153 lines
4.1 KiB
C
153 lines
4.1 KiB
C
/*
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ChibiOS/RT - Copyright (C) 2014 Uladzimir Pylinsky aka barthess
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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*/
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/*
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* Make following connections on your discovery board:
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* PD13-PB4
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* PD12-PB5
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* PD14-PB0
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* PD15-PB1
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*/
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#include "ch.h"
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#include "hal.h"
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#include "stdlib.h"
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typedef struct {
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systime_t high;
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systime_t low;
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uint32_t pad;
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} pulse_t;
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/*
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* Chose values suitable for measurement using 16-bit timer on 1MHz
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*/
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static pulse_t pulse_led3 = {TIME_MS2I(2), TIME_MS2I(59), GPIOD_LED3};
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static pulse_t pulse_led4 = {TIME_MS2I(3), TIME_MS2I(53), GPIOD_LED4};
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static pulse_t pulse_led5 = {TIME_MS2I(5), TIME_MS2I(47), GPIOD_LED5};
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static pulse_t pulse_led6 = {TIME_MS2I(7), TIME_MS2I(43), GPIOD_LED6};
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/*
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*
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*/
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static THD_WORKING_AREA(PulseThreadWA_LED3, 128);
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static THD_WORKING_AREA(PulseThreadWA_LED4, 128);
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static THD_WORKING_AREA(PulseThreadWA_LED5, 128);
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static THD_WORKING_AREA(PulseThreadWA_LED6, 128);
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static THD_FUNCTION(PulseThread, arg) {
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chRegSetThreadName("Pulse");
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pulse_t *pulse = arg;
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systime_t t = chVTGetSystemTimeX();
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while (!chThdShouldTerminateX()) {
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t += pulse->high;
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palSetPad(GPIOD, pulse->pad);
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chThdSleepUntil(t);
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palClearPad(GPIOD, pulse->pad);
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t+= pulse->low;
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chThdSleepUntil(t);
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}
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chThdExit(MSG_OK);
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}
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static const int32_t tolerance = 20; // uS
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void eicu_cb(EICUDriver *eicup, eicuchannel_t channel, uint32_t w, uint32_t p) {
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(void)eicup;
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(void)p;
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switch (channel) {
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case EICU_CHANNEL_1:
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if (abs((int32_t)w - (int32_t)TIME_I2US(pulse_led3.high)) > tolerance)
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osalSysHalt("ch1");
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break;
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case EICU_CHANNEL_2:
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if (abs((int32_t)w - (int32_t)TIME_I2US(pulse_led4.high)) > tolerance)
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osalSysHalt("ch2");
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break;
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case EICU_CHANNEL_3:
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if (abs((int32_t)w - (int32_t)TIME_I2US(pulse_led5.high)) > tolerance)
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osalSysHalt("ch3");
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break;
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case EICU_CHANNEL_4:
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if (abs((int32_t)w - (int32_t)TIME_I2US(pulse_led6.high)) > tolerance)
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osalSysHalt("ch4");
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break;
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default:
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osalSysHalt("unhandled case");
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break;
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}
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}
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static const EICUChannelConfig led3cfg = {
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EICU_INPUT_ACTIVE_HIGH,
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EICU_INPUT_PULSE,
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eicu_cb
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};
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static const EICUConfig eicucfg = {
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1000000, /* EICU clock frequency in Hz.*/
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{
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&led3cfg,
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&led3cfg,
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&led3cfg,
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&led3cfg
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},
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0
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};
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/*
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* Application entry point.
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*/
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int main(void) {
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/*
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* System initializations.
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* - HAL initialization, this also initializes the configured device drivers
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* and performs the board-specific initializations.
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* - Kernel initialization, the main() function becomes a thread and the
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* RTOS is active.
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*/
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halInit();
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chSysInit();
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palSetPadMode(GPIOB, GPIOB_PIN0, PAL_MODE_ALTERNATE(2));
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palSetPadMode(GPIOB, GPIOB_PIN1, PAL_MODE_ALTERNATE(2));
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palSetPadMode(GPIOB, GPIOB_PIN4, PAL_MODE_ALTERNATE(2));
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palSetPadMode(GPIOB, GPIOB_PIN5, PAL_MODE_ALTERNATE(2));
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eicuStart(&EICUD3, &eicucfg);
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eicuEnable(&EICUD3);
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osalThreadSleepMicroseconds(10); // need to stabilize input puns
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chThdCreateStatic(PulseThreadWA_LED3, sizeof(PulseThreadWA_LED3),
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NORMALPRIO+1, PulseThread, &pulse_led3);
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chThdCreateStatic(PulseThreadWA_LED4, sizeof(PulseThreadWA_LED4),
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NORMALPRIO+1, PulseThread, &pulse_led4);
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chThdCreateStatic(PulseThreadWA_LED5, sizeof(PulseThreadWA_LED5),
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NORMALPRIO+1, PulseThread, &pulse_led5);
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chThdCreateStatic(PulseThreadWA_LED6, sizeof(PulseThreadWA_LED6),
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NORMALPRIO+1, PulseThread, &pulse_led6);
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while (true) {
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osalThreadSleepMilliseconds(500);
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}
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return 0;
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}
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