From fd49c006f7aad6d3d1f7d4fc27934dfa4e52c402 Mon Sep 17 00:00:00 2001 From: Niklas Fauth Date: Sun, 8 Apr 2018 00:03:35 +0200 Subject: [PATCH] ADD: Wii Nunchuck control --- Inc/config.h | 12 +- Inc/stm32f1xx_hal_conf.h | 14 +- Makefile | 2 + Src/bldc.c | 64 +- Src/comms.c | 29 +- Src/control.c | 37 + Src/main.c | 91 +- Src/setup.c | 124 ++ Src/stm32f1xx_it.c | 45 + build/hover.hex | 2442 +++++++++++++++++++++----------------- 10 files changed, 1681 insertions(+), 1179 deletions(-) diff --git a/Inc/config.h b/Inc/config.h index 27e0ffc..06c500b 100644 --- a/Inc/config.h +++ b/Inc/config.h @@ -14,12 +14,18 @@ #define DEAD_TIME 32 // PWM deadtime //#define DC_CUR_LIMIT 34 // Motor DC current limit in amps -#define DC_CUR_LIMIT 24 // Motor DC current limit in amps +#define DC_CUR_LIMIT 35 // Motor DC current limit in amps //#define DEBUG_SERIAL_SERVOTERM -// #define DEBUG_SERIAL_ASCII +#define DEBUG_SERIAL_ASCII +#define DEBUG_SERIAL_USART2 #define DEBUG_BAUD 115200 // UART baud rate //#define DEBUG_I2C_LCD -// #define CONTROL_PPM // use PPM CONTROL_PPM +//#define CONTROL_PPM // use PPM CONTROL_PPM #define PPM_NUM_CHANNELS 6 // number of PPM channels to receive + +// #define CONTROL_ADC +#define CONTROL_NUNCHUCK + +// #define BEEPS_BACKWARD diff --git a/Inc/stm32f1xx_hal_conf.h b/Inc/stm32f1xx_hal_conf.h index 1f0f896..ee93bd9 100644 --- a/Inc/stm32f1xx_hal_conf.h +++ b/Inc/stm32f1xx_hal_conf.h @@ -45,7 +45,7 @@ extern "C" { /* ########################## Module Selection ############################## */ /** - * @brief This is the list of modules to be used in the HAL driver + * @brief This is the list of modules to be used in the HAL driver */ #define HAL_MODULE_ENABLED @@ -60,7 +60,7 @@ extern "C" { /*#define HAL_ETH_MODULE_ENABLED */ /*#define HAL_FLASH_MODULE_ENABLED */ #define HAL_GPIO_MODULE_ENABLED -/*#define HAL_I2C_MODULE_ENABLED */ +#define HAL_I2C_MODULE_ENABLED /*#define HAL_I2S_MODULE_ENABLED */ /*#define HAL_IRDA_MODULE_ENABLED */ /*#define HAL_IWDG_MODULE_ENABLED */ @@ -94,7 +94,7 @@ extern "C" { /** * @brief Adjust the value of External High Speed oscillator (HSE) used in your application. * This value is used by the RCC HAL module to compute the system frequency - * (when HSE is used as system clock source, directly or through the PLL). + * (when HSE is used as system clock source, directly or through the PLL). */ #if !defined(HSE_VALUE) #define HSE_VALUE ((uint32_t)8000000) /*!< Value of the External oscillator in Hz */ @@ -107,7 +107,7 @@ extern "C" { /** * @brief Internal High Speed oscillator (HSI) value. * This value is used by the RCC HAL module to compute the system frequency - * (when HSI is used as system clock source, directly or through the PLL). + * (when HSI is used as system clock source, directly or through the PLL). */ #if !defined(HSI_VALUE) #define HSI_VALUE ((uint32_t)8000000) /*!