void DMA_init(void) {
dma_init(DMA1);
// TIM2 Update event
/* DMA1 Channel2 configuration ----------------------------------------------*/
dma_setup_transfer(DMA1, DMA_CH2, (volatile void*) &(GPIOA->regs->ODR), DMA_SIZE_32BITS,
(volatile void*) &(WS2812_IO_High), DMA_SIZE_8BITS, DMA_FROM_MEM);
dma_set_priority(DMA1, DMA_CH2, DMA_PRIORITY_HIGH);
// TIM2 CC1 event
/* DMA1 Channel5 configuration ----------------------------------------------*/
dma_setup_transfer(DMA1, DMA_CH5, (volatile void*) &(GPIOA->regs->ODR), DMA_SIZE_32BITS,
(volatile void*) WS2812_buffer, DMA_SIZE_8BITS, DMA_FROM_MEM | DMA_MINC_MODE);
dma_set_priority(DMA1, DMA_CH5, DMA_PRIORITY_HIGH);
// TIM2 CC2 event
/* DMA1 Channel7 configuration ----------------------------------------------*/
dma_setup_transfer(DMA1, DMA_CH7, (volatile void*) &(GPIOA->regs->ODR), DMA_SIZE_32BITS,
(volatile void*) &(WS2812_IO_Low), DMA_SIZE_8BITS, DMA_FROM_MEM | DMA_TRNS_CMPLT);
dma_set_priority(DMA1, DMA_CH7, DMA_PRIORITY_HIGH);
/* configure DMA1 Channel7 interrupt */
nvic_irq_set_priority(NVIC_DMA_CH7, 1);
nvic_irq_enable(NVIC_DMA_CH7);
dma_attach_interrupt(DMA1, DMA_CH7, DMA1_Channel7_IRQHandler);
/* enable DMA1 Channel7 transfer complete interrupt */
}
void TIM2_init() {
uint32_t SystemCoreClock = 72000000;
uint16_t prescalerValue = (uint16_t) (SystemCoreClock / 24000000) - 1;
rcc_clk_enable(RCC_TIMER2);
/* Time base configuration */
timer_pause(TIMER2);
timer_set_prescaler(TIMER2, prescalerValue);
timer_set_reload(TIMER2, 29); // 800kHz
/* Timing Mode configuration: Channel 1 */
timer_set_mode(TIMER2, 1, TIMER_OUTPUT_COMPARE);
timer_set_compare(TIMER2, 1, 8);
timer_oc_set_mode(TIMER2, 1, TIMER_OC_MODE_FROZEN, ~TIMER_OC_PE);
/* Timing Mode configuration: Channel 2 */
timer_set_mode(TIMER2, 2, TIMER_OUTPUT_COMPARE);
timer_set_compare(TIMER2, 2, 17);
timer_oc_set_mode(TIMER2, 2, TIMER_OC_MODE_PWM_1, ~TIMER_OC_PE);
//timer_resume(TIMER2);
timer_attach_interrupt(TIMER2, TIMER_UPDATE_INTERRUPT, TIM2_IRQHandler);
/* configure TIM2 interrupt */
nvic_irq_set_priority(NVIC_TIMER2, 2);
nvic_irq_enable(NVIC_TIMER2);
}
void Dynamixel::begin(int baud){
uint32 Baudrate = 0;
if(mDxlUsart == USART1)
afio_remap(AFIO_REMAP_USART1);
#ifdef BOARD_CM900 //Engineering version case
gpio_set_mode(PORT_ENABLE_TXD, PIN_ENABLE_TXD, GPIO_OUTPUT_PP);
gpio_set_mode(PORT_ENABLE_RXD, PIN_ENABLE_RXD, GPIO_OUTPUT_PP);
gpio_write_bit(PORT_ENABLE_TXD, PIN_ENABLE_TXD, 0 );// TX Disable
gpio_write_bit(PORT_ENABLE_RXD, PIN_ENABLE_RXD, 1 );// RX Enable
#else
gpio_set_mode(mDirPort, mDirPin, GPIO_OUTPUT_PP);
gpio_write_bit(mDirPort, mDirPin, 0 );// RX Enable
//gpio_set_mode(GPIOB, 5, GPIO_OUTPUT_PP);
// gpio_write_bit(GPIOB, 5, 0 );// RX Enable
#endif
// initialize GPIO D20(PB6), D21(PB7) as DXL TX, RX respectively
gpio_set_mode(mTxPort, mTxPin, GPIO_AF_OUTPUT_PP);
gpio_set_mode(mRxPort, mRxPin, GPIO_INPUT_FLOATING);
//Initialize USART 1 device
usart_init(mDxlUsart);
//Calculate baudrate, refer to ROBOTIS support page.
