From d6fe6fc4ddba160434178aa145f5a7c9d870ab64 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Sergi=20Hern=C3=A1ndez?= <shernand@iri.upc.edu>
Date: Mon, 31 Mar 2014 20:44:47 +0000
Subject: [PATCH] ADC module working. Solved a problem in the dynamixel slave
module when there was no answer. It stopped working. Added an initial ram
module.
---
include/dynamixel_slave_uart_dma.h | 1 +
include/ram.h | 6 ++++-
src/adc_dma.c | 13 +++++----
src/bioloid_stm32.c | 42 +++++++-----------------------
src/dynamixel_slave_uart_dma.c | 13 +++++++++
src/ram.c | 8 ++++++
6 files changed, 43 insertions(+), 40 deletions(-)
create mode 100644 src/ram.c
diff --git a/include/dynamixel_slave_uart_dma.h b/include/dynamixel_slave_uart_dma.h
index 706ca3b..65454dd 100644
--- a/include/dynamixel_slave_uart_dma.h
+++ b/include/dynamixel_slave_uart_dma.h
@@ -12,5 +12,6 @@ uint8_t dyn_slave_is_packet_ready(void);
void dyn_slave_get_inst_packet(uint8_t *packet);
void dyn_slave_send_status_packet(uint8_t error,uint8_t length, uint8_t *data);
void dyn_slave_resend_status_packet(uint8_t *packet);
+void dyn_slave_reset(void);
#endif
diff --git a/include/ram.h b/include/ram.h
index 94a1512..126d156 100644
--- a/include/ram.h
+++ b/include/ram.h
@@ -1,6 +1,10 @@
#ifndef _RAM_H
#define _RAM_H
-uint8_t ram_data[256];
+#include "stm32f4xx.h"
+
+extern uint8_t ram_data[256];
+
+void ram_init(void);
#endif
diff --git a/src/adc_dma.c b/src/adc_dma.c
index eab7f26..19a70aa 100644
--- a/src/adc_dma.c
+++ b/src/adc_dma.c
@@ -1,4 +1,5 @@
#include "adc_dma.h"
+#include "ram.h"
#define ADC1_CH1 ADC_Channel_TempSensor
#define ADC1_CH2 ADC_Channel_8
@@ -36,7 +37,8 @@
#define ADC_CCR_ADDRESS ((uint32_t)0x40012308)
// private variables
-uint8_t adc_data[16];
+
+// interrupt handlers
// public functions
void adc_init(void)
@@ -55,7 +57,7 @@ void adc_init(void)
/* DMA Config */
DMA_InitStructure.DMA_Channel = DMA_Channel_0;
- DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)adc_data;
+ DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)&ram_data[50];
DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)ADC_CCR_ADDRESS;
DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralToMemory;
DMA_InitStructure.DMA_BufferSize = 4;
@@ -87,7 +89,7 @@ void adc_init(void)
/* ADC Common Init */
ADC_CommonInitStructure.ADC_Mode = ADC_DualMode_RegSimult;
- ADC_CommonInitStructure.ADC_Prescaler = ADC_Prescaler_Div2;
+ ADC_CommonInitStructure.ADC_Prescaler = ADC_Prescaler_Div4;
ADC_CommonInitStructure.ADC_DMAAccessMode = ADC_DMAAccessMode_2;
ADC_CommonInitStructure.ADC_TwoSamplingDelay = ADC_TwoSamplingDelay_5Cycles;
ADC_CommonInit(&ADC_CommonInitStructure);
@@ -139,8 +141,5 @@ void adc_init(void)
uint16_t adc_get_temperature(void)
{
- uint16_t value;
-
- value=adc_data[0]+(adc_data[1]<<8);
- return value;
+ return 0x0000;
}
diff --git a/src/bioloid_stm32.c b/src/bioloid_stm32.c
index 4270dae..340a044 100644
--- a/src/bioloid_stm32.c
+++ b/src/bioloid_stm32.c
@@ -8,6 +8,8 @@
#include "eeprom.h"
#include "imu_9dof_dma.h"
#include "gpio.h"
+#include "ram.h"