< Value of the Internal oscillator in Hz*/ @@ -148,7 +148,7 @@ extern "C" { /* ########################## Assert Selection ############################## */ /** - * @brief Uncomment the line below to expanse the "assert_param" macro in the + * @brief Uncomment the line below to expanse the "assert_param" macro in the * HAL drivers code */ /* #define USE_FULL_ASSERT 1U */ @@ -211,7 +211,7 @@ extern "C" { /* Includes ------------------------------------------------------------------*/ /** - * @brief Include module's header file + * @brief Include module's header file */ #ifdef HAL_RCC_MODULE_ENABLED @@ -345,7 +345,7 @@ extern "C" { * @brief The assert_param macro is used for function's parameters check. * @param expr: If expr is false, it calls assert_failed function * which reports the name of the source file and the source - * line number of the call that failed. + * line number of the call that failed. * If expr is true, it returns no value. * @retval None */ diff --git a/Makefile b/Makefile index 0f721c5..41ba4e9 100644 --- a/Makefile +++ b/Makefile @@ -33,6 +33,8 @@ Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc_ex.c \ Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.c \ Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_adc.c \ Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_uart.c \ +Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_i2c.c \ +Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.c \ Src/system_stm32f1xx.c \ Src/setup.c \ Src/control.c \ diff --git a/Src/bldc.c b/Src/bldc.c index 4ff12e4..0bb5de9 100644 --- a/Src/bldc.c +++ b/Src/bldc.c @@ -9,7 +9,10 @@ volatile int posl = 0; volatile int posr = 0; volatile int pwml = 0; volatile int pwmr = 0; -int16_t pwmrl = 0; +volatile int weakl = 0; +volatile int weakr = 0; + +extern volatile int pwmrl; extern volatile adc_buf_t adc_buffer; @@ -128,7 +131,7 @@ int offsetrr2 = 2000; int offsetdcl = 2000; int offsetdcr = 2000; -float batteryVoltage; +float batteryVoltage = 40.0; float adccmd1; float adccmd2; @@ -157,32 +160,20 @@ void DMA1_Channel1_IRQHandler() { return; } - batteryVoltage = batteryVoltage * 0.999 + ((float)adc_buffer.batt1 * ADC_BATTERY_VOLT) * 0.001; - adccmd1 = adccmd1 * 0.999 + (float)adc_buffer.l_rx2 * 0.001; - adccmd2 = adccmd2 * 0.999 + (float)adc_buffer.l_tx2 * 0.001; - - //0-4096 - //+-2000 - - pwmrl = 0; - if(adccmd1 - 700 > 0){ - pwmrl -= adccmd1 - 700; - } - if(adccmd2 - 700 > 0){ - pwmrl += adccmd2 - 700; + if (buzzerTimer % 100 == 0) { + batteryVoltage = batteryVoltage * 0.999 + ((float)adc_buffer.batt1 * ADC_BATTERY_VOLT) * 0.001; } - if (pwmrl < -100 && enable == 1) { - buzzerFreq = 5; - buzzerPattern = 1; - } else if (enable == 1) { - buzzerFreq = 0; - buzzerPattern = 1; - } - pwmrl = powf((pwmrl/4), 3) / 255885; - pwml = -pwmrl; - pwmr = pwmrl; + #ifdef BEEPS_BACKWARD + if (pwmrl < -50 && enable == 1) { + buzzerFreq = 5; + buzzerPattern = 1; + } else if (enable == 1) { + buzzerFreq = 0; + buzzerPattern = 1; + } + #endif @@ -258,9 +249,32 @@ void DMA1_Channel1_IRQHandler() { // errorl = cmdl - curl; // pwml = kp * errorl; + blockPWM(pwml, posl, &ul, &vl, &wl); blockPWM(pwmr, posr, &ur, &vr, &wr); + + int weakul, weakvl, weakwl; + if (pwml > 0) { + blockPWM(weakl, (posl+5) % 6, &weakul, &weakvl, &weakwl); + } else { + blockPWM(-weakl, (posl+1) % 6, &weakul, &weakvl, &weakwl); + } + ul += weakul; + vl += weakvl; + wl += weakwl; + + int