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lin.jia
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CM4: Update Code; Seprate Hardware files into different folder; Chassis Main Program (CHASSIS_task) Done - Control with the new CANOpen Protocol
1 parent 036411a commit 10e1d6c

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‎FreeRTOS-CANOpen-STM32F407/HARDWARE/LED/led.c

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‎FreeRTOS-CANOpen-STM32F407/HARDWARE/LED/led.h

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‎FreeRTOS-CANOpen-STM32F407/HARDWARE/anticollision/anticollision.c

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/**
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******************************************************************************
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* @file anticollision.c
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* @author Jim
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* @version V1.0
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* @date 16-Jan-2015
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* @brief This file provides anticollision functions
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*
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******************************************************************************
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* @attention
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*
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* <h2><center>&copy; COPYRIGHT 2015 CSST Robot Research Center</center></h2>
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*
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******************************************************************************
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*/
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#include "anticollision.h"
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#include "stm32f4xx.h"
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void SENSOR_Anticollision(void)
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{
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}
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/****************** (C) COPYRIGHT CSST Robot Research Center *****END OF FILE****/

‎FreeRTOS-CANOpen-STM32F407/HARDWARE/anticollision/anticollision.h

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/**
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******************************************************************************
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* @file anticollision.h
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* @author Jim
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* @version V1.0
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* @date 16-Jan-2015
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* @brief This file provides anticollision variable definitions.
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*
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******************************************************************************
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* @attention
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*
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* <h2><center>&copy; COPYRIGHT 2015 CSST Robot Research Center</center></h2>
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*
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*
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******************************************************************************
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*/
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#ifndef __ANTICOLLISION_H__
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#define __ANTICOLLISION_H__
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#include "globalstruct.h"
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#include "data.h"
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void SENSOR_Anticollision(void);
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#endif
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/****************** (C) COPYRIGHT CSST Robot Research Center *****END OF FILE****/

