summaryrefslogtreecommitdiff
path: root/digital/io-hub/src/apbirthday/hardware.stm32.cc
blob: 9a46f91e093a05174243276f08c0cd7c6cd10a93 (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
// 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 <libopencm3/stm32/f4/rcc.h>
#include <libopencm3/stm32/f4/timer.h>
#include "ucoolib/hal/gpio/gpio.hh"

#include "zb_avrisp.stm32.hh"

Hardware::Hardware ()
    : dev_uart (4), zb_uart (2),
      usb_control ("APBTeam", "APBirthday"), usb (usb_control, 0),
      zb_usb_avrisp (usb_control, 1),
      main_i2c (2),
      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_plate_left_contact (GPIOE, 5),
      cherry_plate_right_contact (GPIOE, 6),
      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),
      dist0_sync (GPIOC, 0), dist1_sync (GPIOC, 1),
      dist2_sync (GPIOC, 2), dist3_sync (GPIOC, 3),
      adc (0),
      adc_dist0 (adc, 0), adc_dist1 (adc, 1),
      adc_dist2 (adc, 2), adc_dist3 (adc, 3),
      adc_pressure (adc, 8)
{
    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);
    zb_usb_avrisp.block (false);
    // main_i2c
    gpio_mode_setup (GPIOA, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO8);
    gpio_mode_setup (GPIOC, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO9);
    gpio_set_output_options (GPIOA, GPIO_OTYPE_OD, GPIO_OSPEED_2MHZ, GPIO8);
    gpio_set_output_options (GPIOC, GPIO_OTYPE_OD, GPIO_OSPEED_2MHZ, GPIO9);
    gpio_set_af (GPIOA, GPIO_AF4, GPIO8);
    gpio_set_af (GPIOC, GPIO_AF4, GPIO9);
    main_i2c.enable ();
    // ADC.
    gpio_mode_setup (GPIOA, GPIO_MODE_ANALOG, GPIO_PUPD_NONE,
                     GPIO0 | GPIO1 | GPIO2 | GPIO3);
    gpio_mode_setup (GPIOB, GPIO_MODE_ANALOG, GPIO_PUPD_NONE, GPIO5);
    // Cycle timer, 4 ms period.
    rcc_peripheral_enable_clock (&RCC_APB1ENR, RCC_APB1ENR_TIM3EN);
    TIM3_PSC = 2 * rcc_ppre1_frequency / 1000000 - 1; // 1 µs prescaler
    TIM3_ARR = 4000 - 1;
    TIM3_EGR = TIM_EGR_UG;
    TIM3_CR1 = TIM_CR1_CEN;
}

void
Hardware::wait ()
{
    while (!(TIM3_SR & TIM_SR_UIF))
        ;
    TIM3_SR = ~TIM_SR_UIF;
}

void
Hardware::zb_handle ()
{
    // Switch to AVRISP?
    if (zb_usb_avrisp.poll ())
    {
        // Uart pins are reused.
        zb_uart.disable ();
        gpio_mode_setup (GPIOD, GPIO_MODE_INPUT, GPIO_PUPD_NONE, GPIO8 | GPIO9);
        // Go to special AVRISP mode.
        zb_avrisp (zb_usb_avrisp);
        // Restore.
        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);
    }
}