||
LCD_PIN pin) {
|
||||
|
||||
if (value) {
|
||||
handle->state |= 1 << handle->pins[pin];
|
||||
} else {
|
||||
handle->state &= ~(1 << handle->pins[pin]);
|
||||
}
|
||||
return LCD_I2C_WriteOut(handle);
|
||||
}
|
||||
|
||||
LCD_RESULT LCD_Init(LCD_PCF8574_HandleTypeDef* handle) {
|
||||
handle->D = 1;
|
||||
handle->B = 0;
|
||||
handle->C = 0;
|
||||
if (handle->type == TYPE0) {
|
||||
handle->pins = PCF8574_Type0Pins;
|
||||
} else {
|
||||
//handle->errorCallback(LCD_ERROR);
|
||||
return LCD_ERROR; // no type of subinterface was specified
|
||||
}
|
||||
if (PCF8574_Init(&handle->pcf8574) != PCF8574_OK) {
|
||||
//handle->errorCallback(LCD_ERROR);
|
||||
return LCD_ERROR;
|
||||
}
|
||||
|
||||
//HAL_Delay(50);
|
||||
LCD_StateWriteBit(handle, 0, LCD_PIN_RS);
|
||||
LCD_StateWriteBit(handle, 0, LCD_PIN_RW);
|
||||
LCD_StateWriteBit(handle, 0, LCD_PIN_E);
|
||||
|
||||
LCD_WriteToDataBus(handle, 3);
|
||||
|
||||
LCD_StateWriteBit(handle, 1, LCD_PIN_E);
|
||||
HAL_Delay(1);
|
||||
LCD_StateWriteBit(handle, 0, LCD_PIN_E);
|
||||
HAL_Delay(5);
|
||||
|
||||
LCD_WriteToDataBus(handle, 3);
|
||||
|
||||
LCD_StateWriteBit(handle, 1, LCD_PIN_E);
|
||||
HAL_Delay(1);
|
||||
LCD_StateWriteBit(handle, 0, LCD_PIN_E);
|
||||
HAL_Delay(1);
|
||||
|
||||
LCD_WriteToDataBus(handle, 3);
|
||||
|
||||
LCD_StateWriteBit(handle, 1, LCD_PIN_E);
|
||||
HAL_Delay(1);
|
||||
LCD_StateWriteBit(handle, 0, LCD_PIN_E);
|
||||
HAL_Delay(1);
|
||||
|
||||
LCD_WriteToDataBus(handle, 2);
|
||||
|
||||
LCD_StateWriteBit(handle, 1, LCD_PIN_E);
|
||||
HAL_Delay(1);
|
||||
LCD_StateWriteBit(handle, 0, LCD_PIN_E);
|
||||
HAL_Delay(1);
|
||||
|
||||
uint8_t cmd = 0;
|
||||
cmd = cmd | (handle->NUMBER_OF_LINES << 3);
|
||||
cmd = cmd | (1 << 5);
|
||||
|
||||
LCD_WriteCMD(handle, cmd); // setting interface
|
||||
|
||||
cmd = 0;
|
||||
cmd = cmd | (1 << 3);
|
||||
cmd = cmd | (handle->C << 1);
|
||||
cmd = cmd | handle->B;
|
||||
|
||||
LCD_WriteCMD(handle, cmd); // setting display/cursor
|
||||
|
||||
LCD_ClearDisplay(handle);
|
||||
|
||||
LCD_EntryModeSet(handle, DIRECTION_INCREMENT, SHIFT_NO);
|
||||
|
||||
LCD_DisplayON(handle);
|
||||
|
||||
LCD_StateLEDControl(handle, 1); // LED power on
|
||||
|
||||
return LCD_OK;
|
||||
|
||||
}
|
||||
|
||||
LCD_RESULT LCD_WriteToDataBus(LCD_PCF8574_HandleTypeDef* handle, uint8_t data) {
|
||||
if ((data & 1) == 1) {
|
||||
handle->state |= 1 << handle->pins[LCD_PIN_D4];
|
||||
} else {
|
||||
handle->state &= ~(1 << handle->pins[LCD_PIN_D4]);
|
||||
}
|
||||
|
||||
if ((data & 2) == 2) {
|
||||
handle->state |= 1 << handle->pins[LCD_PIN_D5];
|
||||
} else {
|
||||
handle->state &= ~(1 << handle->pins[LCD_PIN_D5]);
|
||||
}
|
||||
|
||||
if ((data & 4) == 4) {
|
||||
handle->state |= 1 << handle->pins[LCD_PIN_D6];
|
||||
} else {
|
||||
handle->state &= ~(1 << handle->pins[LCD_PIN_D6]);
|
||||
}
|
||||
|
||||
if ((data & 8) == 8) {
|
||||
handle->state |= 1 << handle->pins[LCD_PIN_D7];
|
||||
} else {
|
||||
handle->state &= ~(1 << handle->pins[LCD_PIN_D7]);
|
||||
}
|
||||
|
||||
return LCD_I2C_WriteOut(handle);
|
||||
}
|
||||
|
||||
LCD_RESULT LCD_GetBusyFlag(LCD_PCF8574_HandleTypeDef* handle, uint8_t* flag) {
|
||||
|
||||
LCD_StateWriteBit(handle, 0, LCD_PIN_E);
|
||||
LCD_StateWriteBit(handle, 0, LCD_PIN_RS);
|
||||
LCD_StateWriteBit(handle, 1, LCD_PIN_RW);
|
||||
|
||||
LCD_StateWriteBit(handle, 1, LCD_PIN_E);
|
||||
|
||||
//PCF8574_Read(&handle->pcf8574, flag);
|
||||
|
||||
//*flag &= 1 << handle->pins[LCD_PIN_D7];
|
||||
//*flag >>= handle->pins[LCD_PIN_D7];
|
||||
|
||||
LCD_StateWriteBit(handle, 0, LCD_PIN_E);
|
||||
|
||||
LCD_StateWriteBit(handle, 1, LCD_PIN_E);
|
||||
|
||||
//uint8_t flag2;
|
||||
//PCF8574_Read(&handle->pcf8574, &flag2);
|
||||
|
||||
LCD_StateWriteBit(handle, 0, LCD_PIN_E);
|
||||
LCD_StateWriteBit(handle, 0, LCD_PIN_RW);
|
||||
|
||||
return LCD_OK;
|
||||
|
||||
}
|
||||
|
||||
LCD_RESULT LCD_WriteCMD(LCD_PCF8574_HandleTypeDef* handle, uint8_t cmd) {
|
||||
if (!LCDerrorFlag) {
|
||||
LCD_StateWriteBit(handle, 0, LCD_PIN_E);
|
||||
LCD_StateWriteBit(handle, 0, LCD_PIN_RS);
