diff --git a/include/gpio.h b/include/gpio.h
index 9031bf666bc01fd74840f84397d4e0da3a6d13ce..8fea176627702e56e994c46522bdd37bbf40c203 100644
--- a/include/gpio.h
+++ b/include/gpio.h
@@ -8,8 +8,13 @@ typedef enum {NORTH_LED,SOUTH_LED,EAST_LED,WEST_LED} led_t;
typedef enum {NORTH_PB,SOUTH_PB,EAST_PB,WEST_PB} pushbutton_t;
void gpio_init(void);
+// LED functions
void gpio_set_led(led_t led_id);
void gpio_clear_led(led_t led_id);
+void gpio_toggle_led(led_t led_id);
void gpio_blink_led(led_t led_id, int16_t period_ms);
+// Pushbuttons functions
+uint8_t gpio_is_pushbutton_pressed(pushbutton_t pb_id);
+void gpio_set_pushbutton_callback(pushbutton_t pb_id,void (*callback)(void));
#endif
diff --git a/src/bioloid_stm32.c b/src/bioloid_stm32.c
index 3fb2476a3f87cb8443e8f3aab408892d899cded8..c9917ba99788c9e79e18a3e9c6ecc1a34015465d 100644
--- a/src/bioloid_stm32.c
+++ b/src/bioloid_stm32.c
@@ -30,6 +30,11 @@ uint8_t read_operation(uint8_t address, uint8_t length, uint8_t *data)
}
}
+void test_led(void)
+{
+ gpio_toggle_led(NORTH_LED);
+}
+
int32_t main(void)
{
uint8_t inst_packet[1024];
@@ -70,10 +75,9 @@ int32_t main(void)
else
GPIO_ResetBits(GPIOD,GPIO_Pin_12);
- gpio_blink_led(NORTH_LED,1000);
- gpio_blink_led(SOUTH_LED,2000);
- gpio_blink_led(EAST_LED,3000);
- gpio_blink_led(WEST_LED,4000);
+ gpio_set_pushbutton_callback(NORTH_PB,test_led);
+ gpio_blink_led(EAST_LED,2000);
+ gpio_blink_led(WEST_LED,1000);
while(1) /* main function does not return */
{
if(dyn_slave_is_packet_ready())// check if a new instruction packet has been received
diff --git a/src/gpio.c b/src/gpio.c
index 9aa05b7b7666b0f60cf9ea3d8eca65962a025ee9..625c0a23dd646d4d4f8219923df81c6f5a127752 100644
--- a/src/gpio.c
+++ b/src/gpio.c
@@ -40,49 +40,95 @@
#define PUSH_BUTTON4_GPIO_PORT GPIOC
#define PUSH_BUTTON4_SOURCE GPIO_PinSource15
-#define GPIO_TIMER TIM2
-#define GPIO_TIMER_CLK RCC_APB1Periph_TIM2
-#define GPIO_TIMER_IRQn TIM2_IRQn
-#define GPIO_TIMER_IRQHandler TIM2_IRQHandler
+#define GPO_TIMER TIM2
+#define GPO_TIMER_CLK RCC_APB1Periph_TIM2
+#define GPO_TIMER_IRQn TIM2_IRQn
+#define GPO_TIMER_IRQHandler TIM2_IRQHandler
+
+#define GPI_TIMER TIM3
+#define GPI_TIMER_CLK RCC_APB1Periph_TIM3
+#define GPI_TIMER_IRQn TIM3_IRQn
+#define GPI_TIMER_IRQHandler TIM3_IRQHandler
// private variables
+// LED blink periods
