started incr encoder

keil_project/MyDrivers/MyUart.c

@@ -0,0 +1,67 @@
+#include "MyUart.h"
+#include "stm32f1xx_ll_bus.h"
+#include "stm32f1xx_ll_usart.h"
+#include "stm32f1xx_ll_gpio.h"
+
+void MyUart_Conf(USART_TypeDef * uart_port, int baudrate){
+
+	LL_USART_InitTypeDef My_LL_Usart_Init_Struct;
+	
+	if (uart_port==USART1) {
+		LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_USART1);
+		LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOA);
+		LL_GPIO_InitTypeDef tx;
+	  tx.Mode = LL_GPIO_MODE_ALTERNATE;
+	  tx.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
+	  tx.Speed = LL_GPIO_SPEED_FREQ_LOW;
+	  tx.Pin = LL_GPIO_PIN_9;
+	  LL_GPIO_Init(GPIOA, &tx);
+	}
+	if (uart_port==USART2){ 
+		LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_USART2);
+		LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOA);
+	  LL_GPIO_InitTypeDef tx;
+	  tx.Mode = LL_GPIO_MODE_ALTERNATE;
+	  tx.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
+		tx.Pull = LL_GPIO_PULL_UP;
+	  tx.Speed = LL_GPIO_SPEED_FREQ_LOW;
+	  tx.Pin = LL_GPIO_PIN_2;
+	  LL_GPIO_Init(GPIOA, &tx);
+	}
+	if (uart_port==USART3){
+		LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_USART3);
+		LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOC);
+		LL_GPIO_InitTypeDef tx;
+	  tx.Mode = LL_GPIO_MODE_ALTERNATE;
+	  tx.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
+		tx.Pull = LL_GPIO_PULL_UP;
+	  tx.Speed = LL_GPIO_SPEED_FREQ_LOW;
+	  tx.Pin = LL_GPIO_PIN_10;
+	  LL_GPIO_Init(GPIOC, &tx);
+	}
+
+	My_LL_Usart_Init_Struct.BaudRate = baudrate;
+	My_LL_Usart_Init_Struct.DataWidth = LL_USART_DATAWIDTH_8B ;
+	My_LL_Usart_Init_Struct.HardwareFlowControl = LL_USART_HWCONTROL_NONE;
+	My_LL_Usart_Init_Struct.OverSampling = LL_USART_OVERSAMPLING_16;
+	My_LL_Usart_Init_Struct.Parity = LL_USART_PARITY_NONE;
+	My_LL_Usart_Init_Struct.StopBits = LL_USART_STOPBITS_1;
+	My_LL_Usart_Init_Struct.TransferDirection = LL_USART_DIRECTION_TX_RX ;
+	
+	LL_USART_Init(uart_port,&My_LL_Usart_Init_Struct);
+	LL_USART_Enable(uart_port);
+	
+	/*int periph_speed;
+	if (uart_port==USART1) periph_speed = 36000000;
+	if (uart_port==USART2) periph_speed = 72000000;
+	if (uart_port==USART3) periph_speed = 72000000;
+
+	LL_USART_SetBaudRate(uart_port, periph_speed, baudrate);
+*/}
+
+void MyUart_send_bytes(USART_TypeDef * uart_port,char* buf, int len){
+	for(int i = 0; i < len; i++){
+		LL_USART_TransmitData8(uart_port, buf[i]);
+		while(!LL_USART_IsActiveFlag_TXE(uart_port));
+	}	
+}

keil_project/MyDrivers/MyUart.h

@@ -0,0 +1,10 @@
+#ifndef MYUART_H
+#define MYUART_H
+
+#include "stm32f1xx_ll_usart.h"
+
+void MyUart_Conf(USART_TypeDef * uart_port, int baudrate);
+
+void MyUart_send_bytes(USART_TypeDef * uart_port,char* buf, int len);
+
+#endif

keil_project/Services/IncrEncoder.c

@@ -0,0 +1,33 @@
+#include "IncrEncoder.h"
+#include "stm32f1xx_ll_gpio.h" 
+#include "stm32f1xx_ll_bus.h"
+#include "stm32f1xx_ll_exti.h"
+
+int index_passed = 0;
+
+void init(void){
+// use timer in encoder mode (14.3.16)
+	// attach interrupt to pa5 for i
+	// enable gpio clock
+	// configure pin
+	// attach interrupt?
+	LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOA);
+	
+	LL_GPIO_InitTypeDef index_pin_conf;
+	index_pin_conf.Mode = LL_GPIO_MODE_FLOATING;
+	index_pin_conf.Pin = LL_GPIO_PIN_5;
+	LL_GPIO_Init(GPIOC, &index_pin_conf);
+	
+	NVIC_SetPriority(EXTI9_5_IRQn, 12); // prio??
+	NVIC_EnableIRQ(EXTI9_5_IRQn);
+	
+}
+
+void EXTI9_5_IRQHandler(void){
+	index_passed = 1;
+	// TODO clear pending
+}
+
+int isAbsolute(void);
+
+int getAngle(void);

keil_project/Services/IncrEncoder.h

@@ -0,0 +1,11 @@
+#ifndef INCR_ENCODER
+
+/**
+  */
+void init(void);
+
+int isAbsolute(void);
+
+int getAngle(void);
+
+#endif