|
||||
|
||||
LCD_WriteToDataBus(handle, cmd >> 4);
|
||||
LCD_StateWriteBit(handle, 1, LCD_PIN_E);
|
||||
LCD_StateWriteBit(handle, 0, LCD_PIN_E);
|
||||
|
||||
LCD_WriteToDataBus(handle, cmd);
|
||||
LCD_StateWriteBit(handle, 1, LCD_PIN_E);
|
||||
LCD_StateWriteBit(handle, 0, LCD_PIN_E);
|
||||
|
||||
LCD_WaitForBusyFlag(handle);
|
||||
|
||||
return LCD_OK;
|
||||
} return LCD_ERROR;
|
||||
|
||||
}
|
||||
|
||||
LCD_RESULT LCD_WriteDATA(LCD_PCF8574_HandleTypeDef* handle, uint8_t data) {
|
||||
|
||||
LCD_StateWriteBit(handle, 0, LCD_PIN_E);
|
||||
LCD_StateWriteBit(handle, 1, LCD_PIN_RS);
|
||||
|
||||
LCD_WriteToDataBus(handle, data >> 4);
|
||||
LCD_StateWriteBit(handle, 1, LCD_PIN_E);
|
||||
LCD_StateWriteBit(handle, 0, LCD_PIN_E);
|
||||
|
||||
LCD_WriteToDataBus(handle, data);
|
||||
LCD_StateWriteBit(handle, 1, LCD_PIN_E);
|
||||
LCD_StateWriteBit(handle, 0, LCD_PIN_E);
|
||||
|
||||
LCD_WaitForBusyFlag(handle);
|
||||
|
||||
return LCD_OK;
|
||||
|
||||
}
|
||||
|
||||
LCD_RESULT LCD_SetLocation(LCD_PCF8574_HandleTypeDef* handle, uint8_t x,
|
||||
uint8_t y) {
|
||||
|
||||
uint8_t add = 0x40 * y + x;
|
||||
uint8_t cmd = 1 << 7;
|
||||
cmd = cmd | add;
|
||||
return LCD_WriteCMD(handle, cmd);
|
||||
|
||||
}
|
||||
|
||||
LCD_RESULT LCD_WriteString(LCD_PCF8574_HandleTypeDef* handle, char *s) {
|
||||
int i = 0;
|
||||
|
||||
if (s != 0) {
|
||||
|
||||
while (i < 80 && s[i] != 0) {
|
||||
LCD_WaitForBusyFlag(handle);
|
||||
LCD_WriteDATA(handle, s[i]);
|
||||
i++;
|
||||
}
|
||||
}
|
||||
return LCD_OK;
|
||||
}
|
||||
|
||||
LCD_RESULT LCD_ClearDisplay(LCD_PCF8574_HandleTypeDef* handle) {
|
||||
return LCD_WriteCMD(handle, 1);
|
||||
}
|
||||
|
||||
LCD_RESULT LCD_DisplayON(LCD_PCF8574_HandleTypeDef* handle) {
|
||||
handle->D = 1;
|
||||
uint8_t cmd = 0;
|
||||
cmd = cmd | (1 << 3);
|
||||
cmd = cmd | (handle->D << 2);
|
||||
cmd = cmd | (handle->C << 1);
|
||||
cmd = cmd | handle->B;
|
||||
return LCD_WriteCMD(handle, cmd);
|
||||
}
|
||||
|
||||
LCD_RESULT LCD_DisplayOFF(LCD_PCF8574_HandleTypeDef* handle) {
|
||||
handle->D = 0;
|
||||
uint8_t cmd = 0;
|
||||
cmd = cmd | (1 << 3);
|
||||
cmd = cmd | (handle->D << 2);
|
||||
cmd = cmd | (handle->C << 1);
|
||||
cmd = cmd | handle->B;
|
||||
return LCD_WriteCMD(handle, cmd);
|
||||
}
|
||||
|
||||
LCD_RESULT LCD_CursorON(LCD_PCF8574_HandleTypeDef* handle, uint8_t blink) {
|
||||
handle->C = 1;
|
||||
blink &= 1;
|
||||
handle->B = blink;
|
||||
uint8_t cmd = 0;
|
||||
cmd = cmd | (1 << 3);
|
||||
cmd = cmd | (handle->D << 2);
|
||||
cmd = cmd | (handle->C << 1);
|
||||
cmd = cmd | handle->B;
|
||||
return LCD_WriteCMD(handle, cmd);
|
||||
}
|
||||
|
||||
LCD_RESULT LCD_CursorOFF(LCD_PCF8574_HandleTypeDef* handle) {
|
||||
handle->C = 0;
|
||||
uint8_t cmd = 0;
|
||||
cmd = cmd | (1 << 3);
|
||||
cmd = cmd | (handle->D << 2);
|
||||
cmd = cmd | (handle->C << 1);
|
||||
cmd = cmd | handle->B;
|
||||
return LCD_WriteCMD(handle, cmd);
|
||||
}
|
||||
|
||||
LCD_RESULT LCD_ShiftCursor(LCD_PCF8574_HandleTypeDef* handle, uint8_t direction,
|
||||
uint8_t steps) {
|
||||
direction &= 1;
|
||||
|
||||
uint8_t cmd = 0;
|
||||
cmd |= 1 << 4;
|
||||
cmd |= direction << 2;
|
||||
|
||||
int i = 0;
|
||||
for (i = 0; i < steps; i++) {
|
||||
if (LCD_WriteCMD(handle, cmd) != LCD_OK) {
|
||||
//handle->errorCallback(LCD_ERROR);
|
||||
return LCD_ERROR;
|
||||
}
|
||||
}
|
||||
return LCD_OK;
|
||||
}
|
||||
|
||||
LCD_RESULT LCD_ShiftDisplay(LCD_PCF8574_HandleTypeDef* handle,
|
||||
uint8_t direction, uint8_t steps) {
|
||||
direction &= 1;
|
||||
|
||||
uint8_t cmd = 0;
|
||||
cmd |= 1 << 4;
|
||||
cmd |= 1 << 3;
|
||||
cmd |= direction << 2;
|
||||
|
||||
int i = 0;
|
||||
for (i = 0; i < steps; i++) {
|
||||
if (LCD_WriteCMD(handle, cmd) != LCD_OK) {
|
||||
//handle->errorCallback(LCD_ERROR);
|
||||
return LCD_ERROR;
|
||||
}
|
||||
}
|
||||
return LCD_OK;
|
||||
}
|
||||
|
||||
LCD_RESULT LCD_WriteNumber(LCD_PCF8574_HandleTypeDef* handle, unsigned long n,
|
||||
uint8_t base) {
|
||||
|
||||
char buf[8 * sizeof(long) + 1]; // Assumes 8-bit chars plus zero byte.
