feat: debug using usart

FedorBel · Apr 4, 2021 · 7aa5d6b · 7aa5d6b
1 parent 4d19f3c
commit 7aa5d6b
Showing 1 changed file with 86 additions and 3 deletions.
diff --git a/src/bldc-sensored/main.c b/src/bldc-sensored/main.c
@@ -9,6 +9,8 @@
 #include "misc.h"
 #include <math.h>
 
+#define _DEBUG
+
 #include "definitions.h"
 // #include "motorcontrolsettings.h"
 
@@ -103,6 +105,7 @@ void led_init()
 	//GPIO_SetBits(GPIOC, GPIO_Pin_13); // Set C13 to High level ("1")
 	GPIO_ResetBits(GPIOC, GPIO_Pin_13); // Set C13 to Low level ("0")
 }
+
 void tim1_init()
 {
 	// PB13-15 will be normal gpio
@@ -144,11 +147,81 @@ void tim1_init()
 	TIM1->DIER = b6;
 }
 
+void usart3_init(void)
+{
+	/* Enable USART3 and GPIOB clock */
+	// RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
+	RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE);
+	/* NVIC Configuration */
+	NVIC_InitTypeDef NVIC_InitStructure;
+	/* Enable the USARTx Interrupt */
+	NVIC_InitStructure.NVIC_IRQChannel = USART3_IRQn;
+	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
+	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
+	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
+	NVIC_Init(&NVIC_InitStructure);
+
+	/* Configure the GPIOs */
+	GPIO_InitTypeDef GPIO_InitStructure;
+
+	/* Configure USART3 Tx (PB.10) as alternate function push-pull */
+	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;
+	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
+	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+	GPIO_Init(GPIOB, &GPIO_InitStructure);
+
+	/* Configure USART3 Rx (PB.11) as input floating */
+	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
+	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
+	GPIO_Init(GPIOB, &GPIO_InitStructure);
+
+	/* Configure the USART3 */
+	USART_InitTypeDef USART_InitStructure;
+
+	/* USART3 configuration ------------------------------------------------------*/
+	/* USART3 configured as follow:
+              - BaudRate = 115200 baud
+              - Word Length = 8 Bits
+              - One Stop Bit
+              - No parity
+              - Hardware flow control disabled (RTS and CTS signals)
+              - Receive and transmit enabled
+              - USART Clock disabled
+              - USART CPOL: Clock is active low
+              - USART CPHA: Data is captured on the middle
+              - USART LastBit: The clock pulse of the last data bit is not output to
+                               the SCLK pin
+        */
+	USART_InitStructure.USART_BaudRate = 115200;
+	USART_InitStructure.USART_WordLength = USART_WordLength_8b;
+	USART_InitStructure.USART_StopBits = USART_StopBits_1;
+	USART_InitStructure.USART_Parity = USART_Parity_No;
+	USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
+	USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
+
+	USART_Init(USART3, &USART_InitStructure);
+
+	/* Enable USART3 */
+	USART_Cmd(USART3, ENABLE);
+
+	/* Enable the USART3 Receive interrupt: this interrupt is generated when the
+             USART1 receive data register is not empty */
+	//USART_ITConfig(USART1, USART_IT_RXNE, ENABLE);
+}
+
+void USARTSend(const unsigned char *pucBuffer)
+{
+	while (*pucBuffer)
+	{
+		USART_SendData(USART3, *pucBuffer++);
+		while (USART_GetFlagStatus(USART3, USART_FLAG_TC) == RESET)
+		{
+		}
+	}
+}
+
 void HallSensorsGetPosition(void)
 {
-	// uint8_t res6_7 = (uint8_t)((GPIO_ReadInputData(GPIOB) & (GPIO_Pin_6 | GPIO_Pin_7)) >> 5);
-	// uint8_t res4 = (uint8_t)((GPIO_ReadInputData(GPIOB) & GPIO_Pin_4) >> 4);
-	// uint8_t hallpos = res6_7 | res4;
 	uint8_t hallpos = (uint8_t)((GPIO_ReadInputData(GPIOB) & (GPIO_Pin_7 | GPIO_Pin_8 | GPIO_Pin_9)) >> 7);
 	switch (hallpos)
 	{
@@ -175,6 +248,12 @@ void HallSensorsGetPosition(void)
 		phase = 0;
 		break;
 	}
+
+#ifdef _DEBUG
+	char buffer[80] = {'\0'};
+	sprintf(buffer, "\r\nRaw hall: %d\r\nPhase: %d\r\n", hallpos, phase);
+	USARTSend(buffer);
+#endif
 }
 
 void HallSensorsInit(void)
@@ -356,6 +435,10 @@ int main(void)
 	// tim1 setup
 	tim1_init();
 
+#ifdef _DEBUG
+	usart3_init();
+#endif
+
 	delay(5000000); //let power supply settle
 	delay(5000000); //let power supply settle
 	delay(5000000); //let power supply settle