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work is done for today, ice cream time
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@Leoneq
Leoneq committed Aug 6, 2021
1 parent f22b1e4 commit 1048804
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35 changes: 35 additions & 0 deletions headcrab-cubemx/Core/Inc/hx711.h
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/**
******************************************************************************
* @file : hx711.h
* @brief : HX711 library header file
******************************************************************************
* @attention
*
* <h2><center> by leonek
* have fun</center></h2>
*
* gnu gpl v3.0 licence forever!~
*
******************************************************************************
*/

#ifndef HX711_H //we want to include library only once
#define HX711_H

#include <stdint.h>
#include <stdbool.h>

// all hxes
typedef enum
{
HX_A = 0, //top right
HX_B = 1, //top left
HX_C = 2, //bottom left
HX_D = 3 //bottom right
} HX_nr;

void HX_begin(HX_nr module);
uint32_t HX_read(HX_nr module);
bool HX_check(HX_nr module);

#endif
36 changes: 36 additions & 0 deletions headcrab-cubemx/Core/Inc/pca9685.h
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/**
******************************************************************************
* @file : pca9685.h
* @brief : PCA9685 PWM library header file
******************************************************************************
* @attention
*
* <h2><center> by leonek
* have fun</center></h2>
*
* gnu gpl v3.0 licence forever!~
*
******************************************************************************
*/

#ifndef PCA9685_H //we want to include library only once
#define PCA9685_H

#include <stdint.h>
#include <stdbool.h>

uint8_t PCA_read8(uint8_t reg);
void PCA_write8(uint8_t reg, uint8_t val);
void PCA_reset();
void PCA_setBit(uint8_t reg, uint8_t bit, bool val);
void PCA_sleepMode(bool s);
void PCA_restartMode(bool s);
void PCA_autoIncrement(bool s);
void PCA_setFreq(int f);
void PCA_setPWM(uint8_t channel, int ontime, int offtime);
void PCA_setPin(uint8_t channel, int value);
long map(long x, long in_min, long in_max, long out_min, long out_max);
void PCA_setServoAngle(uint8_t channel, float angle);
void PCA_begin();

#endif
81 changes: 81 additions & 0 deletions headcrab-cubemx/Core/Src/hx711.c
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/**
******************************************************************************
* @file : xh711.c
* @brief : XH711 library source file
******************************************************************************
* @attention
*
* <h2><center> by leonek
* have fun</center></h2>
*
* gnu gpl v3.0 licence forever!~
*
******************************************************************************
*/
#include <stdbool.h>
#include <string.h>
#include <stdio.h>
#include <stdlib.h>
#include <math.h>
#include "hx711.h"
#include "gpio.h"
#include "main.h"

typedef struct
{
GPIO_TypeDef* clk_port;
uint16_t clk_pin;
GPIO_TypeDef* data_port;
uint16_t data_pin;
} HX_ADC;

static const HX_ADC HXes[] =
{
{HX0_CLOCK_GPIO_Port, HX0_CLOCK_Pin, HX0_DATA_GPIO_Port, HX0_DATA_Pin},
{HX1_CLOCK_GPIO_Port, HX1_CLOCK_Pin, HX1_DATA_GPIO_Port, HX1_DATA_Pin},
{HX2_CLOCK_GPIO_Port, HX2_CLOCK_Pin, HX2_DATA_GPIO_Port, HX2_DATA_Pin},
{HX3_CLOCK_GPIO_Port, HX3_CLOCK_Pin, HX3_DATA_GPIO_Port, HX3_DATA_Pin}
};

#define BITS_A_128 25
#define BITS_B_32 26
#define BITS_A_64 27

#define CLOCK_BITS BITS_A_128

void HX_begin(HX_nr module)
{
while(HAL_GPIO_ReadPin(HXes[module].data_port, HXes[module].data_pin)); //wait til ready
for(int x = 0; x < CLOCK_BITS; x++)
{
HAL_GPIO_WritePin(HXes[module].data_port, HXes[module].data_pin, GPIO_PIN_SET);
HAL_Delay(1);
HAL_GPIO_WritePin(HXes[module].data_port, HXes[module].data_pin, GPIO_PIN_SET);
HAL_Delay(0);
}
}

//read
uint32_t HX_read(HX_nr module)
{
uint32_t result = 0;
while(HAL_GPIO_ReadPin(HXes[module].data_port, HXes[module].data_pin)); //wait til ready

for(int x = 0; x < CLOCK_BITS; x++)
{
HAL_GPIO_WritePin(HXes[module].data_port, HXes[module].data_pin, GPIO_PIN_SET);
if(x < 25) result |= HAL_GPIO_ReadPin(HXes[module].data_port, HXes[module].data_pin) << x;
HAL_GPIO_WritePin(HXes[module].data_port, HXes[module].data_pin, GPIO_PIN_RESET);
}
return result;
}