|
||||
char *str = &buf[sizeof(buf) - 1];
|
||||
|
||||
*str = '\0';
|
||||
|
||||
// prevent crash if called with base == 1
|
||||
if (base < 2)
|
||||
base = 10;
|
||||
|
||||
do {
|
||||
unsigned long m = n;
|
||||
n /= base;
|
||||
char c = m - base * n;
|
||||
*--str = c < 10 ? c + '0' : c + 'A' - 10;
|
||||
} while (n);
|
||||
return LCD_WriteString(handle, str);
|
||||
}
|
||||
|
||||
LCD_RESULT LCD_WriteFloat(LCD_PCF8574_HandleTypeDef* handle, double number,
|
||||
uint8_t digits) {
|
||||
// Handle negative numbers
|
||||
if (number < 0.0) {
|
||||
LCD_WriteString(handle,"-");
|
||||
number = -number;
|
||||
}
|
||||
|
||||
// Round correctly so that print(1.999, 2) prints as "2.00"
|
||||
double rounding = 0.5;
|
||||
for (uint8_t i = 0; i < digits; ++i)
|
||||
rounding /= 10.0;
|
||||
|
||||
number += rounding;
|
||||
|
||||
// Extract the integer part of the number and print it
|
||||
unsigned long int_part = (unsigned long) number;
|
||||
double remainder = number - (double) int_part;
|
||||
LCD_WriteNumber(handle,int_part,10);
|
||||
|
||||
// Print the decimal point, but only if there are digits beyond
|
||||
if (digits > 0) {
|
||||
LCD_WriteString(handle,".");
|
||||
}
|
||||
|
||||
// Extract digits from the remainder one at a time
|
||||
while (digits-- > 0) {
|
||||
remainder *= 10.0;
|
||||
int toPrint = (int)(remainder);
|
||||
LCD_WriteNumber(handle,toPrint,10);
|
||||
remainder -= toPrint;
|
||||
}
|
||||
return LCD_OK;
|
||||
}
|
||||
|
||||
LCD_RESULT LCD_EntryModeSet(LCD_PCF8574_HandleTypeDef* handle,
|
||||
LCD_DIRECTION_INC_DEC direction, LCD_SHIFT shift) {
|
||||
|
||||
uint8_t cmd = 0;
|
||||
cmd |= 1 << 2;
|
||||
cmd |= direction << 1;
|
||||
cmd |= shift;
|
||||
|
||||
return LCD_WriteCMD(handle, cmd);
|
||||
|
||||
}
|
||||
|
||||
LCD_RESULT LCD_CustomChar(LCD_PCF8574_HandleTypeDef* handle, uint8_t *pattern,
|
||||
uint8_t address) {
|
||||
uint8_t a = 0;
|
||||
int i = 0;
|
||||
a = 8 * address;
|
||||
LCD_WriteCMD(handle, a | 0x40);
|
||||
for (i = 0; i < 8; i++) {
|
||||
LCD_WriteDATA(handle, pattern[i]);
|
||||
}
|
||||
return LCD_OK;
|
||||
}
|
509
Src/main.c
509
Src/main.c
|
@ -26,7 +26,14 @@
|
|||
#include "setup.h"
|
||||
#include "config.h"
|
||||
#include "comms.h"
|
||||
//#include "hd44780.h"
|
||||
|
||||
#if defined(DEBUG_I2C_LCD) || defined(SUPPORT_LCD)
|
||||
#include "hd44780.h"
|
||||
#endif
|
||||
|
||||
#ifdef TRANSPOTTER
|
||||
#include "eeprom.h"
|
||||
#endif
|
||||
|
||||
// Matlab includes and defines - from auto-code generation
|
||||
// ###############################################################################
|
||||
|
@ -60,11 +67,37 @@ extern TIM_HandleTypeDef htim_right;
|
|||
extern ADC_HandleTypeDef hadc1;
|
||||
extern ADC_HandleTypeDef hadc2;
|
||||
extern volatile adc_buf_t adc_buffer;
|
||||
//LCD_PCF8574_HandleTypeDef lcd;
|
||||
#if defined(DEBUG_I2C_LCD) || defined(SUPPORT_LCD)
|
||||
LCD_PCF8574_HandleTypeDef lcd;
|
||||
#endif
|
||||
extern I2C_HandleTypeDef hi2c2;
|
||||
extern UART_HandleTypeDef huart2;
|
||||
extern UART_HandleTypeDef huart3;
|
||||
static UART_HandleTypeDef huart;
|
||||
#ifndef TRANSPOTTER
|
||||
extern UART_HandleTypeDef huart2;
|
||||
extern UART_HandleTypeDef huart3;
|
||||
static UART_HandleTypeDef huart;
|
||||
#endif
|
||||
|
||||
#if defined(DEBUG_I2C_LCD) || defined(SUPPORT_LCD)
|
||||
extern uint8_t LCDerrorFlag;
|
||||
#endif
|
||||
|
||||
#ifdef TRANSPOTTER
|
||||
uint8_t nunchuck_connected = 0;
|
||||
float steering;
|
||||
int feedforward;
|
||||
|
||||
void saveConfig(void);
|
||||
|
||||
/* Virtual address defined by the user: 0xFFFF value is prohibited */
|
||||
uint16_t VirtAddVarTab[NB_OF_VAR] = {0x1337};
|
||||
uint16_t VarDataTab[NB_OF_VAR] = {0};
|
||||
uint16_t VarValue = 0;
|
||||
uint16_t saveValue = 0;
|
||||
|
||||
uint16_t counter = 0;
|
||||
#else
|
||||
uint8_t nunchuck_connected = 1;
|
||||
#endif
|
||||
|
||||
#if defined(CONTROL_SERIAL_USART2) || defined(CONTROL_SERIAL_USART3)
|
||||
typedef struct{
|
||||
|
@ -95,20 +128,22 @@ static SerialFeedback Feedback;
|
|||
#endif
|
||||
static uint8_t serialSendCounter; // serial send counter
|
||||
|
||||
#if defined(CONTROL_NUNCHUCK) || defined(CONTROL_PPM) || defined(CONTROL_ADC)
|
||||
#if defined(CONTROL_NUNCHUCK) || defined(SUPPORT_NUNCHUCK) || defined(CONTROL_PPM) || defined(CONTROL_ADC)
|
||||
static uint8_t button1, button2;
|
||||
#endif
|
||||
|
||||
uint8_t ctrlModReqRaw = CTRL_MOD_REQ;
|
||||
uint8_t ctrlModReq = CTRL_MOD_REQ; // Final control mode request
|
||||
static int cmd1; // normalized input value. -1000 to 1000
|
||||
static int cmd2; // normalized input value. -1000 to 1000
|
||||