‎FreeRTOS-CANOpen-STM32F407/HARDWARE/force_sensor/force_sensor.c

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/**
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******************************************************************************
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* @file force_sensor.c
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* @author Jim
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* @version V1.0
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* @date 16-Jan-2015
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* @brief This file provides force_sensor functions
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*
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******************************************************************************
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* @attention
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*
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* <h2><center>&copy; COPYRIGHT 2015 CSST Robot Research Center</center></h2>
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*
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******************************************************************************
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*/
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#include "force_sensor.h"
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#include "stm32f4xx.h"
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__IO uint16_t ADC3ConvertedValue[8] = {0,0,0,0,0,0,0,0}; // the ADC value of the new force sensors
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void SENSOR_Force_Init(void)
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{
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GPIO_InitTypeDef GPIO_InitStructure;
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ADC_InitTypeDef ADC_InitStructure;
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ADC_CommonInitTypeDef ADC_CommonInitStructure;
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DMA_InitTypeDef DMA_InitStructure;
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/* GPIO Config ------------------------------------------------------------------*/
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/* Enable GPIOF Clock */
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RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOF, ENABLE);
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// Configure ADC3 Channel13 pin as analog input for New Force sensors' (1,2,3,4) I/Os
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GPIO_StructInit(&GPIO_InitStructure); // Reset init structure, if not it can cause issues...
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//ADC3 CH9 CH14 CH15 CH4 CH5 CH6 CH7 CH8
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3|GPIO_Pin_4|GPIO_Pin_5|GPIO_Pin_6|
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GPIO_Pin_7|GPIO_Pin_8|GPIO_Pin_9|GPIO_Pin_10;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AN;
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
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GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
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GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_DOWN;
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GPIO_Init(GPIOF, &GPIO_InitStructure);
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/* DMA2 Config ------------------------------------------------------------------*/
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/* Enable DMA2 Clock */
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RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_DMA2, ENABLE);
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/* DMA2 Stream0 channel0 configuration */
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DMA_DeInit(DMA2_Stream1);
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DMA_InitStructure.DMA_Channel = DMA_Channel_2;
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DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)ADC3_DR_ADDRESS;
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DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)&ADC3ConvertedValue;
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DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralToMemory;
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DMA_InitStructure.DMA_BufferSize = 8;
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DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
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DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
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DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord;
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DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_HalfWord;
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DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
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DMA_InitStructure.DMA_Priority = DMA_Priority_High;
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DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable;
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DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_HalfFull;
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DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
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DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
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DMA_Init(DMA2_Stream1, &DMA_InitStructure);
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DMA_Cmd(DMA2_Stream1, ENABLE);
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/* ADC Config -------------------------------------------------------------------*/
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/* Enable ADC3 Clock */
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC3,ENABLE);
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/* ADC Common Init */
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ADC_CommonInitStructure.ADC_Mode = ADC_Mode_Independent;
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ADC_CommonInitStructure.ADC_Prescaler = ADC_Prescaler_Div4;
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ADC_CommonInitStructure.ADC_DMAAccessMode = ADC_DMAAccessMode_1; //
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//ADC_CommonInitStructure.ADC_DMAAccessMode = ADC_DMAAccessMode_Disabled;
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ADC_CommonInitStructure.ADC_TwoSamplingDelay = ADC_TwoSamplingDelay_15Cycles;
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ADC_CommonInit(&ADC_CommonInitStructure);
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/* ADC1 Init */
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ADC_InitStructure.ADC_Resolution = ADC_Resolution_12b;
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//ADC_InitStructure.ADC_ScanConvMode = DISABLE;
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ADC_InitStructure.ADC_ScanConvMode = ENABLE;
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ADC_InitStructure.ADC_ContinuousConvMode = ENABLE;
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// gtz02nov ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConvEdge_None;
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ADC_InitStructure.ADC_ExternalTrigConvEdge = ADC_ExternalTrigConvEdge_None; //gtz01nov
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ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_T1_CC1;
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ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
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//ADC_InitStructure.ADC_NbrOfConversion = 1;
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ADC_InitStructure.ADC_NbrOfConversion = 8;
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ADC_Init(ADC3, &ADC_InitStructure);
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/* ADC3 regular channelx configuration */
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ADC_RegularChannelConfig(ADC3, ADC_Channel_9, 1, ADC_SampleTime_144Cycles);// PF3
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ADC_RegularChannelConfig(ADC3, ADC_Channel_14, 2, ADC_SampleTime_144Cycles);// PF4
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ADC_RegularChannelConfig(ADC3, ADC_Channel_15, 3, ADC_SampleTime_144Cycles);// PF5
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ADC_RegularChannelConfig(ADC3, ADC_Channel_4, 4, ADC_SampleTime_144Cycles);// PF6
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ADC_RegularChannelConfig(ADC3, ADC_Channel_5, 5, ADC_SampleTime_144Cycles);// PF7
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ADC_RegularChannelConfig(ADC3, ADC_Channel_6, 6, ADC_SampleTime_144Cycles);// PF8
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ADC_RegularChannelConfig(ADC3, ADC_Channel_7, 7, ADC_SampleTime_144Cycles);// PF9
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ADC_RegularChannelConfig(ADC3, ADC_Channel_8, 8, ADC_SampleTime_144Cycles);// PF10
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/* Enable DMA request after last transfer (Single-ADC mode) */
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ADC_DMARequestAfterLastTransferCmd(ADC3, ENABLE);//gtz01nov
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ADC_ContinuousModeCmd(ADC3, ENABLE);
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/* Enable ADC3 DMA */
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ADC_DMACmd(ADC3, ENABLE);
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/* Enable ADC3 */
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ADC_Cmd(ADC3, ENABLE);
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/* Start ADC3 Software Conversion */
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ADC_SoftwareStartConv(ADC3);
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}
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/****************** (C) COPYRIGHT CSST Robot Research Center *****END OF FILE****/