weakur, weakvr, weakwr; + if (pwmr > 0) { + blockPWM(weakr, (posr+5) % 6, &weakur, &weakvr, &weakwr); + } else { + blockPWM(-weakr, (posr+1) % 6, &weakur, &weakvr, &weakwr); + } + ur += weakur; + vr += weakvr; + wr += weakwr; +// blockPWM(pwmr, posr, &ur, &vr, &wr); + LEFT_TIM->LEFT_TIM_U = CLAMP(ul + pwm_res / 2, 10, pwm_res-10); LEFT_TIM->LEFT_TIM_V = CLAMP(vl + pwm_res / 2, 10, pwm_res-10); LEFT_TIM->LEFT_TIM_W = CLAMP(wl + pwm_res / 2, 10, pwm_res-10); diff --git a/Src/comms.c b/Src/comms.c index 4b1897b..fbcee13 100644 --- a/Src/comms.c +++ b/Src/comms.c @@ -7,6 +7,15 @@ UART_HandleTypeDef huart2; +#ifdef DEBUG_SERIAL_USART3 +#define UART_DMA_CHANNEL DMA1_Channel2 +#endif + +#ifdef DEBUG_SERIAL_USART2 +#define UART_DMA_CHANNEL DMA1_Channel7 +#endif + + volatile uint8_t uart_buf[100]; volatile int16_t ch_buf[8]; //volatile char char_buf[300]; @@ -28,11 +37,11 @@ void consoleScope() { uart_buf[8] = CLAMP(ch_buf[7]+127, 0, 255); uart_buf[9] = '\n'; - if(DMA1_Channel2->CNDTR == 0) { - DMA1_Channel2->CCR &= ~DMA_CCR_EN; - DMA1_Channel2->CNDTR = 10; - DMA1_Channel2->CMAR = (uint32_t)uart_buf; - DMA1_Channel2->CCR |= DMA_CCR_EN; + if(UART_DMA_CHANNEL->CNDTR == 0) { + UART_DMA_CHANNEL->CCR &= ~DMA_CCR_EN; + UART_DMA_CHANNEL->CNDTR = 10; + UART_DMA_CHANNEL->CMAR = (uint32_t)uart_buf; + UART_DMA_CHANNEL->CCR |= DMA_CCR_EN; } #endif @@ -40,11 +49,11 @@ void consoleScope() { memset(uart_buf, 0, sizeof(uart_buf)); sprintf(uart_buf, "%i;%i;%i;%i\n\r", ch_buf[0], ch_buf[1], ch_buf[2], ch_buf[3]);//, ch_buf[4], ch_buf[5], ch_buf[6], ch_buf[7]); - if(DMA1_Channel2->CNDTR == 0) { - DMA1_Channel2->CCR &= ~DMA_CCR_EN; - DMA1_Channel2->CNDTR = strlen(uart_buf); - DMA1_Channel2->CMAR = (uint32_t)uart_buf; - DMA1_Channel2->CCR |= DMA_CCR_EN; + if(UART_DMA_CHANNEL->CNDTR == 0) { + UART_DMA_CHANNEL->CCR &= ~DMA_CCR_EN; + UART_DMA_CHANNEL->CNDTR = strlen(uart_buf); + UART_DMA_CHANNEL->CMAR = (uint32_t)uart_buf; + UART_DMA_CHANNEL->CCR |= DMA_CCR_EN; } #endif } diff --git a/Src/control.c b/Src/control.c index 6690880..807e68e 100644 --- a/Src/control.c +++ b/Src/control.c @@ -8,6 +8,13 @@ TIM_HandleTypeDef TimHandle; uint16_t ppm_captured_value[PPM_NUM_CHANNELS+1] = {0}; uint8_t ppm_count = 0; uint32_t timeout = 100; +uint8_t nunchuck_data[6] = {0}; + +uint8_t ai2cBuffer[6]; + +extern I2C_HandleTypeDef hi2c2; +DMA_HandleTypeDef hdma_i2c2_rx; +DMA_HandleTypeDef hdma_i2c2_tx; void PPM_ISR_Callback() { // Dummy loop with 16 bit count wrap around @@ -47,3 +54,33 @@ void PPM_Init() { HAL_NVIC_EnableIRQ(EXTI3_IRQn); HAL_TIM_Base_Start(&TimHandle); } + + +void Nunchuck_Init() { + //-- START -- init WiiNunchuck + ai2cBuffer[0] = 0xF0; + ai2cBuffer[1] = 0x55; + //Originale + ai2cBuffer[0] = 0x40; + ai2cBuffer[1] = 0x00; + //HAL_I2C_Master_Transmit_DMA(&hi2c2, 0xA4, (uint8_t*)ai2cBuffer, 2); + //while(wii_JOYdati.I2CTxDone ==0); + //wii_JOYdati.I2CTxDone = 0; + HAL_I2C_Master_Transmit(&hi2c2,0xA4,(uint8_t*)ai2cBuffer, 2, 100); + HAL_Delay(10); + //wii_JOYdati.done = 0; +} + +void Nunchuck_Read() { + ai2cBuffer[0] = 0x00; + HAL_I2C_Master_Transmit(&hi2c2,0xA4,(uint8_t*)ai2cBuffer, 1, 