static int16_t steer; // local variable for steering. -1000 to 1000
|
||||
static int16_t speed; // local variable for speed. -1000 to 1000
|
||||
static int16_t steerFixdt; // local fixed-point variable for steering low-pass filter
|
||||
static int16_t speedFixdt; // local fixed-point variable for speed low-pass filter
|
||||
static int16_t steerRateFixdt; // local fixed-point variable for steering rate limiter
|
||||
static int16_t speedRateFixdt; // local fixed-point variable for speed rate limiter
|
||||
static int cmd1; // normalized input value. -1000 to 1000
|
||||
static int cmd2; // normalized input value. -1000 to 1000
|
||||
static int16_t speed; // local variable for speed. -1000 to 1000
|
||||
#ifndef TRANSPOTTER
|
||||
static int16_t steer; // local variable for steering. -1000 to 1000
|
||||
static int16_t steerFixdt; // local fixed-point variable for steering low-pass filter
|
||||
static int16_t speedFixdt; // local fixed-point variable for speed low-pass filter
|
||||
static int16_t steerRateFixdt; // local fixed-point variable for steering rate limiter
|
||||
static int16_t speedRateFixdt; // local fixed-point variable for speed rate limiter
|
||||
#endif
|
||||
|
||||
extern volatile int pwml; // global variable for pwm left. -1000 to 1000
|
||||
extern volatile int pwmr; // global variable for pwm right. -1000 to 1000
|
||||
|
@ -232,6 +267,24 @@ int main(void) {
|
|||
|
||||
HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1);
|
||||
|
||||
#ifdef TRANSPOTTER
|
||||
int lastDistance = 0;
|
||||
enable = 1;
|
||||
uint8_t checkRemote = 0;
|
||||
|
||||
HAL_FLASH_Unlock();
|
||||
|
||||
/* EEPROM Init */
|
||||
EE_Init();
|
||||
|
||||
EE_ReadVariable(VirtAddVarTab[0], &saveValue);
|
||||
|
||||
HAL_FLASH_Lock();
|
||||
float setDistance = saveValue / 1000.0;
|
||||
if (setDistance < 0.2) {
|
||||
setDistance = 1.0;
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef CONTROL_PPM
|
||||
PPM_Init();
|
||||
|
@ -254,7 +307,7 @@ int main(void) {
|
|||
HAL_UART_Receive_DMA(&huart, (uint8_t *)&command, sizeof(command));
|
||||
#endif
|
||||
|
||||
#ifdef DEBUG_I2C_LCD
|
||||
#if defined(DEBUG_I2C_LCD) || defined(SUPPORT_LCD)
|
||||
I2C_Init();
|
||||
HAL_Delay(50);
|
||||
lcd.pcf8574.PCF_I2C_ADDRESS = 0x27;
|
||||
|
@ -271,11 +324,33 @@ int main(void) {
|
|||
LCD_ClearDisplay(&lcd);
|
||||
HAL_Delay(5);
|
||||
LCD_SetLocation(&lcd, 0, 0);
|
||||
LCD_WriteString(&lcd, "Hover V2.0");
|
||||
#ifdef TRANSPOTTER
|
||||
LCD_WriteString(&lcd, "TranspOtter V2.1");
|
||||
#else
|
||||
LCD_WriteString(&lcd, "Hover V2.0");
|
||||
#endif
|
||||
LCD_SetLocation(&lcd, 0, 1);
|
||||
LCD_WriteString(&lcd, "Initializing...");
|
||||
#endif
|
||||
|
||||
#if defined(TRANSPOTTER) && defined(SUPPORT_LCD)
|
||||
LCD_ClearDisplay(&lcd);
|
||||
HAL_Delay(5);
|
||||
LCD_SetLocation(&lcd, 0, 1);
|
||||
LCD_WriteString(&lcd, "Bat:");
|
||||
LCD_SetLocation(&lcd, 8, 1);
|
||||
LCD_WriteString(&lcd, "V");
|
||||
|
||||
LCD_SetLocation(&lcd, 15, 1);
|
||||
LCD_WriteString(&lcd, "A");
|
||||
|
||||
LCD_SetLocation(&lcd, 0, 0);
|
||||
LCD_WriteString(&lcd, "Len:");
|
||||
LCD_SetLocation(&lcd, 8, 0);
|
||||
LCD_WriteString(&lcd, "m(");
|
||||
LCD_SetLocation(&lcd, 14, 0);
|
||||
LCD_WriteString(&lcd, "m)");
|
||||
#endif
|
||||
|
||||
int16_t lastSpeedL = 0, lastSpeedR = 0;
|
||||
int16_t speedL = 0, speedR = 0;
|
||||
|
@ -288,13 +363,92 @@ int main(void) {
|
|||
while(1) {
|
||||
HAL_Delay(DELAY_IN_MAIN_LOOP); //delay in ms
|
||||
|
||||
#ifdef CONTROL_NUNCHUCK
|
||||
Nunchuck_Read();
|
||||
cmd1 = CLAMP((nunchuck_data[0] - 127) * 8, INPUT_MIN, INPUT_MAX); // x - axis. Nunchuck joystick readings range 30 - 230
|
||||
cmd2 = CLAMP((nunchuck_data[1] - 128) * 8, INPUT_MIN, INPUT_MAX); // y - axis
|
||||
#ifdef TRANSPOTTER
|
||||
if(HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {
|
||||
enable = 0;
|
||||
while(HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {
|
||||
HAL_Delay(10);
|
||||
}
|
||||
shortBeep(5);
|
||||
HAL_Delay(300);
|
||||
if (HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {
|
||||
while(HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {
|
||||
HAL_Delay(10);
|
||||
}
|
||||
longBeep(5);
|
||||
HAL_Delay(350);
|
||||
poweroff();
|
||||
} else {
|
||||
setDistance += 0.25;
|
||||
if (setDistance > 2.6) {
|
||||
setDistance = 0.5;
|
||||
}
|
||||
shortBeep(setDistance / 0.25);
|
||||
saveValue = setDistance * 1000;
|
||||
saveConfig();
|
||||
}
|
||||
}
|
||||
|
||||
button1 = (uint8_t)nunchuck_data[5] & 1;
|
||||
button2 = (uint8_t)(nunchuck_data[5] >> 1) & 1;
|
||||
#ifdef GAMETRAK_CONNECTION_NORMAL
|
||||
uint16_t distance = CLAMP((adc_buffer.l_rx2) - 180, 0, 4095);
|
||||