Baudrate = 2000000 / (baud + 1);
if(mDxlUsart == USART1)
usart_set_baud_rate(mDxlUsart, STM32_PCLK2, Baudrate);
else
usart_set_baud_rate(mDxlUsart, STM32_PCLK1, Baudrate);
nvic_irq_set_priority(mDxlUsart->irq_num, 0);//[ROBOTIS][ADD] 2013-04-10 set to priority 0
usart_attach_interrupt(mDxlUsart, mDxlDevice->handlers);
usart_enable(mDxlUsart);
delay(80);
mDXLtxrxStatus = 0;
mBusUsed = 0;// only 1 when tx/rx is operated
//gbIsDynmixelUsed = 1; //[ROBOTIS]2012-12-13 to notify end of using dynamixel SDK to uart.c
this->clearBuffer();
this->setLibStatusReturnLevel(2);
this->setLibNumberTxRxAttempts(1);
}
/**
* @brief Initialize an I2C device as bus master
* @param dev Device to enable
* @param flags Bitwise or of the following I2C options:
* I2C_FAST_MODE: 400 khz operation,
* I2C_DUTY_16_9: 16/9 Tlow/Thigh duty cycle (only applicable for
* fast mode),
* I2C_BUS_RESET: Reset the bus and clock out any hung slaves on
* initialization,
* I2C_10BIT_ADDRESSING: Enable 10-bit addressing,
* I2C_REMAP: Remap I2C1 to SCL/PB8 SDA/PB9.
*/
void i2c_master_enable(i2c_dev *dev, uint32 flags) {
#define I2C_CLK (STM32_PCLK1/1000000)
uint32 ccr = 0;
uint32 trise = 0;
/* PE must be disabled to configure the device */
ASSERT(!(dev->regs->CR1 & I2C_CR1_PE));
if ((dev == I2C1) && (flags & I2C_REMAP)) {
afio_remap(AFIO_REMAP_I2C1);
I2C1->sda_pin = 9;
I2C1->scl_pin = 8;
}
/* Reset the bus. Clock out any hung slaves. */
if (flags & I2C_BUS_RESET) {
i2c_bus_reset(dev);
}
/* Turn on clock and set GPIO modes */
i2c_init(dev);
gpio_set_mode(dev->gpio_port, dev->sda_pin, GPIO_AF_OUTPUT_OD);
gpio_set_mode(dev->gpio_port, dev->scl_pin, GPIO_AF_OUTPUT_OD);
/* I2C1 and I2C2 are fed from APB1, clocked at 36MHz */
i2c_set_input_clk(dev, I2C_CLK);
if (flags & I2C_FAST_MODE) {
ccr |= I2C_CCR_FS;
if (flags & I2C_DUTY_16_9) {
/* Tlow/Thigh = 16/9 */
ccr |= I2C_CCR_DUTY;
ccr |= STM32_PCLK1/(400000 * 25);
} else {
/* Tlow/Thigh = 2 */
ccr |= STM32_PCLK1/(400000 * 3);
}
trise = (300 * (I2C_CLK)/1000) + 1;
} else {
/* Tlow/Thigh = 1 */
ccr = STM32_PCLK1/(100000 * 2);
trise = I2C_CLK + 1;
}
/* Set minimum required value if CCR < 1*/
if ((ccr & I2C_CCR_CCR) == 0) {
ccr |= 0x1;
}
i2c_set_clk_control(dev, ccr);
i2c_set_trise(dev, trise);
/* Enable event and buffer interrupts */
nvic_irq_enable(dev->ev_nvic_line);
nvic_irq_enable(dev->er_nvic_line);
i2c_enable_irq(dev, I2C_IRQ_EVENT | I2C_IRQ_BUFFER | I2C_IRQ_ERROR);
/*
* Important STM32 Errata:
*
* See STM32F10xx8 and STM32F10xxB Errata sheet (Doc ID 14574 Rev 8),
* Section 2.11.1, 2.11.2.
