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STM32F3 - Add sonar support.

This commit is contained in:
Dominic Clifton 2015-03-22 20:54:38 +00:00
parent 413e0bde64
commit 07bcf204e1
2 changed files with 26 additions and 3 deletions
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1
src/main/drivers/nvic.h
View File

@ -21,6 +21,7 @@
#define NVIC_PRIO_I2C_EV NVIC_BUILD_PRIORITY(0, 0)
#define NVIC_PRIO_USB NVIC_BUILD_PRIORITY(2, 0)
#define NVIC_PRIO_USB_WUP NVIC_BUILD_PRIORITY(1, 0)
#define NVIC_PRIO_SONAR_ECHO NVIC_BUILD_PRIORITY(0x0f, 0x0f)
#define NVIC_PRIO_CALLBACK NVIC_BUILD_PRIORITY(0x0f, 0x0f)
// utility macros to join/split priority

28
src/main/drivers/sonar_hcsr04.c
View File

@ -22,6 +22,7 @@
#include "system.h"
#include "gpio.h"
#include "nvic.h"
#include "sonar_hcsr04.h"
@ -74,22 +75,37 @@ void hcsr04_init(const sonarHardware_t *initialSonarHardware)
sonarHardware = initialSonarHardware;
#ifdef STM32F10X
// enable AFIO for EXTI support
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
#endif
// tp - trigger pin
#ifdef STM32F303xC
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOB, ENABLE);
/* Enable SYSCFG clock otherwise the EXTI irq handlers are not called */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG, ENABLE);
#endif
// trigger pin
gpio.pin = sonarHardware->trigger_pin;
gpio.mode = Mode_Out_PP;
gpio.speed = Speed_2MHz;
gpioInit(GPIOB, &gpio);
// ep - echo pin
// echo pin
gpio.pin = sonarHardware->echo_pin;
gpio.mode = Mode_IN_FLOATING;
gpioInit(GPIOB, &gpio);
#ifdef STM32F10X
// setup external interrupt on echo pin
gpioExtiLineConfig(GPIO_PortSourceGPIOB, sonarHardware->exti_pin_source);
#endif
#ifdef STM32F303xC
gpioExtiLineConfig(EXTI_PortSourceGPIOB, sonarHardware->exti_pin_source);
#endif
EXTI_ClearITPendingBit(sonarHardware->exti_line);
@ -99,7 +115,13 @@ void hcsr04_init(const sonarHardware_t *initialSonarHardware)
EXTIInit.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTIInit);
NVIC_EnableIRQ(sonarHardware->exti_irqn);
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_InitStructure.NVIC_IRQChannel = sonarHardware->exti_irqn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = NVIC_PRIORITY_BASE(NVIC_PRIO_SONAR_ECHO);
NVIC_InitStructure.NVIC_IRQChannelSubPriority = NVIC_PRIORITY_SUB(NVIC_PRIO_SONAR_ECHO);
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
lastMeasurementAt = millis() - 60; // force 1st measurement in hcsr04_get_distance()
}