try to fix submodule

2023-11-09 19:02:15 -05:00
parent c1d45aa443
commit deea94b076
366 changed files with 40228 additions and 2 deletions
--- a/firmware/lib/Arduino-FOC-drivers/src/encoders/tle5012b/STM32TLE5012B.cpp
+++ b/firmware/lib/Arduino-FOC-drivers/src/encoders/tle5012b/STM32TLE5012B.cpp
@@ -0,0 +1,159 @@
+
+#include "STM32TLE5012B.h"
+
+#if defined(_STM32_DEF_)
+
+
+#include "utility/spi_com.h"
+extern "C" uint32_t spi_getClkFreqInst(SPI_TypeDef *spi_inst);
+
+
+
+TLE5012B::TLE5012B(int data, int sck, int nCS, uint32_t freq) {
+    _data = data;
+    _sck = sck;
+    _nCS = nCS;
+    _freq = freq;
+};
+
+TLE5012B::~TLE5012B() {
+
+};
+
+
+void TLE5012B::init() {
+    pinMode(_nCS, OUTPUT);
+    digitalWrite(_nCS, HIGH);
+
+    // initialize pins
+    GPIO_InitTypeDef gpio;
+    gpio.Pin = digitalPinToBitMask(_data);
+    gpio.Mode = GPIO_MODE_AF_PP;
+    gpio.Speed = GPIO_SPEED_FREQ_HIGH;
+    HAL_GPIO_Init(digitalPinToPort(_data), &gpio);
+    gpio.Pin = digitalPinToBitMask(_sck);
+    gpio.Mode = GPIO_MODE_AF_PP;
+    gpio.Speed = GPIO_SPEED_FREQ_HIGH;
+    HAL_GPIO_Init(digitalPinToPort(_sck), &gpio);
+
+    SPI_TypeDef *spi_data = (SPI_TypeDef*)pinmap_peripheral(digitalPinToPinName(_data), PinMap_SPI_MOSI);
+    SPI_TypeDef *spi_sclk = (SPI_TypeDef*)pinmap_peripheral(digitalPinToPinName(_sck), PinMap_SPI_SCLK);
+    SPI_TypeDef *spi_inst = (SPI_TypeDef*)pinmap_merge_peripheral(spi_data, spi_sclk);
+
+    pinmap_pinout(digitalPinToPinName(_data), PinMap_SPI_MOSI);
+    pinmap_pinout(digitalPinToPinName(_sck), PinMap_SPI_SCLK);
+
+    #if defined SPI1_BASE
+    if (spi_inst == SPI1) {
+        __HAL_RCC_SPI1_CLK_ENABLE();
+        __HAL_RCC_SPI1_FORCE_RESET();
+        __HAL_RCC_SPI1_RELEASE_RESET();
+    }
+    #endif
+
+    #if defined SPI2_BASE
+    if (spi_inst == SPI2) {
+        __HAL_RCC_SPI2_CLK_ENABLE();
+        __HAL_RCC_SPI2_FORCE_RESET();
+        __HAL_RCC_SPI2_RELEASE_RESET();
+    }
+    #endif
+
+    #if defined SPI3_BASE
+    if (spi_inst == SPI3) {
+        __HAL_RCC_SPI3_CLK_ENABLE();
+        __HAL_RCC_SPI3_FORCE_RESET();
+        __HAL_RCC_SPI3_RELEASE_RESET();
+    }
+    #endif
+
+    #if defined SPI4_BASE
+    if (spi_inst == SPI4) {
+        __HAL_RCC_SPI4_CLK_ENABLE();
+        __HAL_RCC_SPI4_FORCE_RESET();
+        __HAL_RCC_SPI4_RELEASE_RESET();
+    }
+    #endif
+
+    #if defined SPI5_BASE
+    if (spi_inst == SPI5) {
+        __HAL_RCC_SPI5_CLK_ENABLE();
+        __HAL_RCC_SPI5_FORCE_RESET();
+        __HAL_RCC_SPI5_RELEASE_RESET();
+    }
+    #endif
+
+    #if defined SPI6_BASE
+    if (spi_inst == SPI6) {
+        __HAL_RCC_SPI6_CLK_ENABLE();
+        __HAL_RCC_SPI6_FORCE_RESET();
+        __HAL_RCC_SPI6_RELEASE_RESET();
+    }
+    #endif
+
+    _spi.Instance = spi_inst;
+    _spi.Init.Direction = SPI_DIRECTION_1LINE;
+    _spi.Init.Mode = SPI_MODE_MASTER;
+    _spi.Init.DataSize = SPI_DATASIZE_8BIT;
+    _spi.Init.CLKPolarity = SPI_POLARITY_LOW;
+    _spi.Init.CLKPhase = SPI_PHASE_2EDGE;
+    _spi.Init.NSS = SPI_NSS_SOFT;
+    _spi.Init.FirstBit = SPI_FIRSTBIT_MSB;
+    _spi.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
+    _spi.Init.CRCPolynomial = 7;
+    _spi.Init.TIMode = SPI_TIMODE_DISABLE;
+    #if defined(SPI_NSS_PULSE_DISABLE)
+    _spi.Init.NSSPMode = SPI_NSS_PULSE_DISABLE;
+    #endif
+
+    uint32_t spi_freq = spi_getClkFreqInst(spi_inst);
+    if (_freq >= (spi_freq / SPI_SPEED_CLOCK_DIV2_MHZ)) {
+        _spi.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_2;
+    } else if (_freq >= (spi_freq / SPI_SPEED_CLOCK_DIV4_MHZ)) {
+        _spi.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_4;
+    } else if (_freq >= (spi_freq / SPI_SPEED_CLOCK_DIV8_MHZ)) {
+        _spi.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_8;
+    } else if (_freq >= (spi_freq / SPI_SPEED_CLOCK_DIV16_MHZ)) {
+        _spi.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_16;
+    } else if (_freq >= (spi_freq / SPI_SPEED_CLOCK_DIV32_MHZ)) {
+        _spi.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32;
+    } else if (_freq >= (spi_freq / SPI_SPEED_CLOCK_DIV64_MHZ)) {
+        _spi.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_64;
+    } else if (_freq >= (spi_freq / SPI_SPEED_CLOCK_DIV128_MHZ)) {
+        _spi.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_128;
+    } else {
+        _spi.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_256;
+    }
+
+    if (HAL_SPI_Init(&_spi) != HAL_OK) {
+        // setup error
+        Serial.println("TLE5012B setup error");
+    }
+};
+
+uint16_t TLE5012B::readRawAngle() {
+    uint8_t data[4];
+    readBytes(TLE5012B_ANGLE_REG, data, 2);
+    return (((uint16_t)data[0] << 8) | data[1]) & 0x7FFF;
+}; 
+
+
+float TLE5012B::getCurrentAngle() {
+    return ((float)readRawAngle())/TLE5012B_CPR * _2PI;
+}; // angle in radians, return current value
+
+
+void TLE5012B::readBytes(uint16_t reg, uint8_t *data, uint8_t len) {
+    digitalWrite(_nCS, LOW);
+
+    reg |= TLE5012B_READ_REGISTER + (len>>1);
+    uint8_t txbuffer[2] = { (uint8_t)(reg >> 8), (uint8_t)(reg & 0x00FF) };    
+    HAL_SPI_Transmit(&_spi, txbuffer, 2, 100); // TODO check return value for error, timeout
+    //delayMicroseconds(1);
+    HAL_SPI_Receive(&_spi, data, len + 2, 100);
+
+    digitalWrite(_nCS, HIGH);
+};
+
+
+#endif