__IO uint16_t north_led_period;
__IO uint16_t south_led_period;
__IO uint16_t east_led_period;
__IO uint16_t west_led_period;
+// Pushbuttons callbacks
+void (*north_pb_callback)(void);
+void (*south_pb_callback)(void);
+void (*east_pb_callback)(void);
+void (*west_pb_callback)(void);
// IRQ hanfler functions
-void TIM2_IRQHandler(void)
+void GPI_TIMER_IRQHandler(void)
{
uint16_t capture;
+ static uint8_t north_pb_last=Bit_SET,south_pb_last=Bit_SET,east_pb_last=Bit_SET,west_pb_last=Bit_SET;
+ uint8_t north_pb_new,south_pb_new,east_pb_new,west_pb_new;
- if(TIM_GetITStatus(GPIO_TIMER, TIM_IT_CC1)!=RESET)
+ if(TIM_GetITStatus(GPI_TIMER, TIM_IT_CC1)!=RESET)
{
- TIM_ClearITPendingBit(GPIO_TIMER,TIM_IT_CC1);
+ TIM_ClearITPendingBit(GPI_TIMER,TIM_IT_CC1);
+ capture = TIM_GetCapture1(GPI_TIMER);
+ TIM_SetCompare1(GPI_TIMER, capture + 10);
+ /* check all the pushbuttons */
+ north_pb_new=GPIO_ReadInputDataBit(PUSH_BUTTON1_GPIO_PORT,PUSH_BUTTON1_PIN);
+ if(north_pb_last==Bit_SET && north_pb_new==Bit_RESET)
+ if(north_pb_callback!=0)
+ north_pb_callback();
+ north_pb_last=north_pb_new;
+ south_pb_new=GPIO_ReadInputDataBit(PUSH_BUTTON2_GPIO_PORT,PUSH_BUTTON2_PIN);
+ if(south_pb_last==Bit_SET && south_pb_new==Bit_RESET)
+ if(south_pb_callback!=0)
+ south_pb_callback();
+ south_pb_last=south_pb_new;
+ east_pb_new=GPIO_ReadInputDataBit(PUSH_BUTTON3_GPIO_PORT,PUSH_BUTTON3_PIN);
+ if(east_pb_last==Bit_SET && east_pb_new==Bit_RESET)
+ if(east_pb_callback!=0)
+ east_pb_callback();
+ east_pb_last=east_pb_new;
+ west_pb_new=GPIO_ReadInputDataBit(PUSH_BUTTON4_GPIO_PORT,PUSH_BUTTON4_PIN);
+ if(west_pb_last==Bit_SET && west_pb_new==Bit_RESET)
+ if(west_pb_callback!=0)
+ west_pb_callback();
+ west_pb_last=west_pb_new;
+ }
+}
+
+void GPO_TIMER_IRQHandler(void)
+{
+ uint16_t capture;
+
+ if(TIM_GetITStatus(GPO_TIMER, TIM_IT_CC1)!=RESET)
+ {
+ TIM_ClearITPendingBit(GPO_TIMER,TIM_IT_CC1);
GPIO_ToggleBits(LED1_GPIO_PORT,LED1_PIN);
- capture = TIM_GetCapture1(GPIO_TIMER);
- TIM_SetCompare1(GPIO_TIMER, capture + north_led_period);
+ capture = TIM_GetCapture1(GPO_TIMER);
+ TIM_SetCompare1(GPO_TIMER, capture + north_led_period);
}
- if(TIM_GetITStatus(GPIO_TIMER, TIM_IT_CC2)!=RESET)
+ if(TIM_GetITStatus(GPO_TIMER, TIM_IT_CC2)!=RESET)
{
- TIM_ClearITPendingBit(GPIO_TIMER,TIM_IT_CC2);
+ TIM_ClearITPendingBit(GPO_TIMER,TIM_IT_CC2);
GPIO_ToggleBits(LED2_GPIO_PORT,LED2_PIN);
- capture = TIM_GetCapture2(GPIO_TIMER);
- TIM_SetCompare2(GPIO_TIMER, capture + south_led_period);