steering = (adc_buffer.l_tx2 - 2048) / 2048.0;
|
||||
#endif
|
||||
#ifdef GAMETRAK_CONNECTION_ALTERNATE
|
||||
uint16_t distance = CLAMP((adc_buffer.l_tx2) - 180, 0, 4095);
|
||||
steering = (adc_buffer.l_rx2 - 2048) / 2048.0;
|
||||
#endif
|
||||
|
||||
feedforward = ((distance - (int)(setDistance * 1345)));
|
||||
|
||||
if (nunchuck_connected == 0) {
|
||||
speedL = speedL * 0.8f + (CLAMP(feedforward + ((steering)*((float)MAX(ABS(feedforward), 50)) * ROT_P), -850, 850) * -0.2f);
|
||||
speedR = speedR * 0.8f + (CLAMP(feedforward - ((steering)*((float)MAX(ABS(feedforward), 50)) * ROT_P), -850, 850) * -0.2f);
|
||||
if ((speedL < lastSpeedL + 50 && speedL > lastSpeedL - 50) && (speedR < lastSpeedR + 50 && speedR > lastSpeedR - 50)) {
|
||||
if (distance - (int)(setDistance * 1345) > 0) {
|
||||
enable = 1;
|
||||
}
|
||||
if (distance - (int)(setDistance * 1345) > -300) {
|
||||
#ifdef INVERT_R_DIRECTION
|
||||
pwmr = -speedR;
|
||||
#endif
|
||||
#ifndef INVERT_R_DIRECTION
|
||||
pwmr = speedR;
|
||||
#endif
|
||||
|
||||
#ifdef INVERT_L_DIRECTION
|
||||
pwml = -speedL;
|
||||
#endif
|
||||
#ifndef INVERT_L_DIRECTION
|
||||
pwml = speedL;
|
||||
#endif
|
||||
|
||||
if (checkRemote) {
|
||||
if (!HAL_GPIO_ReadPin(LED_PORT, LED_PIN)) {
|
||||
//enable = 1;
|
||||
} else {
|
||||
enable = 0;
|
||||
}
|
||||
}
|
||||
} else {
|
||||
enable = 0;
|
||||
}
|
||||
}
|
||||
lastSpeedL = speedL;
|
||||
lastSpeedR = speedR;
|
||||
|
||||
timeout = 0;
|
||||
}
|
||||
#endif
|
||||
|
||||
#if defined(CONTROL_NUNCHUCK) || defined(SUPPORT_NUNCHUCK)
|
||||
if (nunchuck_connected != 0) {
|
||||
Nunchuck_Read();
|
||||
cmd1 = CLAMP((nunchuck_data[0] - 127) * 8, INPUT_MIN, INPUT_MAX); // x - axis. Nunchuck joystick readings range 30 - 230
|
||||
cmd2 = CLAMP((nunchuck_data[1] - 128) * 8, INPUT_MIN, INPUT_MAX); // y - axis
|
||||
|
||||
button1 = (uint8_t)nunchuck_data[5] & 1;
|
||||
button2 = (uint8_t)(nunchuck_data[5] >> 1) & 1;
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef CONTROL_PPM
|
||||
|
@ -364,47 +518,123 @@ int main(void) {
|
|||
|
||||
#endif
|
||||
|
||||
#ifndef TRANSPOTTER
|
||||
// ####### MOTOR ENABLING: Only if the initial input is very small (for SAFETY) #######
|
||||
if (enable == 0 && (cmd1 > -50 && cmd1 < 50) && (cmd2 > -50 && cmd2 < 50)){
|
||||
shortBeep(6); // make 2 beeps indicating the motor enable
|
||||
shortBeep(4); HAL_Delay(100);
|
||||
enable = 1; // enable motors
|
||||
}
|
||||
|
||||
// ####### MOTOR ENABLING: Only if the initial input is very small (for SAFETY) #######
|
||||
if (enable == 0 && (cmd1 > -50 && cmd1 < 50) && (cmd2 > -50 && cmd2 < 50)){
|
||||
buzzerPattern = 0;
|
||||
buzzerFreq = 6; HAL_Delay(100); // make 2 beeps indicating the motor enable
|
||||
buzzerFreq = 4; HAL_Delay(200);
|
||||
buzzerFreq = 0;
|
||||
enable = 1; // enable motors
|
||||
consoleLog("-- Motors enabled --\r\n");
|
||||
}
|
||||
// ####### LOW-PASS FILTER #######
|
||||
rateLimiter16(cmd1, RATE, &steerRateFixdt);
|
||||
rateLimiter16(cmd2, RATE, &speedRateFixdt);
|
||||
filtLowPass16(steerRateFixdt >> 4, FILTER, &steerFixdt);
|
||||
filtLowPass16(speedRateFixdt >> 4, FILTER, &speedFixdt);
|
||||
steer = steerFixdt >> 4; // convert fixed-point to integer
|
||||
speed = speedFixdt >> 4; // convert fixed-point to integer
|
||||
|
||||
// ####### LOW-PASS FILTER #######
|
||||
rateLimiter16(cmd1, RATE, &steerRateFixdt);
|
||||
rateLimiter16(cmd2, RATE, &speedRateFixdt);
|
||||
filtLowPass16(steerRateFixdt >> 4, FILTER, &steerFixdt);
|
||||
filtLowPass16(speedRateFixdt >> 4, FILTER, &speedFixdt);
|
||||
steer = steerFixdt >> 4; // convert fixed-point to integer
|
||||
speed = speedFixdt >> 4; // convert fixed-point to integer
|
||||
// ####### MIXER #######
|
||||
// speedR = CLAMP((int)(speed * SPEED_COEFFICIENT - steer * STEER_COEFFICIENT), -1000, 1000);
|
||||
// speedL = CLAMP((int)(speed * SPEED_COEFFICIENT + steer * STEER_COEFFICIENT), -1000, 1000);
|
||||
mixerFcn(speedFixdt, steerFixdt, &speedR, &speedL); // This function implements the equations above
|
||||
|
||||
// ####### MIXER #######
|
||||
// speedR = CLAMP((int)(speed * SPEED_COEFFICIENT - steer * STEER_COEFFICIENT), -1000, 1000);
|
||||
// speedL = CLAMP((int)(speed * SPEED_COEFFICIENT + steer * STEER_COEFFICIENT), -1000, 1000);
|
||||
mixerFcn(speedFixdt, steerFixdt, &speedR, &speedL); // This function implements the equations above
|
||||
|
||||
// ####### SET OUTPUTS (if the target change is less than +/- 50) #######
|
||||
if ((speedL > lastSpeedL-50 && speedL < lastSpeedL+50) && (speedR > lastSpeedR-50 && speedR < lastSpeedR+50) && timeout < TIMEOUT) {
|
||||
#ifdef INVERT_R_DIRECTION
|
||||
pwmr = speedR;
|
||||
#else
|
||||