‎FreeRTOS-CANOpen-STM32F407/HARDWARE/force_sensor/force_sensor.h

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/**
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******************************************************************************
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* @file force_sensor.c
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* @author Jim
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* @version V1.0
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* @date 16-Jan-2015
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* @brief This file provides force_sensor variable definitions.
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*
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******************************************************************************
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* @attention
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*
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* <h2><center>&copy; COPYRIGHT 2015 CSST Robot Research Center</center></h2>
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*
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*
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******************************************************************************
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*/
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#ifndef __FORCE_SENSOR_H__
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#define __FORCE_SENSOR_H__
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#include "globalstruct.h"
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#include "data.h"
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#define ADC3_DR_ADDRESS ((uint32_t)0x4001224C)
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void SENSOR_Force_Init(void);
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#endif
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/****************** (C) COPYRIGHT CSST Robot Research Center *****END OF FILE****/

‎FreeRTOS-CANOpen-STM32F407/HARDWARE/ir_autocharge/ir_autocharge.c

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/**
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******************************************************************************
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* @file ir_autocharge.c
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* @author Jim
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* @version V1.0
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* @date 16-Jan-2015
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* @brief This file provides ir_autocharge functions
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*
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******************************************************************************
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* @attention
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*
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* <h2><center>&copy; COPYRIGHT 2015 CSST Robot Research Center</center></h2>
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*
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******************************************************************************
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*/
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#include "ir_autocharge.h"
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#include "stm32f4xx.h"
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AUTO_CHARGE Auto_charge;
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void SENSOR_IR_Autocharge_Init(void)
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{
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GPIO_InitTypeDef GPIO_InitStructure;
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NVIC_InitTypeDef NVIC_InitStructure;
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EXTI_InitTypeDef EXTI_InitStructure;
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/* GPIO Config ------------------------------------------------------------------*/
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/* Enable GPIOG Clock */
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RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOG, ENABLE);
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//EXTI
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_1;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN; //ÊäÈëģʽ
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GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL; //ÉÏÀ­
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GPIO_Init(GPIOG, &GPIO_InitStructure);
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//EXTI
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/* NVIC Config ------------------------------------------------------------------*/
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NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);
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NVIC_InitStructure.NVIC_IRQChannel = EXTI0_IRQn;
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
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NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
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NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
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NVIC_Init(&NVIC_InitStructure);
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NVIC_InitStructure.NVIC_IRQChannel = EXTI1_IRQn;
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
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NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
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NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
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NVIC_Init(&NVIC_InitStructure);
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/* EXTI Config ------------------------------------------------------------------*/
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SYSCFG_EXTILineConfig(IRPORT,IRPIN0);
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SYSCFG_EXTILineConfig(IRPORT,IRPIN1);
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EXTI_InitStructure.EXTI_Line = EXTI_Line0|EXTI_Line1;
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EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
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EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling;
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EXTI_InitStructure.EXTI_LineCmd = ENABLE;
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EXTI_Init(&EXTI_InitStructure);
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}
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/****************** (C) COPYRIGHT CSST Robot Research Center *****END OF FILE****/

‎FreeRTOS-CANOpen-STM32F407/HARDWARE/ir_autocharge/ir_autocharge.h

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/**
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******************************************************************************
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* @file ir_autocharge.c
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* @author Jim
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* @version V1.0
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* @date 16-Jan-2015
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* @brief This file provides ir_autocharge variable definitions.
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*
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******************************************************************************
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* @attention
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*
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* <h2><center>&copy; COPYRIGHT 2015 CSST Robot Research Center</center></h2>
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*
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*
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******************************************************************************
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*/
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#ifndef __IR_AUTOCHARGE_H__
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#define __IR_AUTOCHARGE_H__
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#include "globalstruct.h"
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#include "data.h"
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#define IRPIN0 EXTI_PinSource0
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#define IRPIN1 EXTI_PinSource1
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#define IRPORT EXTI_PortSourceGPIOG
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typedef struct
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{
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u16 Infared0_time,Infared1_time;
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u16 Infared0_time_end,Infared1_time_end;
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u16 Infared0_collected,Infared1_collected;
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u16 receive_status;
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u16 nosignal_counting;
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u16 Infared0_width,Infared1_width;
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}AUTO_CHARGE;
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void SENSOR_IR_Autocharge_Init(void);
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#endif
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/****************** (C) COPYRIGHT CSST Robot Research Center *****END OF FILE****/

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