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ADD: control via uart. Send two int16 (4 bytes) to usart 2 to control the motors with an arduino or a raspberry pi

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This commit is contained in:
Niklas Fauth
2018-06-11 14:29:39 +02:00
parent 9332f59f82
commit b3fe48a832
6 changed files with 786 additions and 1005 deletions
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77
Src/setup.c
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@@ -43,8 +43,85 @@ TIM_HandleTypeDef htim_left;
ADC_HandleTypeDef hadc1;
ADC_HandleTypeDef hadc2;
I2C_HandleTypeDef hi2c2;
UART_HandleTypeDef huart2;
DMA_HandleTypeDef hdma_usart2_rx;
DMA_HandleTypeDef hdma_usart2_tx;
volatile adc_buf_t adc_buffer;
#ifdef CONTROL_SERIAL_USART2
void UART_Control_Init() {
GPIO_InitTypeDef GPIO_InitStruct;
__HAL_RCC_USART2_CLK_ENABLE();
/* DMA1_Channel6_IRQn interrupt configuration */
//HAL_NVIC_SetPriority(DMA1_Channel6_IRQn, 5, 6);
//HAL_NVIC_EnableIRQ(DMA1_Channel6_IRQn);
HAL_NVIC_SetPriority(DMA1_Channel6_IRQn, 5, 6);
HAL_NVIC_EnableIRQ(DMA1_Channel6_IRQn);
/* DMA1_Channel7_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Channel7_IRQn, 5, 7);
HAL_NVIC_EnableIRQ(DMA1_Channel7_IRQn);
huart2.Instance = USART2;
huart2.Init.BaudRate = CONTROL_BAUD;
huart2.Init.WordLength = UART_WORDLENGTH_8B;
huart2.Init.StopBits = UART_STOPBITS_1;
huart2.Init.Parity = UART_PARITY_NONE;
huart2.Init.Mode = UART_MODE_TX_RX;
huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
// huart2.Init.OverSampling = UART_OVERSAMPLING_16;
HAL_UART_Init(&huart2);
__HAL_RCC_DMA1_CLK_ENABLE();
/* USER CODE BEGIN USART2_MspInit 0 */
__HAL_RCC_GPIOA_CLK_ENABLE();
/* USER CODE END USART2_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_USART2_CLK_ENABLE();
GPIO_InitStruct.Pull = GPIO_PULLUP; //GPIO_NOPULL;
GPIO_InitStruct.Pin = GPIO_PIN_2;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GPIO_PIN_3;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT; //GPIO_MODE_AF_PP;
// GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* Peripheral DMA init*/
hdma_usart2_rx.Instance = DMA1_Channel6;
hdma_usart2_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma_usart2_rx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_usart2_rx.Init.MemInc = DMA_MINC_ENABLE;
hdma_usart2_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_usart2_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_usart2_rx.Init.Mode = DMA_CIRCULAR; //DMA_NORMAL;
hdma_usart2_rx.Init.Priority = DMA_PRIORITY_LOW;
HAL_DMA_Init(&hdma_usart2_rx);
__HAL_LINKDMA(&huart2,hdmarx,hdma_usart2_rx);
hdma_usart2_tx.Instance = DMA1_Channel7;
hdma_usart2_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
hdma_usart2_tx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_usart2_tx.Init.MemInc = DMA_MINC_ENABLE;
hdma_usart2_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_usart2_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_usart2_tx.Init.Mode = DMA_NORMAL;
hdma_usart2_tx.Init.Priority = DMA_PRIORITY_LOW;
HAL_DMA_Init(&hdma_usart2_tx);
__HAL_LINKDMA(&huart2,hdmatx,hdma_usart2_tx);
}
#endif
#ifdef DEBUG_SERIAL_USART3
void UART_Init() {
__HAL_RCC_USART3_CLK_ENABLE();