*
* 2.11.1:
* When the EV7, EV7_1, EV6_1, EV6_3, EV2, EV8, and EV3 events are not
* managed before the current byte is being transferred, problems may be
* encountered such as receiving an extra byte, reading the same data twice
* or missing data.
*
* 2.11.2:
* In Master Receiver mode, when closing the communication using
* method 2, the content of the last read data can be corrupted.
*
* If the user software is not able to read the data N-1 before the STOP
* condition is generated on the bus, the content of the shift register
* (data N) will be corrupted. (data N is shifted 1-bit to the left).
*
* ----------------------------------------------------------------------
*
* In order to ensure that events are not missed, the i2c interrupt must
* not be preempted. We set the i2c interrupt priority to be the highest
* interrupt in the system (priority level 0). All other interrupts have
* been initialized to priority level 16. See nvic_init().
*/
nvic_irq_set_priority(dev->ev_nvic_line, 0);
nvic_irq_set_priority(dev->er_nvic_line, 0);
/* Make it go! */
i2c_peripheral_enable(dev);
dev->state = I2C_STATE_IDLE;
}
//Dynamixel::~Dynamixel() {
// // TODO Auto-generated destructor stub
//}
void Dynamixel::begin(int baud) {
uint32 Baudrate = 0;
mPacketType = DXL_PACKET_TYPE1; //2014-04-02 default packet type is 1.0 -> set as 1
if(mDxlUsart == USART1)
afio_remap(AFIO_REMAP_USART1);
#ifdef BOARD_CM900 //Engineering version case
gpio_set_mode(PORT_ENABLE_TXD, PIN_ENABLE_TXD, GPIO_OUTPUT_PP);
gpio_set_mode(PORT_ENABLE_RXD, PIN_ENABLE_RXD, GPIO_OUTPUT_PP);
gpio_write_bit(PORT_ENABLE_TXD, PIN_ENABLE_TXD, 0 );// TX Disable
gpio_write_bit(PORT_ENABLE_RXD, PIN_ENABLE_RXD, 1 );// RX Enable
#else
if(mDirPort != 0) {
gpio_set_mode(mDirPort, mDirPin, GPIO_OUTPUT_PP);
gpio_write_bit(mDirPort, mDirPin, 0 );// RX Enable
}
//gpio_set_mode(GPIOB, 5, GPIO_OUTPUT_PP);
// gpio_write_bit(GPIOB, 5, 0 );// RX Enable
#endif
// initialize GPIO D20(PB6), D21(PB7) as DXL TX, RX respectively
gpio_set_mode(mTxPort, mTxPin, GPIO_AF_OUTPUT_PP);
gpio_set_mode(mRxPort, mRxPin, GPIO_INPUT_FLOATING);
//Initialize USART 1 device
usart_init(mDxlUsart);
//Calculate baudrate, refer to ROBOTIS support page.
//Baudrate = dxl_get_baudrate(baud); //Dxl 2.0
if(baud == 3)
baud = 1;
else if(baud == 2)
baud = 16;
else if(baud == 1)
baud = 34;
else if(baud == 0)
baud = 207;
Baudrate = 2000000 / (baud + 1);
if(mDxlUsart == USART1)
usart_set_baud_rate(mDxlUsart, STM32_PCLK2, Baudrate);
else
usart_set_baud_rate(mDxlUsart, STM32_PCLK1, Baudrate);
nvic_irq_set_priority(mDxlUsart->irq_num, 0);//[ROBOTIS][ADD] 2013-04-10 set to priority 0
usart_attach_interrupt(mDxlUsart, mDxlDevice->handlers);
usart_enable(mDxlUsart);
delay(100);
mDXLtxrxStatus = 0;
mBusUsed = 0;// only 1 when tx/rx is operated
//gbIsDynmixelUsed = 1; //[ROBOTIS]2012-12-13 to notify end of using dynamixel SDK to uart.c
this->setLibStatusReturnLevel(2);
this->setLibNumberTxRxAttempts(2);
this->clearBuffer();
if(this->checkPacketType()) { // Dxl 2.0
this->setPacketType(DXL_PACKET_TYPE2);
} else { // Dxl 1.0
this->setPacketType(DXL_PACKET_TYPE1);
}
this->setLibNumberTxRxAttempts(1);
this->clearBuffer();
if(mDxlUsart == USART2) { //140508 shin
SmartDelayFlag = 1;
this->setPacketType(DXL_PACKET_TYPE2);
}
}