+#include "adc_dma.h"
uint8_t read_operation(uint8_t address, uint8_t length, uint8_t *data)
{
@@ -27,33 +29,18 @@ uint8_t read_operation(uint8_t address, uint8_t length, uint8_t *data)
}
else// RAM region
{
+ for(i=0;i<length;i++)
+ data[i]=ram_data[address+i];
return DYN_NO_ERROR;
}
}
-void test_gpio(void)
-{
- gpio_toggle_led(NORTH_LED);
-}
-
int32_t main(void)
{
uint8_t inst_packet[1024];
uint8_t status_packet[1024];
uint8_t data[1024],error;
uint16_t address;
- GPIO_InitTypeDef GPIO_InitStructure;
-
- /* GPIOD Periph clock enable */
- RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);
-
- /* Configure PD12, PD13, PD14 and PD15 in output pushpull mode */
- GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12 | GPIO_Pin_13| GPIO_Pin_14| GPIO_Pin_15;
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
- GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
- GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
- GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
- GPIO_Init(GPIOD, &GPIO_InitStructure);
/* initialize EEPROM */
EE_Init();
@@ -70,21 +57,10 @@ int32_t main(void)
imu_init();
/* initialize the gpio */
gpio_init();
-
- if(imu_accel_detect())
- GPIO_SetBits(GPIOD,GPIO_Pin_12);
- else
- GPIO_ResetBits(GPIOD,GPIO_Pin_12);
- if(imu_gyro_detect())
- GPIO_SetBits(GPIOD,GPIO_Pin_13);
- else
- GPIO_ResetBits(GPIOD,GPIO_Pin_13);
- if(imu_compass_detect())
- GPIO_SetBits(GPIOD,GPIO_Pin_14);
- else
- GPIO_ResetBits(GPIOD,GPIO_Pin_14);
-
- gpio_set_pushbutton_callback(NORTH_PB,test_gpio);
+ // initialize the Dynamixel RAM memory space
+ ram_init();
+ // initialize the Analog to digital converter
+ adc_init();
while(1) /* main function does not return */
{
@@ -122,6 +98,8 @@ int32_t main(void)
// send the answer back to the computer
dyn_slave_resend_status_packet(status_packet);
}
+ else
+ dyn_slave_reset();// prepare the dynamixel master to accept data
}
}
else
diff --git a/src/dynamixel_slave_uart_dma.c b/src/dynamixel_slave_uart_dma.c
index 8b981fd..a32011a 100644
--- a/src/dynamixel_slave_uart_dma.c
+++ b/src/dynamixel_slave_uart_dma.c
@@ -288,3 +288,16 @@ void dyn_slave_resend_status_packet(uint8_t *packet)
USART_DMACmd(DYN_SLAVE, USART_DMAReq_Tx, ENABLE);
dyn_slave_sending_packet=0x01;
}
+
+void dyn_slave_reset(void)
+{
+ dyn_slave_sending_packet=0x00;
+ // set up the DMA RX transaction
+ DYN_SLAVE_DMA_RX_InitStructure.DMA_BufferSize = 4;
+ DYN_SLAVE_DMA_RX_InitStructure.DMA_Memory0BaseAddr = (uint32_t)dyn_slave_rx_buffer;
+ DMA_Init(DYN_SLAVE_RX_DMA_STREAM,&DYN_SLAVE_DMA_RX_InitStructure);
+ DMA_ITConfig(DYN_SLAVE_RX_DMA_STREAM,DMA_IT_TC,ENABLE);
+ DMA_Cmd(DYN_SLAVE_RX_DMA_STREAM,ENABLE);
+ USART_DMACmd(DYN_SLAVE, USART_DMAReq_Rx, ENABLE);
+ dyn_slave_receiving_header=0x01;
+}
diff --git a/src/ram.c b/src/ram.c
new file mode 100644
index 0000000..860bea4
--- /dev/null
+++ b/src/ram.c
@@ -0,0 +1,8 @@
+#include "ram.h"
+
+uint8_t ram_data[256];
+
+void ram_init(void)
+{
+ // read contents from EEPROM to RAM
+}
--
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