+ capture = TIM_GetCapture2(GPO_TIMER);
+ TIM_SetCompare2(GPO_TIMER, capture + south_led_period);
}
- if(TIM_GetITStatus(GPIO_TIMER, TIM_IT_CC3)!=RESET)
+ if(TIM_GetITStatus(GPO_TIMER, TIM_IT_CC3)!=RESET)
{
- TIM_ClearITPendingBit(GPIO_TIMER,TIM_IT_CC3);
+ TIM_ClearITPendingBit(GPO_TIMER,TIM_IT_CC3);
GPIO_ToggleBits(LED3_GPIO_PORT,LED3_PIN);
- capture = TIM_GetCapture3(GPIO_TIMER);
- TIM_SetCompare3(GPIO_TIMER, capture + east_led_period);
+ capture = TIM_GetCapture3(GPO_TIMER);
+ TIM_SetCompare3(GPO_TIMER, capture + east_led_period);
}
- if(TIM_GetITStatus(GPIO_TIMER, TIM_IT_CC4)!=RESET)
+ if(TIM_GetITStatus(GPO_TIMER, TIM_IT_CC4)!=RESET)
{
- TIM_ClearITPendingBit(GPIO_TIMER,TIM_IT_CC4);
+ TIM_ClearITPendingBit(GPO_TIMER,TIM_IT_CC4);
GPIO_ToggleBits(LED4_GPIO_PORT,LED4_PIN);
- capture = TIM_GetCapture4(GPIO_TIMER);
- TIM_SetCompare4(GPIO_TIMER, capture + west_led_period);
+ capture = TIM_GetCapture4(GPO_TIMER);
+ TIM_SetCompare4(GPO_TIMER, capture + west_led_period);
}
}
@@ -94,11 +140,12 @@ void gpio_init(void)
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
NVIC_InitTypeDef NVIC_InitStructure;
+ TIM_OCInitTypeDef TIM_OCInitStructure;
/* enable clocks */
RCC_AHB1PeriphClockCmd(LED1_GPIO_CLK | LED2_GPIO_CLK | LED3_GPIO_CLK | LED4_GPIO_CLK, ENABLE);
RCC_AHB1PeriphClockCmd(PUSH_BUTTON1_GPIO_CLK | PUSH_BUTTON2_GPIO_CLK | PUSH_BUTTON3_GPIO_CLK | PUSH_BUTTON4_GPIO_CLK, ENABLE);
- RCC_APB1PeriphClockCmd(GPIO_TIMER_CLK,ENABLE);
+ RCC_APB1PeriphClockCmd(GPO_TIMER_CLK | GPI_TIMER_CLK,ENABLE);
/* GPIO Configuration */
GPIO_InitStructure.GPIO_Pin = LED1_PIN;
@@ -133,23 +180,49 @@ void gpio_init(void)
GPIO_InitStructure.GPIO_Pin = PUSH_BUTTON4_PIN;
GPIO_Init(PUSH_BUTTON4_GPIO_PORT, &GPIO_InitStructure);
+ // initialize private variables
+ north_led_period=0;
+ south_led_period=0;
+ east_led_period=0;
+ west_led_period=0;
+ north_pb_callback=0;
+ south_pb_callback=0;
+ east_pb_callback=0;
+ west_pb_callback=0;
+
// initialize the timer interrupts
- NVIC_InitStructure.NVIC_IRQChannel = GPIO_TIMER_IRQn;
+ NVIC_InitStructure.NVIC_IRQChannel = GPO_TIMER_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
+ NVIC_Init(&NVIC_InitStructure);
+ NVIC_InitStructure.NVIC_IRQChannel = GPI_TIMER_IRQn;
NVIC_Init(&NVIC_InitStructure);
- /* Time base configuration */
+ /* LED's timer configuration */
+ TIM_TimeBaseStructure.TIM_Period = 0xFFFF;