100); + HAL_Delay(2); + HAL_I2C_Master_Receive(&hi2c2,0xA4,(uint8_t*)ai2cBuffer, 6, 100); + for (int i = 0; i < 6; i++) { + nunchuck_data[i] = (ai2cBuffer[i] ^ 0x17) + 0x17; + } + //setScopeChannel(0, (int)nunchuck_data[0]); + //setScopeChannel(1, (int)nunchuck_data[1]); + //setScopeChannel(2, (int)nunchuck_data[5] & 1); + //setScopeChannel(3, ((int)nunchuck_data[5] >> 1) & 1); +} diff --git a/Src/main.c b/Src/main.c index 2a4226a..764696a 100644 --- a/Src/main.c +++ b/Src/main.c @@ -25,6 +25,9 @@ void SystemClock_Config(void); +extern float adccmd1; +extern float adccmd2; + extern TIM_HandleTypeDef htim_left; extern TIM_HandleTypeDef htim_right; extern ADC_HandleTypeDef hadc1; @@ -34,6 +37,10 @@ extern volatile uint16_t ppm_captured_value[PPM_NUM_CHANNELS+1]; extern volatile int pwml; extern volatile int pwmr; +extern volatile int weakl; +extern volatile int weakr; + +volatile int pwmrl = 0; extern uint8_t buzzerFreq; extern uint8_t buzzerPattern; @@ -43,6 +50,7 @@ extern uint8_t enable; extern volatile uint32_t timeout; extern float batteryVoltage; +extern uint8_t nunchuck_data[6]; int milli_vel_error_sum = 0; @@ -91,40 +99,79 @@ int main(void) { int lastSpeedL = 0, lastSpeedR = 0; int speedL = 0, speedR = 0; + float direction = 1; #ifdef CONTROL_PPM PPM_Init(); #endif + #ifdef CONTROL_NUNCHUCK + I2C_Init(); + Nunchuck_Init(); + #endif + + + enable = 1; while(1) { - HAL_Delay(10); - // int milli_cur = 3000; - // int milli_volt = milli_cur * MILLI_R / 1000;// + vel * MILLI_PSI * 141; - // // pwm = milli_volt * pwm_res / MILLI_V; + HAL_Delay(2); + + #ifdef CONTROL_NUNCHUCK + Nunchuck_Read(); + setScopeChannel(0, (int)nunchuck_data[0]); + setScopeChannel(1, (int)nunchuck_data[1]); + setScopeChannel(2, (int)nunchuck_data[5] & 1); + setScopeChannel(3, ((int)nunchuck_data[5] >> 1) & 1); + #endif - // int milli_vel_cmd = 200; - // int milli_vel_error = milli_vel_cmd - vel; - // milli_vel_error_sum += milli_vel_error; - // milli_vel_error_sum = CLAMP(milli_vel_error_sum, -200000, 200000); - // pwm = CLAMP(milli_vel_cmd / 5 + milli_vel_error_sum / 200, -500, 500); - // cmdl = 70; #ifdef CONTROL_PPM speedL = -(CLAMP((((ppm_captured_value[1]-500)+(ppm_captured_value[0]-500)/2.0)*(ppm_captured_value[2]/500.0)), -800, 800)); speedR = (CLAMP((((ppm_captured_value[1]-500)-(ppm_captured_value[0]-500)/2.0)*(ppm_captured_value[2]/500.0)), -800, 800)); + if ((speedL < lastSpeedL + 50 && speedL > lastSpeedL - 50) && (speedR < lastSpeedR + 50 && speedR > lastSpeedR - 50) && timeout < 50) { + //pwmr = speedR; + //pwml = speedL; + } + + lastSpeedL = speedL; + lastSpeedR = speedR; + //setScopeChannel(0, (int)pwmrl); + //setScopeChannel(1, (int)speedL); #endif - if ((speedL < lastSpeedL + 50 && speedL > lastSpeedL - 50) && (speedR < lastSpeedR + 50 && speedR > lastSpeedR - 50) && timeout < 50) { - pwmr = speedR; - pwml = speedL; - } + #ifdef CONTROL_ADC + //adccmd1 = adccmd1 * 0.9 + (float)adc_buffer.l_rx2 * 0.1; // throttle + adccmd2 = adccmd2 * 0.9 + (float)adc_buffer.l_tx2 * 0.1; // button - lastSpeedL = speedL; - lastSpeedR = speedR; - setScopeChannel(0, speedR); - setScopeChannel(1, speedL); + pwmrl = pwmrl * 0.9 + (CLAMP(adc_buffer.l_rx2 - 700, 0, 2350) / 2.35) * 0.1 * direction; + // pwmrl has to be 0-1000 (or negative when driving backwards) + + setScopeChannel(0, (int)adccmd1); + setScopeChannel(1, (int)adccmd2); + + // adccmd2 = button, ranges 0 in idle and 4096 when pressed + if (adccmd2 > 2000 && pwmrl < 300) { // driving backwards at low speeds + direction = -0.2; + } else { + direction = 1; + } + + if (adccmd2 > 2000 && pwmrl > 700) { // field weakening at high speeds + weakl = pwmrl - 600; // weak should never exceed 400 or 450 MAX!! + weakr = pwmrl - 600; + } else { + weakl = 0; + weakr = 0; + } + + if (pwml < 1000) { + pwml +=1; + } + + pwml = pwmrl; + pwmr = -pwmrl; + #endif consoleScope(); @@ -162,14 +209,6 @@ int main(void) { buzzerFreq = 0; buzzerPattern = 0; } - - - // if(vel > milli_vel_cmd){ - // HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1); - // } - // else{ - // HAL_GPIO_WritePin(LED_PORT, LED_PIN, 0); - // } } } diff --git a/Src/setup.c b/Src/setup.c index 29d7498..d665be3 100644 --- a/Src/setup.c +++ b/Src/setup.c @@ -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; diff --git a/Src/stm32f1xx_it.c b/Src/stm32f1xx_it.c index a487d14..dd70640 100644 --- a/Src/stm32f1xx_it.c +++ b/Src/stm32f1xx_it.c @@ -35,6 +35,10 @@ #include "stm32f1xx.h" #include "stm32f1xx_it.h" +extern DMA_HandleTypeDef hdma_i2c2_rx; +extern DMA_HandleTypeDef hdma_i2c2_tx; +extern I2C_HandleTypeDef hi2c2; + /* USER CODE BEGIN 0 */ /* USER CODE END 0 */ @@ -165,6 +169,47 @@ void SysTick_Handler(void) { } +extern I2C_HandleTypeDef hi2c2; +void I2C1_EV_IRQHandler(void) +{ + HAL_I2C_EV_IRQHandler(&hi2c2); +} + +void I2C1_ER_IRQHandler(void) +{ + HAL_I2C_ER_IRQHandler(&hi2c2); +} + +/** +* @brief This function handles DMA1 channel4 global interrupt. +*/ +void DMA1_Channel4_IRQHandler(void) +{ + /* USER CODE BEGIN DMA1_Channel4_IRQn 0 */ + + /* USER CODE END DMA1_Channel4_IRQn 0 */ + HAL_DMA_IRQHandler(&hdma_i2c2_tx); + /* USER CODE BEGIN DMA1_Channel4_IRQn 1 */ + + /* USER CODE END DMA1_Channel4_IRQn 1 */ +} + +/** +* @brief This function handles DMA1 channel5 global interrupt. +*/ +void DMA1_Channel5_IRQHandler(void) +{ + /* USER CODE BEGIN DMA1_Channel5_IRQn 0 */ + + /* USER CODE END DMA1_Channel5_IRQn 0 */ + HAL_DMA_IRQHandler(&hdma_i2c2_rx); + /* USER CODE BEGIN DMA1_Channel5_IRQn 1 */ + + /* USER CODE END DMA1_Channel5_IRQn 1 */ +} + + + void EXTI3_IRQHandler(void) { PPM_ISR_Callback(); diff --git a/build/hover.hex b/build/hover.hex index 33c3013..f1ca81b 100644 --- a/build/hover.hex +++ b/build/hover.hex @@ -1,23 +1,23 @@ :020000040800F2 -:1000000000C00020653A0008253A0008293A000897 -:100010002D3A0008313A0008353A00080000000087 -:10002000000000000000000000000000393A000855 -:100030003D3A000800000000413A0008453A000837 -:10004000AD3A0008AD3A0008AD3A0008AD3A0008F4 -:10005000AD3A0008AD3A0008AD3A0008AD3A0008E4 -:10006000AD3A0008513A0008AD3A0008E132000804 -:10007000AD3A0008AD3A0008AD3A0008AD3A0008C4 -:10008000AD3A0008AD3A0008AD3A0008AD3A0008B4 -:10009000AD3A0008AD3A0008AD3A0008AD3A0008A4 -:1000A000AD3A0008AD3A0008AD3A0008AD3A000894 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