pwmr = -speedR;
|
||||
#ifdef ADDITIONAL_CODE
|
||||
ADDITIONAL_CODE;
|
||||
#endif
|
||||
#ifdef INVERT_L_DIRECTION
|
||||
pwml = -speedL;
|
||||
#else
|
||||
pwml = speedL;
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
// ####### SET OUTPUTS (if the target change is less than +/- 50) #######
|
||||
if ((speedL > lastSpeedL-50 && speedL < lastSpeedL+50) && (speedR > lastSpeedR-50 && speedR < lastSpeedR+50) && timeout < TIMEOUT) {
|
||||
#ifdef INVERT_R_DIRECTION
|
||||
pwmr = speedR;
|
||||
#else
|
||||
pwmr = -speedR;
|
||||
#endif
|
||||
#ifdef INVERT_L_DIRECTION
|
||||
pwml = -speedL;
|
||||
#else
|
||||
pwml = speedL;
|
||||
#endif
|
||||
}
|
||||
#endif
|
||||
|
||||
lastSpeedL = speedL;
|
||||
lastSpeedR = speedR;
|
||||
|
||||
#ifdef TRANSPOTTER
|
||||
if (timeout > TIMEOUT) {
|
||||
pwml = 0;
|
||||
pwmr = 0;
|
||||
enable = 0;
|
||||
#ifdef SUPPORT_LCD
|
||||
LCD_SetLocation(&lcd, 0, 0);
|
||||
LCD_WriteString(&lcd, "Len:");
|
||||
LCD_SetLocation(&lcd, 8, 0);
|
||||
LCD_WriteString(&lcd, "m(");
|
||||
LCD_SetLocation(&lcd, 14, 0);
|
||||
LCD_WriteString(&lcd, "m)");
|
||||
#endif
|
||||
|
||||
HAL_Delay(1000);
|
||||
|
||||
nunchuck_connected = 0;
|
||||
}
|
||||
|
||||
if ((distance / 1345.0) - setDistance > 0.5 && (lastDistance / 1345.0) - setDistance > 0.5) { // Error, robot too far away!
|
||||
enable = 0;
|
||||
longBeep(5);
|
||||
#ifdef SUPPORT_LCD
|
||||
LCD_ClearDisplay(&lcd);
|
||||
HAL_Delay(5);
|
||||
LCD_SetLocation(&lcd, 0, 0);
|
||||
LCD_WriteString(&lcd, "Emergency Off!");
|
||||
LCD_SetLocation(&lcd, 0, 1);
|
||||
LCD_WriteString(&lcd, "Keeper too fast.");
|
||||
#endif
|
||||
poweroff();
|
||||
}
|
||||
|
||||
#ifdef SUPPORT_NUNCHUCK
|
||||
if (counter % 500 == 0) {
|
||||
if (nunchuck_connected == 0 && enable == 0) {
|
||||
if (Nunchuck_Ping()) {
|
||||
HAL_Delay(500);
|
||||
Nunchuck_Init();
|
||||
#ifdef SUPPORT_LCD
|
||||
LCD_SetLocation(&lcd, 0, 0);
|
||||
LCD_WriteString(&lcd, "Nunchuck Control");
|
||||
#endif
|
||||
timeout = 0;
|
||||
HAL_Delay(1000);
|
||||
nunchuck_connected = 1;
|
||||
}
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef SUPPORT_LCD
|
||||
if (counter % 100 == 0) {
|
||||
if (LCDerrorFlag == 1 && enable == 0) {
|
||||
|
||||
} else {
|
||||
if (nunchuck_connected == 0) {
|
||||
LCD_SetLocation(&lcd, 4, 0);
|
||||
LCD_WriteFloat(&lcd,distance/1345.0,2);
|
||||
LCD_SetLocation(&lcd, 10, 0);
|
||||
LCD_WriteFloat(&lcd,setDistance,2);
|
||||
}
|
||||
LCD_SetLocation(&lcd, 4, 1);
|
||||
LCD_WriteFloat(&lcd,batVoltage, 1);
|
||||
LCD_SetLocation(&lcd, 11, 1);
|
||||
//LCD_WriteFloat(&lcd,MAX(ABS(currentR), ABS(currentL)),2);
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
counter++;
|
||||
#endif
|
||||
|
||||
|
||||
// ####### CALC BOARD TEMPERATURE #######
|
||||
filtLowPass16(adc_buffer.temp, TEMP_FILT_COEF, &board_temp_adcFixdt);
|
||||
|
@ -415,41 +645,41 @@ int main(void) {
|
|||
if (serialSendCounter > 20) { // Send data every 100 ms = 20 * 5 ms, where 5 ms is approximately the main loop duration
|
||||
serialSendCounter = 0; // Reset the counter
|
||||
|
||||
// ####### DEBUG SERIAL OUT #######
|
||||
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
|
||||
#ifdef CONTROL_ADC
|
||||
setScopeChannel(0, (int16_t)adc_buffer.l_tx2); // 1: ADC1
|
||||
setScopeChannel(1, (int16_t)adc_buffer.l_rx2); // 2: ADC2
|
||||
#endif
|
||||
setScopeChannel(2, (int16_t)speedR); // 1: output command: [-1000, 1000]
|
||||
setScopeChannel(3, (int16_t)speedL); // 2: output command: [-1000, 1000]
|
||||
setScopeChannel(4, (int16_t)adc_buffer.batt1); // 5: for battery voltage calibration
|
||||
setScopeChannel(5, (int16_t)(batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC)); // 6: for verifying battery voltage calibration
|
||||
setScopeChannel(6, (int16_t)board_temp_adcFilt); // 7: for board temperature calibration
|
||||
setScopeChannel(7, (int16_t)board_temp_deg_c); // 8: for verifying board temperature calibration
|
||||
consoleScope();
|
||||
// ####### DEBUG SERIAL OUT #######
|
||||
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
|
||||
#ifdef CONTROL_ADC
|
||||
setScopeChannel(0, (int16_t)adc_buffer.l_tx2); // 1: ADC1
|
||||
setScopeChannel(1, (int16_t)adc_buffer.l_rx2); // 2: ADC2
|
||||
#endif
|
||||
setScopeChannel(2, (int16_t)speedR); // 1: output command: [-1000, 1000]
|
||||
setScopeChannel(3, (int16_t)speedL); // 2: output command: [-1000, 1000]
|
||||
setScopeChannel(4, (int16_t)adc_buffer.batt1); // 5: for battery voltage calibration
|
||||
setScopeChannel(5, (int16_t)(batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC)); // 6: for verifying battery voltage calibration
|
||||