+ TIM_TimeBaseStructure.TIM_Prescaler = 0;
+ TIM_TimeBaseStructure.TIM_ClockDivision = 0;
+ TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
+ TIM_TimeBaseInit(GPO_TIMER,&TIM_TimeBaseStructure);
+ TIM_Cmd(GPO_TIMER, ENABLE);
+ TIM_PrescalerConfig(GPO_TIMER, 42000, TIM_PSCReloadMode_Immediate);
+ TIM_SetClockDivision(GPO_TIMER,TIM_CKD_DIV2);
+
+ /* pushbutton timer configuration */
TIM_TimeBaseStructure.TIM_Period = 0xFFFF;
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
- TIM_TimeBaseInit(GPIO_TIMER,&TIM_TimeBaseStructure);
- TIM_Cmd(GPIO_TIMER, ENABLE);
- TIM_PrescalerConfig(GPIO_TIMER, 42000, TIM_PSCReloadMode_Immediate);
- TIM_SetClockDivision(GPIO_TIMER,TIM_CKD_DIV2);
+ TIM_TimeBaseInit(GPI_TIMER,&TIM_TimeBaseStructure);
+ TIM_Cmd(GPI_TIMER, ENABLE);
+ TIM_PrescalerConfig(GPI_TIMER, 42000, TIM_PSCReloadMode_Immediate);
+ TIM_SetClockDivision(GPI_TIMER,TIM_CKD_DIV2);
+ TIM_OCInitStructure.TIM_Pulse = 10;// 10 Hz
+ TIM_OC1Init(GPI_TIMER, &TIM_OCInitStructure);
+ TIM_OC1PreloadConfig(GPI_TIMER, TIM_OCPreload_Disable);
+ TIM_ITConfig(GPI_TIMER, TIM_IT_CC1, ENABLE);
}
void gpio_set_led(led_t led_id)
@@ -190,6 +263,25 @@ void gpio_clear_led(led_t led_id)
}
}
+void gpio_toggle_led(led_t led_id)
+{
+ switch(led_id)
+ {
+ case NORTH_LED:
+ GPIO_ToggleBits(LED1_GPIO_PORT,LED1_PIN);
+ break;
+ case SOUTH_LED:
+ GPIO_ToggleBits(LED2_GPIO_PORT,LED2_PIN);
+ break;
+ case EAST_LED:
+ GPIO_ToggleBits(LED3_GPIO_PORT,LED3_PIN);
+ break;
+ case WEST_LED:
+ GPIO_ToggleBits(LED4_GPIO_PORT,LED4_PIN);
+ break;
+ }
+}
+
void gpio_blink_led(led_t led_id, int16_t period_ms)
{
TIM_OCInitTypeDef TIM_OCInitStructure;
@@ -204,48 +296,98 @@ void gpio_blink_led(led_t led_id, int16_t period_ms)
{
north_led_period=period_ms;
TIM_OCInitStructure.TIM_Pulse = north_led_period;
- TIM_OC1Init(GPIO_TIMER, &TIM_OCInitStructure);
- TIM_OC1PreloadConfig(GPIO_TIMER, TIM_OCPreload_Disable);
- TIM_ITConfig(GPIO_TIMER, TIM_IT_CC1, ENABLE);
+ TIM_OC1Init(GPO_TIMER, &TIM_OCInitStructure);
+ TIM_OC1PreloadConfig(GPO_TIMER, TIM_OCPreload_Disable);
+ TIM_ITConfig(GPO_TIMER, TIM_IT_CC1, ENABLE);
}
else
- TIM_ITConfig(GPIO_TIMER, TIM_IT_CC1, DISABLE);
+ TIM_ITConfig(GPO_TIMER, TIM_IT_CC1, DISABLE);
break;
case SOUTH_LED:
if(period_ms>1)
{
south_led_period=period_ms;
TIM_OCInitStructure.TIM_Pulse = south_led_period;
- TIM_OC2Init(GPIO_TIMER, &TIM_OCInitStructure);
