// io-hub - Modular Input/Output. {{{ // // Copyright (C) 2013 Nicolas Schodet // // APBTeam: // Web: http://apbteam.org/ // Email: team AT apbteam DOT org // // This program is free software; you can redistribute it and/or modify // it under the terms of the GNU General Public License as published by // the Free Software Foundation; either version 2 of the License, or // (at your option) any later version. // // This program is distributed in the hope that it will be useful, // but WITHOUT ANY WARRANTY; without even the implied warranty of // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the // GNU General Public License for more details. // // You should have received a copy of the GNU General Public License // along with this program; if not, write to the Free Software // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. // // }}} #include "hardware.hh" #include #include #include "ucoolib/hal/gpio/gpio.hh" Hardware::Hardware () : dev_uart (4), zb_uart (2), usb_control ("APBTeam", "APBirthday"), usb (usb_control, 0), raw_jack (GPIOD, 12), ihm_color (GPIOD, 14), ihm_strat (GPIOD, 13), ihm_robot_nb (GPIOD, 15), ihm_lol (GPIOD, 11), ihm_emerg_stop (GPIOC, 6), glass_contact (GPIOC, 13), cherry_bad_out (GPIOE, 0), cherry_bad_in (GPIOE, 1), cherry_plate_up (GPIOE, 2), cherry_plate_down (GPIOE, 3), cherry_plate_clamp (GPIOE, 4), cake_arm_out (GPIOB, 3), cake_arm_in (GPIOB, 4), cake_push_far_out (GPIOD, 7), cake_push_far_in (GPIOB, 5), cake_push_near_out (GPIOD, 6), cake_push_near_in (GPIOB, 6), glass_lower_clamp_close (GPIOA, 15), glass_lower_clamp_open (GPIOA, 10), glass_upper_clamp_close (GPIOD, 0), glass_upper_clamp_open (GPIOD, 1), glass_upper_clamp_up (GPIOD, 3), glass_upper_clamp_down (GPIOC, 10), gift_out (GPIOD, 4), gift_in (GPIOC, 11), ballon_funny_action (GPIOB, 7), pneum_open (GPIOD, 5) { rcc_peripheral_enable_clock (&RCC_AHB1ENR, RCC_AHB1ENR_IOPAEN); rcc_peripheral_enable_clock (&RCC_AHB1ENR, RCC_AHB1ENR_IOPBEN); rcc_peripheral_enable_clock (&RCC_AHB1ENR, RCC_AHB1ENR_IOPCEN); rcc_peripheral_enable_clock (&RCC_AHB1ENR, RCC_AHB1ENR_IOPDEN); rcc_peripheral_enable_clock (&RCC_AHB1ENR, RCC_AHB1ENR_IOPEEN); // dev_uart gpio_mode_setup (GPIOC, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO12); gpio_mode_setup (GPIOD, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO2); gpio_set_af (GPIOC, GPIO_AF8, GPIO12); gpio_set_af (GPIOD, GPIO_AF8, GPIO2); dev_uart.enable (38400, ucoo::Uart::EVEN, 1); dev_uart.block (false); // zb_uart gpio_mode_setup (GPIOD, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO8 | GPIO9); gpio_set_af (GPIOD, GPIO_AF7, GPIO8 | GPIO9); zb_uart.enable (38400, ucoo::Uart::EVEN, 1); zb_uart.block (false); // usb usb.block (false); // Cycle timer, 4 ms period. rcc_peripheral_enable_clock (&RCC_APB1ENR, RCC_APB1ENR_TIM3EN); TIM3_CR1 = TIM_CR1_CEN; TIM3_PSC = 2 * rcc_ppre1_frequency / 1000000 - 1; // 1 µs prescaler TIM3_ARR = 4000 - 1; TIM3_EGR = TIM_EGR_UG; } void Hardware::wait () { while (!(TIM3_SR & TIM_SR_UIF)) ; TIM3_SR = ~TIM_SR_UIF; }