EFeru/hoverboard-firmware-hack-SIN
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ADD: Wii Nunchuck control

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This commit is contained in:
Niklas Fauth
2018-04-08 00:03:35 +02:00
parent 30f8d97694
commit fd49c006f7
10 changed files with 1681 additions and 1179 deletions
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124
Src/setup.c
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@@ -41,8 +41,10 @@ TIM_HandleTypeDef htim_right;
TIM_HandleTypeDef htim_left;
ADC_HandleTypeDef hadc1;
ADC_HandleTypeDef hadc2;
I2C_HandleTypeDef hi2c2;
volatile adc_buf_t adc_buffer;
#ifdef DEBUG_SERIAL_USART3
void UART_Init() {
__HAL_RCC_USART3_CLK_ENABLE();
__HAL_RCC_DMA1_CLK_ENABLE();
@@ -73,6 +75,40 @@ void UART_Init() {
DMA1_Channel2->CCR = DMA_CCR_MINC | DMA_CCR_DIR;
DMA1->IFCR = DMA_IFCR_CTCIF2 | DMA_IFCR_CHTIF2 | DMA_IFCR_CGIF2;
}
#endif
#ifdef DEBUG_SERIAL_USART2
void UART_Init() {
__HAL_RCC_USART2_CLK_ENABLE();
__HAL_RCC_DMA1_CLK_ENABLE();
UART_HandleTypeDef huart2;
huart2.Instance = USART2;
huart2.Init.BaudRate = DEBUG_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;
huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart2.Init.OverSampling = UART_OVERSAMPLING_16;
HAL_UART_Init(&huart2);
USART2->CR3 |= USART_CR3_DMAT; // | USART_CR3_DMAR | USART_CR3_OVRDIS;
GPIO_InitTypeDef GPIO_InitStruct;
GPIO_InitStruct.Pin = GPIO_PIN_2;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
DMA1_Channel7->CCR = 0;
DMA1_Channel7->CPAR = (uint32_t) & (USART2->DR);
DMA1_Channel7->CNDTR = 0;
DMA1_Channel7->CCR = DMA_CCR_MINC | DMA_CCR_DIR;
DMA1->IFCR = DMA_IFCR_CTCIF7 | DMA_IFCR_CHTIF7 | DMA_IFCR_CGIF7;
}
#endif
/*
void UART_Init() {
@@ -107,6 +143,94 @@ void UART_Init() {
}
*/
DMA_HandleTypeDef hdma_i2c2_rx;
DMA_HandleTypeDef hdma_i2c2_tx;
void I2C_Init()
{
__HAL_RCC_I2C2_CLK_ENABLE();
__HAL_RCC_DMA1_CLK_ENABLE();
/* DMA1_Channel4_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Channel4_IRQn, 1, 4);
HAL_NVIC_EnableIRQ(DMA1_Channel4_IRQn);
/* DMA1_Channel5_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Channel5_IRQn, 1, 3);
HAL_NVIC_EnableIRQ(DMA1_Channel5_IRQn);
hi2c2.Instance = I2C2;
hi2c2.Init.ClockSpeed = 100000;
hi2c2.Init.DutyCycle = I2C_DUTYCYCLE_2;
hi2c2.Init.OwnAddress1 = 0;
hi2c2.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
hi2c2.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
hi2c2.Init.OwnAddress2 = 0;
hi2c2.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
hi2c2.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
HAL_I2C_Init(&hi2c2);
GPIO_InitTypeDef GPIO_InitStruct;
__HAL_RCC_DMA1_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/* USER CODE BEGIN I2C2_MspInit 0 */
/* USER CODE END I2C2_MspInit 0 */
/**I2C2 GPIO Configuration
PB10 ------> I2C2_SCL
PB11 ------> I2C2_SDA
*/
GPIO_InitStruct.Pin = GPIO_PIN_10|GPIO_PIN_11;
GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* Peripheral clock enable */
__HAL_RCC_I2C2_CLK_ENABLE();
/* Peripheral DMA init*/
hdma_i2c2_rx.Instance = DMA1_Channel5;
hdma_i2c2_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma_i2c2_rx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_i2c2_rx.Init.MemInc = DMA_MINC_ENABLE;
hdma_i2c2_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_i2c2_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_i2c2_rx.Init.Mode = DMA_NORMAL;
hdma_i2c2_rx.Init.Priority = DMA_PRIORITY_MEDIUM;
HAL_DMA_Init(&hdma_i2c2_rx);
__HAL_LINKDMA(&hi2c2,hdmarx,hdma_i2c2_rx);
hdma_i2c2_tx.Instance = DMA1_Channel4;
hdma_i2c2_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
hdma_i2c2_tx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_i2c2_tx.Init.MemInc = DMA_MINC_ENABLE;
hdma_i2c2_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_i2c2_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_i2c2_tx.Init.Mode = DMA_NORMAL;
hdma_i2c2_tx.Init.Priority = DMA_PRIORITY_MEDIUM;
HAL_DMA_Init(&hdma_i2c2_tx);
__HAL_LINKDMA(&hi2c2,hdmatx,hdma_i2c2_tx);
/* Peripheral interrupt init */
HAL_NVIC_SetPriority(I2C2_EV_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(I2C2_EV_IRQn);
HAL_NVIC_SetPriority(I2C2_ER_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(I2C2_ER_IRQn);
/* USER CODE BEGIN I2C2_MspInit 1 */
/* USER CODE END I2C2_MspInit 1 */
}
void MX_GPIO_Init(void) {
GPIO_InitTypeDef GPIO_InitStruct;