EICU. Testhal. Initial working code.

1 files changed, 152 insertions, 0 deletions

diff --git a/testhal/STM32/STM32F4xx/EICU/main.c b/testhal/STM32/STM32F4xx/EICU/main.c
new file mode 100644
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+++ b/testhal/STM32/STM32F4xx/EICU/main.c
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+/*

+    ChibiOS/RT - Copyright (C) 2014 Uladzimir Pylinsky aka barthess

+

+    Licensed under the Apache License, Version 2.0 (the "License");

+    you may not use this file except in compliance with the License.

+    You may obtain a copy of the License at

+

+        http://www.apache.org/licenses/LICENSE-2.0

+

+    Unless required by applicable law or agreed to in writing, software

+    distributed under the License is distributed on an "AS IS" BASIS,

+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

+    See the License for the specific language governing permissions and

+    limitations under the License.

+*/

+

+/*

+ * Make following connections on your discovery board:

+ * PD13-PB4

+ * PD12-PB5

+ * PD14-PB0

+ * PD15-PB1

+ */

+

+#include "ch.h"

+#include "hal.h"

+#include "stdlib.h"

+

+typedef struct {

+  systime_t high;

+  systime_t low;

+  uint32_t pad;

+} pulse_t;

+

+/*

+ * Chose values suitable for measurement using 16-bit timer on 1MHz

+ */

+static pulse_t pulse_led3 = {MS2ST(2), MS2ST(59), GPIOD_LED3};

+static pulse_t pulse_led4 = {MS2ST(3), MS2ST(53), GPIOD_LED4};

+static pulse_t pulse_led5 = {MS2ST(5), MS2ST(47), GPIOD_LED5};

+static pulse_t pulse_led6 = {MS2ST(7), MS2ST(43), GPIOD_LED6};

+

+/*

+ *

+ */

+static THD_WORKING_AREA(PulseThreadWA_LED3, 128);

+static THD_WORKING_AREA(PulseThreadWA_LED4, 128);

+static THD_WORKING_AREA(PulseThreadWA_LED5, 128);

+static THD_WORKING_AREA(PulseThreadWA_LED6, 128);

+

+static THD_FUNCTION(PulseThread, arg) {

+  chRegSetThreadName("Pulse");

+  pulse_t *pulse = arg;

+

+  systime_t t = chVTGetSystemTimeX();

+

+  while (!chThdShouldTerminateX()) {

+    t += pulse->high;

+    palSetPad(GPIOD, pulse->pad);

+    chThdSleepUntil(t);

+    palClearPad(GPIOD, pulse->pad);

+    t+= pulse->low;

+    chThdSleepUntil(t);

+  }

+

+  chThdExit(MSG_OK);

+}

+

+static const int32_t tolerance = 20; // uS

+void eicu_cb(EICUDriver *eicup, eicuchannel_t channel, uint32_t w, uint32_t p) {

+  (void)eicup;

+  (void)p;

+  switch (channel) {

+  case EICU_CHANNEL_1:

+    if (abs((int32_t)w - (int32_t)ST2US(pulse_led3.high)) > tolerance)

+      osalSysHalt("ch1");

+    break;

+  case EICU_CHANNEL_2:

+    if (abs((int32_t)w - (int32_t)ST2US(pulse_led4.high)) > tolerance)

+      osalSysHalt("ch2");

+    break;

+  case EICU_CHANNEL_3:

+    if (abs((int32_t)w - (int32_t)ST2US(pulse_led5.high)) > tolerance)

+      osalSysHalt("ch3");

+    break;

+  case EICU_CHANNEL_4:

+    if (abs((int32_t)w - (int32_t)ST2US(pulse_led6.high)) > tolerance)

+      osalSysHalt("ch4");

+    break;

+  default:

+    osalSysHalt("unhandled case");

+    break;

+  }

+}

+

+static const EICUChannelConfig led3cfg = {

+    EICU_INPUT_ACTIVE_HIGH,

+    EICU_INPUT_PULSE,

+    eicu_cb

+};

+

+static const EICUConfig eicucfg = {

+    1000000,    /* EICU clock frequency in Hz.*/

+    {

+        &led3cfg,

+        &led3cfg,

+        &led3cfg,

+        &led3cfg

+    },

+    0

+};

+

+/*

+ * Application entry point.

+ */

+int main(void) {

+

+  /*

+   * System initializations.

+   * - HAL initialization, this also initializes the configured device drivers

+   *   and performs the board-specific initializations.

+   * - Kernel initialization, the main() function becomes a thread and the

+   *   RTOS is active.

+   */

+  halInit();

+  chSysInit();

+

+  palSetPadMode(GPIOB, GPIOB_PIN0, PAL_MODE_ALTERNATE(2) | PAL_STM32_PUDR_FLOATING);

+  palSetPadMode(GPIOB, GPIOB_PIN1, PAL_MODE_ALTERNATE(2) | PAL_STM32_PUDR_FLOATING);

+  palSetPadMode(GPIOB, GPIOB_PIN4, PAL_MODE_ALTERNATE(2) | PAL_STM32_PUDR_FLOATING);

+  palSetPadMode(GPIOB, GPIOB_PIN5, PAL_MODE_ALTERNATE(2) | PAL_STM32_PUDR_FLOATING);

+

+  eicuStart(&EICUD3, &eicucfg);

+  eicuEnable(&EICUD3);

+

+  osalThreadSleepMicroseconds(10); // need to stabilize input puns

+

+  chThdCreateStatic(PulseThreadWA_LED3, sizeof(PulseThreadWA_LED3),

+                    NORMALPRIO+1, PulseThread, &pulse_led3);

+  chThdCreateStatic(PulseThreadWA_LED4, sizeof(PulseThreadWA_LED4),

+                    NORMALPRIO+1, PulseThread, &pulse_led4);

+  chThdCreateStatic(PulseThreadWA_LED5, sizeof(PulseThreadWA_LED5),

+                    NORMALPRIO+1, PulseThread, &pulse_led5);

+  chThdCreateStatic(PulseThreadWA_LED6, sizeof(PulseThreadWA_LED6),

+                    NORMALPRIO+1, PulseThread, &pulse_led6);

+

+  while (true) {

+    osalThreadSleepMilliseconds(500);

+  }

+

+  return 0;

+}