setScopeChannel(6, (int16_t)board_temp_adcFilt); // 7: for board temperature calibration
|
||||
setScopeChannel(7, (int16_t)board_temp_deg_c); // 8: for verifying board temperature calibration
|
||||
consoleScope();
|
||||
|
||||
// ####### FEEDBACK SERIAL OUT #######
|
||||
#elif defined(FEEDBACK_SERIAL_USART2) || defined(FEEDBACK_SERIAL_USART3)
|
||||
if(UART_DMA_CHANNEL->CNDTR == 0) {
|
||||
Feedback.start = (uint16_t)START_FRAME;
|
||||
Feedback.cmd1 = (int16_t)cmd1;
|
||||
Feedback.cmd2 = (int16_t)cmd2;
|
||||
Feedback.speedR = (int16_t)speedR;
|
||||
Feedback.speedL = (int16_t)speedL;
|
||||
Feedback.speedR_meas = (int16_t)rtY_Left.n_mot;
|
||||
Feedback.speedL_meas = (int16_t)rtY_Right.n_mot;
|
||||
Feedback.batVoltage = (int16_t)(batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC);
|
||||
Feedback.boardTemp = (int16_t)board_temp_deg_c;
|
||||
Feedback.checksum = (uint16_t)(Feedback.start ^ Feedback.cmd1 ^ Feedback.cmd2 ^ Feedback.speedR ^ Feedback.speedL
|
||||
^ Feedback.speedR_meas ^ Feedback.speedL_meas ^ Feedback.batVoltage ^ Feedback.boardTemp);
|
||||
// ####### FEEDBACK SERIAL OUT #######
|
||||
#elif defined(FEEDBACK_SERIAL_USART2) || defined(FEEDBACK_SERIAL_USART3)
|
||||
if(UART_DMA_CHANNEL->CNDTR == 0) {
|
||||
Feedback.start = (uint16_t)START_FRAME;
|
||||
Feedback.cmd1 = (int16_t)cmd1;
|
||||
Feedback.cmd2 = (int16_t)cmd2;
|
||||
Feedback.speedR = (int16_t)speedR;
|
||||
Feedback.speedL = (int16_t)speedL;
|
||||
Feedback.speedR_meas = (int16_t)rtY_Left.n_mot;
|
||||
Feedback.speedL_meas = (int16_t)rtY_Right.n_mot;
|
||||
Feedback.batVoltage = (int16_t)(batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC);
|
||||
Feedback.boardTemp = (int16_t)board_temp_deg_c;
|
||||
Feedback.checksum = (uint16_t)(Feedback.start ^ Feedback.cmd1 ^ Feedback.cmd2 ^ Feedback.speedR ^ Feedback.speedL
|
||||
^ Feedback.speedR_meas ^ Feedback.speedL_meas ^ Feedback.batVoltage ^ Feedback.boardTemp);
|
||||
|
||||
UART_DMA_CHANNEL->CCR &= ~DMA_CCR_EN;
|
||||
UART_DMA_CHANNEL->CNDTR = sizeof(Feedback);
|
||||
UART_DMA_CHANNEL->CMAR = (uint32_t)&Feedback;
|
||||
UART_DMA_CHANNEL->CCR |= DMA_CCR_EN;
|
||||
}
|
||||
#endif
|
||||
UART_DMA_CHANNEL->CCR &= ~DMA_CCR_EN;
|
||||
UART_DMA_CHANNEL->CNDTR = sizeof(Feedback);
|
||||
UART_DMA_CHANNEL->CMAR = (uint32_t)&Feedback;
|
||||
UART_DMA_CHANNEL->CCR |= DMA_CCR_EN;
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
HAL_GPIO_TogglePin(LED_PORT, LED_PIN);
|
||||
|
@ -501,50 +731,25 @@ int main(void) {
|
|||
}
|
||||
}
|
||||
|
||||
/** System Clock Configuration
|
||||
*/
|
||||
void SystemClock_Config(void) {
|
||||
RCC_OscInitTypeDef RCC_OscInitStruct;
|
||||
RCC_ClkInitTypeDef RCC_ClkInitStruct;
|
||||
RCC_PeriphCLKInitTypeDef PeriphClkInit;
|
||||
#ifdef TRANSPOTTER
|
||||
void saveConfig() {
|
||||
HAL_FLASH_Unlock();
|
||||
EE_WriteVariable(VirtAddVarTab[0], saveValue);
|
||||
HAL_FLASH_Lock();
|
||||
}
|
||||
#endif
|
||||
|
||||
/**Initializes the CPU, AHB and APB busses clocks
|
||||
*/
|
||||
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
|
||||
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
|
||||
RCC_OscInitStruct.HSICalibrationValue = 16;
|
||||
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
|
||||
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI_DIV2;
|
||||
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL16;
|
||||
HAL_RCC_OscConfig(&RCC_OscInitStruct);
|
||||
|
||||
/**Initializes the CPU, AHB and APB busses clocks
|
||||
*/
|
||||
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
|
||||
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
|
||||
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
|
||||
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
|
||||
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
|
||||
|
||||
HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2);
|
||||
|
||||
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC;
|
||||
// PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV8; // 8 MHz
|
||||
PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV4; // 16 MHz
|
||||
HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit);
|
||||
|
||||
/**Configure the Systick interrupt time
|
||||
*/
|
||||
HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq() / 1000);
|
||||
|
||||
/**Configure the Systick
|
||||
*/
|
||||
HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);
|
||||
|
||||
/* SysTick_IRQn interrupt configuration */
|
||||
HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
|
||||
void longBeep(uint8_t freq){
|
||||
buzzerFreq = freq;
|
||||
HAL_Delay(500);
|
||||
buzzerFreq = 0;
|
||||
}
|
||||
|
||||
void shortBeep(uint8_t freq){
|
||||
buzzerFreq = freq;
|
