static void motor_stop(void) {
memset(&motor, 0, sizeof(motor));
gpio_disable(MOTORA_PORT, MOTORAIN1_PIN);
gpio_disable(MOTORA_PORT, MOTORAIN2_PIN);
gpio_disable(MOTORB_PORT, MOTORBIN1_PIN);
gpio_disable(MOTORB_PORT, MOTORBIN2_PIN);
set_motora_pwm_duty_cycle(MOTOR_PERIOD);
set_motorb_pwm_duty_cycle(MOTOR_PERIOD);
}
static void motor_set(s16_t left, s16_t right) {
if (left == 0) {
gpio_disable(MOTORA_PORT, MOTORAIN1_PIN);
gpio_disable(MOTORA_PORT, MOTORAIN2_PIN);
set_motora_pwm_duty_cycle(MOTOR_PERIOD);
} else {
if (left > 0) {
gpio_enable(MOTORA_PORT, MOTORAIN1_PIN);
gpio_disable(MOTORA_PORT, MOTORAIN2_PIN);
} else {
gpio_disable(MOTORA_PORT, MOTORAIN1_PIN);
gpio_enable(MOTORA_PORT, MOTORAIN2_PIN);
left = -left;
}
set_motora_pwm_duty_cycle((MOTOR_PERIOD*left)/128);
}
if (right == 0) {
gpio_disable(MOTORB_PORT, MOTORBIN1_PIN);
gpio_disable(MOTORB_PORT, MOTORBIN2_PIN);
set_motorb_pwm_duty_cycle(MOTOR_PERIOD);
} else {
if (right > 0) {
gpio_enable(MOTORB_PORT, MOTORBIN1_PIN);
gpio_disable(MOTORB_PORT, MOTORBIN2_PIN);
} else {
gpio_disable(MOTORB_PORT, MOTORBIN1_PIN);
gpio_enable(MOTORB_PORT, MOTORBIN2_PIN);
right = -right;
}
set_motorb_pwm_duty_cycle((MOTOR_PERIOD*right)/128);
}
}
void MOTOR_go(s8_t x) {
if (x == 0) {
motor_stop();
return;
} else if (x > 0) {
gpio_enable(MOTORA_PORT, MOTORAIN1_PIN);
gpio_disable(MOTORA_PORT, MOTORAIN2_PIN);
gpio_enable(MOTORB_PORT, MOTORBIN1_PIN);
gpio_disable(MOTORB_PORT, MOTORBIN2_PIN);
} else if (x < 0) {
gpio_disable(MOTORA_PORT, MOTORAIN1_PIN);
gpio_enable(MOTORA_PORT, MOTORAIN2_PIN);
gpio_disable(MOTORB_PORT, MOTORBIN1_PIN);
gpio_enable(MOTORB_PORT, MOTORBIN2_PIN);
x = -x;
}
set_motora_pwm_duty_cycle((MOTOR_PERIOD*x)/128);
set_motorb_pwm_duty_cycle((MOTOR_PERIOD*x)/128);
}
/**
*
* @param gpio_num
* @return
*/
int disable(uint8_t gpio_num)
{
if(m_Valid.pinIsValid(gpio_num) == 0) {
m_GpioStat[gpio_num].gpio_direction = (gpio_direction_t) 0xFF;
gpio_disable(gpio_num);
}
else {
return -1;
}
return 0;
}
void TIMER_irq() {
if (TIM_GetITStatus(STM32_SYSTEM_TIMER, TIM_IT_Update) != RESET) {
TIM_ClearITPendingBit(STM32_SYSTEM_TIMER, TIM_IT_Update);
q++;
if ((q & 0xffff) < 0x1ff) {
gpio_enable(PORTF, PIN6);
} else {
gpio_disable(PORTF, PIN6);
}
bool ms_update = SYS_timer();
if (ms_update) {
TRACE_MS_TICK(SYS_get_time_ms() & 0xff);
}
#ifdef CONFIG_TASK_QUEUE
TASK_timer();
#endif
#ifdef CONFIG_OS
if (ms_update) {
__os_time_tick(SYS_get_time_ms());
}
#endif
}
}
void CVIDEO_set_input(video_input_t input) {
vid.input = input;
if (input == INPUT_CAMERA || input == INPUT_NONE) {
TIM_DeInit(TIM1);
TIM_Cmd(TIM1, DISABLE);
TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Disable);
NVIC_DisableIRQ(TIM1_UP_IRQn);
TIM_CtrlPWMOutputs(TIM1, DISABLE);
if (input == INPUT_CAMERA) {
if (VID_SEL_PINVAL_GEN) {
gpio_disable(VID_SEL_PORT, VID_SEL_PIN);
} else {
gpio_enable(VID_SEL_PORT, VID_SEL_PIN);
}
} else {
if (VID_SEL_PINVAL_GEN) {
gpio_enable(VID_SEL_PORT, VID_SEL_PIN);
} else {
gpio_disable(VID_SEL_PORT, VID_SEL_PIN);
}
}
} else {
// INPUT_GENERATED
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_Cmd(TIM1, DISABLE);
NVIC_DisableIRQ(TIM1_UP_IRQn);
//TIM_DeInit(TIM1);
if (VID_SEL_PINVAL_GEN) {
gpio_enable(VID_SEL_PORT, VID_SEL_PIN);
} else {
gpio_disable(VID_SEL_PORT, VID_SEL_PIN);
}
TIM_TimeBaseStructure.TIM_Period = 4608;//SYS_CPU_FREQ / 15625;
TIM_TimeBaseStructure.TIM_Prescaler = 1-1;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 4608/2;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset;
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Reset;
TIM_OC1Init(TIM1, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable);
TIM_ARRPreloadConfig(TIM1, DISABLE);
TIM_ClearITPendingBit(TIM1,
TIM_IT_Update | TIM_IT_CC1 | TIM_IT_CC2 | TIM_IT_CC3 | TIM_IT_CC4 |
TIM_IT_COM | TIM_IT_Trigger | TIM_IT_Break);
TIM_ITConfig(TIM1, TIM_IT_Update, ENABLE);
NVIC_EnableIRQ(TIM1_UP_IRQn);
TIM_SetCounter(TIM1, 0);
TIM_Cmd(TIM1, ENABLE);
TIM_CtrlPWMOutputs(TIM1, ENABLE);
}
}
static void dmw_keypad_setup_col(int gpio)
{
gpio_disable(gpio);
}
static void dmw_keypad_setup_row(int gpio)
{
gpio_disable(gpio);
gpio_pull_ctrl(gpio, 1, 1);
}