- TIM_OC2PreloadConfig(GPIO_TIMER, TIM_OCPreload_Disable);
- TIM_ITConfig(GPIO_TIMER, TIM_IT_CC2, ENABLE);
+ TIM_OC2Init(GPO_TIMER, &TIM_OCInitStructure);
+ TIM_OC2PreloadConfig(GPO_TIMER, TIM_OCPreload_Disable);
+ TIM_ITConfig(GPO_TIMER, TIM_IT_CC2, ENABLE);
}
else
- TIM_ITConfig(GPIO_TIMER, TIM_IT_CC2, DISABLE);
+ TIM_ITConfig(GPO_TIMER, TIM_IT_CC2, DISABLE);
break;
case EAST_LED:
if(period_ms>1)
{
east_led_period=period_ms;
TIM_OCInitStructure.TIM_Pulse = east_led_period;
- TIM_OC3Init(GPIO_TIMER, &TIM_OCInitStructure);
- TIM_OC3PreloadConfig(GPIO_TIMER, TIM_OCPreload_Disable);
- TIM_ITConfig(GPIO_TIMER, TIM_IT_CC3, ENABLE);
+ TIM_OC3Init(GPO_TIMER, &TIM_OCInitStructure);
+ TIM_OC3PreloadConfig(GPO_TIMER, TIM_OCPreload_Disable);
+ TIM_ITConfig(GPO_TIMER, TIM_IT_CC3, ENABLE);
}
else
- TIM_ITConfig(GPIO_TIMER, TIM_IT_CC3, DISABLE);
+ TIM_ITConfig(GPO_TIMER, TIM_IT_CC3, DISABLE);
break;
case WEST_LED:
if(period_ms>1)
{
west_led_period=period_ms;
TIM_OCInitStructure.TIM_Pulse = west_led_period;
- TIM_OC4Init(GPIO_TIMER, &TIM_OCInitStructure);
- TIM_OC4PreloadConfig(GPIO_TIMER, TIM_OCPreload_Disable);
- TIM_ITConfig(GPIO_TIMER, TIM_IT_CC4, ENABLE);
+ TIM_OC4Init(GPO_TIMER, &TIM_OCInitStructure);
+ TIM_OC4PreloadConfig(GPO_TIMER, TIM_OCPreload_Disable);
+ TIM_ITConfig(GPO_TIMER, TIM_IT_CC4, ENABLE);
}
else
- TIM_ITConfig(GPIO_TIMER, TIM_IT_CC4, DISABLE);
+ TIM_ITConfig(GPO_TIMER, TIM_IT_CC4, DISABLE);
+ break;
+ }
+}
+
+uint8_t gpio_is_pushbutton_pressed(pushbutton_t pb_id)
+{
+ switch(pb_id)
+ {
+ case NORTH_PB:
+ if(GPIO_ReadInputDataBit(PUSH_BUTTON1_GPIO_PORT,PUSH_BUTTON1_PIN)==Bit_SET)
+ return 0x01;
+ else
+ return 0x00;
+ break;
+ case SOUTH_PB:
+ if(GPIO_ReadInputDataBit(PUSH_BUTTON2_GPIO_PORT,PUSH_BUTTON2_PIN)==Bit_SET)
+ return 0x01;
+ else
+ return 0x00;
+ break;
+ case EAST_PB:
+ if(GPIO_ReadInputDataBit(PUSH_BUTTON3_GPIO_PORT,PUSH_BUTTON3_PIN)==Bit_SET)
+ return 0x01;
+ else
+ return 0x00;
+ break;
+ case WEST_PB:
+ if(GPIO_ReadInputDataBit(PUSH_BUTTON4_GPIO_PORT,PUSH_BUTTON4_PIN)==Bit_SET)
+ return 0x01;
+ else
+ return 0x00;
+ break;
+ }
+}
+
+void gpio_set_pushbutton_callback(pushbutton_t pb_id,void (*callback)(void))
+{
+ switch(pb_id)
+ {
+ case NORTH_PB:
+ north_pb_callback=callback;
+ break;
+ case SOUTH_PB:
+ south_pb_callback=callback;
+ break;
+ case EAST_PB:
+ east_pb_callback=callback;
+ break;
+ case WEST_PB:
+ west_pb_callback=callback;
break;
}
}