||||
HAL_Delay(100);
|
||||
buzzerFreq = 0;
|
||||
}
|
||||
|
||||
// ===========================================================
|
||||
/* Low pass filter fixed-point 16 bits: fixdt(1,16,4)
|
||||
|
@ -661,4 +866,48 @@ void rateLimiter16(int16_t u, int16_t rate, int16_t *y)
|
|||
*y = q0 + *y;
|
||||
}
|
||||
|
||||
// ===========================================================
|
||||
// ===========================================================
|
||||
|
||||
/** System Clock Configuration
|
||||
*/
|
||||
void SystemClock_Config(void) {
|
||||
RCC_OscInitTypeDef RCC_OscInitStruct;
|
||||
RCC_ClkInitTypeDef RCC_ClkInitStruct;
|
||||
RCC_PeriphCLKInitTypeDef PeriphClkInit;
|
||||
|
||||
/**Initializes the CPU, AHB and APB busses clocks
|
||||
*/
|
||||
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
|
||||
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
|
||||
RCC_OscInitStruct.HSICalibrationValue = 16;
|
||||
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
|
||||
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI_DIV2;
|
||||
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL16;
|
||||
HAL_RCC_OscConfig(&RCC_OscInitStruct);
|
||||
|
||||
/**Initializes the CPU, AHB and APB busses clocks
|
||||
*/
|
||||
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
|
||||
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
|
||||
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
|
||||
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
|
||||
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
|
||||
|
||||
HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2);
|
||||
|
||||
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC;
|
||||
// PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV8; // 8 MHz
|
||||
PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV4; // 16 MHz
|
||||
HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit);
|
||||
|
||||
/**Configure the Systick interrupt time
|
||||
*/
|
||||
HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq() / 1000);
|
||||
|
||||
/**Configure the Systick
|
||||
*/
|
||||
HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);
|
||||
|
||||
/* SysTick_IRQn interrupt configuration */
|
||||
HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
|
||||
}
|
|
@ -0,0 +1,58 @@
|
|||
/*
|
||||
* pcf8574.c
|
||||
*
|
||||
* Created on: Dec 30, 2014
|
||||
* Author: peter
|
||||
*/
|
||||
|
||||
#include "pcf8574.h"
|
||||
|
||||
PCF8574_RESULT PCF8574_Init(PCF8574_HandleTypeDef* handle) {
|
||||
|
||||
handle->PCF_I2C_ADDRESS &= 0x07;
|
||||
|
||||
/*if (handle->i2c.State == HAL_I2C_STATE_RESET) {
|
||||
handle->i2c.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
|
||||
handle->i2c.Init.DualAddressMode = I2C_DUALADDRESS_DISABLED;
|
||||
handle->i2c.Init.DutyCycle = I2C_DUTYCYCLE_2;
|
||||
handle->i2c.Init.NoStretchMode = I2C_NOSTRETCH_DISABLED;
|
||||
handle->i2c.Init.OwnAddress1 = 0xFE;
|
||||
if (HAL_I2C_Init(&handle->i2c) != HAL_OK) {
|
||||
handle->errorCallback(PCF8574_ERROR);
|
||||
return PCF8574_ERROR;
|
||||
}
|
||||
}*/
|
||||
return PCF8574_OK;
|
||||
}
|
||||
|
||||
PCF8574_RESULT PCF8574_DeInit(PCF8574_HandleTypeDef* handle) {
|
||||
HAL_I2C_DeInit(&handle->i2c);
|
||||
return PCF8574_OK;
|
||||
}
|
||||
|
||||
PCF8574_RESULT PCF8574_Write(PCF8574_HandleTypeDef* handle, uint8_t val) {
|
||||
if (HAL_I2C_Master_Transmit(&handle->i2c,
|
||||
(handle->PCF_I2C_ADDRESS << 1) | PCF8574_I2C_ADDRESS_MASK, &val, 1,
|
||||
handle->PCF_I2C_TIMEOUT) != HAL_OK) {
|
||||
//handle->errorCallback(PCF8574_ERROR);
|
||||
return PCF8574_ERROR;
|
||||
}
|
||||
|
||||
/*if (HAL_I2C_Master_Transmit_DMA(&handle->i2c,
|
||||
(handle->PCF_I2C_ADDRESS << 1) | PCF8574_I2C_ADDRESS_MASK, &val, 1) != HAL_OK) {
|
||||
handle->errorCallback(PCF8574_ERROR);
|
||||
//<return PCF8574_ERROR;
|
||||
}*/
|
||||
|
||||
//HAL_I2C_Master_Transmit_DMA(&hi2c2, 0xA4, (uint8_t*)ai2cBuffer, 2);
|
||||
return PCF8574_OK;
|
||||
}
|
||||
|
||||
PCF8574_RESULT PCF8574_Read(PCF8574_HandleTypeDef* handle, uint8_t* val) {
|
||||
if (HAL_I2C_Master_Receive(&handle->i2c,
|
||||
(handle->PCF_I2C_ADDRESS << 1) | PCF8574_I2C_ADDRESS_MASK, val, 1,
|
||||
handle->PCF_I2C_TIMEOUT) != HAL_OK) {
|
||||
return PCF8574_ERROR;
|
||||
}
|
||||
return PCF8574_OK;
|
||||
}
|
|
@ -241,7 +241,7 @@ void I2C_Init(void)
|
|||
HAL_NVIC_EnableIRQ(DMA1_Channel5_IRQn);
|
||||
|
||||
hi2c2.Instance = I2C2;
|
||||
hi2c2.Init.ClockSpeed = 100000;
|
||||
hi2c2.Init.ClockSpeed = 200000;
|
||||
hi2c2.Init.DutyCycle = I2C_DUTYCYCLE_2;
|
||||
hi2c2.Init.OwnAddress1 = 0;
|
||||
hi2c2.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
|
||||
|
|
Loading…
Reference in New Issue