//check the state
bool HX_check(HX_nr module)
{
if(HAL_GPIO_ReadPin(HXes[module].data_port, HXes[module].data_pin) == GPIO_PIN_SET)
return true;
else
return false;
}

185 changes: 13 additions & 172 deletions headcrab-cubemx/Core/Src/main.c
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Expand Up @@ -35,6 +35,8 @@
#include <stdlib.h>
#include "dfplayermini.h"
#include <math.h>
#include "pca9685.h"
#include "hx711.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
Expand All @@ -59,62 +61,6 @@ typedef struct
#define CRLF 1
#define NOCRLF 0

#define PCA9685_ADDRESS 0x80
//registers
#define PCA9685_MODE1 0x00
#define PCA9685_MODE2 0x01
#define PCA9685_SUBADR1 0x02
#define PCA9685_SUBADR2 0x03
#define PCA9685_SUBADR3 0x04
#define PCA9685_ALLCALLADR 0x05
#define PCA9685_LED0_ON_L 0x06
#define PCA9685_LED0_ON_H 0x07
#define PCA9685_LED0_OFF_L 0x08
#define PCA9685_LED0_OFF_H 0x09
// etc all 16: LED15_OFF_H 0x45

#define PCA9685_ALLLED_ON_L 0xFA
#define PCA9685_ALLLED_ON_H 0xFB
#define PCA9685_ALLLED_OFF_L 0xFC
#define PCA9685_ALLLED_OFF_H 0xFD
#define PCA9685_PRESCALE 0xFE

// MODE1 bits
#define MODE1_ALLCAL 0x01 /**< respond to LED All Call I2C-bus address */
#define MODE1_SUB3 0x02 /**< respond to I2C-bus subaddress 3 */
#define MODE1_SUB2 0x04 /**< respond to I2C-bus subaddress 2 */
#define MODE1_SUB1 0x08 /**< respond to I2C-bus subaddress 1 */
#define PCA9685_BIT_SLEEP 0x04 /**< Low power mode. Oscillator off */
#define PCA9685_BIT_AI 0x05 /**< Auto-Increment enabled */
#define MODE1_EXTCLK 0x40 /**< Use EXTCLK pin clock */
#define PCA9685_BIT_RESTART 0x07 /**< Restart enabled */
// MODE2 bits
#define MODE2_OUTNE_0 0x01 /**< Active LOW output enable input */
#define MODE2_OUTNE_1 0x02 /**< Active LOW output enable input - high impedience */
#define MODE2_OUTDRV 0x04 /**< totem pole structure vs open-drain */
#define MODE2_OCH 0x08 /**< Outputs change on ACK vs STOP */
#define MODE2_INVRT 0x10 /**< Output logic state inverted */

const int servoMinMaxValues[16][2] =
{
{140, 410},
{100, 480},
{80, 470},
{0, 0},
{150, 440},
{100, 480},
{80, 470},
{0, 0},
{150, 450},
{110, 480},
{160, 510}, //fix
{0, 0},
{170, 470},
{100, 470},
{150, 520},
{0, 0}
};

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
Expand Down Expand Up @@ -148,120 +94,6 @@ bool debug_echo = false;
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

uint8_t PCA_read8(uint8_t reg)
{
uint8_t value = 0;
HAL_I2C_Mem_Read(&hi2c1, PCA9685_ADDRESS, reg, 1, &value, 1, HAL_MAX_DELAY);
return value;
}

void PCA_write8(uint8_t reg, uint8_t val)
{
HAL_I2C_Mem_Write(&hi2c1, PCA9685_ADDRESS, reg, 1, &val, 1, HAL_MAX_DELAY);
}

void PCA_reset()
{
uint8_t rst = 0x06;
HAL_I2C_Master_Transmit(&hi2c1, 0x00, &rst, 1, HAL_MAX_DELAY);
HAL_Delay(10);
}

//register, bit place, the bit (lol)
void PCA_setBit(uint8_t reg, uint8_t bit, bool val)
{
uint8_t value = PCA_read8(reg);

if(val) value |= val << bit;
else value &= ~(!val << bit);

char b[10];
itoa(value, b, 16);
char msg[32] = "VALUE: ";
strcat(msg, b);
debug_serialWrite(msg, CRLF);

PCA_write8(reg, value);
}

void PCA_sleepMode(bool s)
{
PCA_setBit(PCA9685_MODE1, PCA9685_BIT_SLEEP, s);
}

void PCA_restartMode(bool s)
{
PCA_setBit(PCA9685_MODE1, PCA9685_BIT_RESTART, s);
}
void PCA_autoIncrement(bool s)
{
PCA_setBit(PCA9685_MODE1, PCA9685_BIT_AI, s);
}

void PCA_setFreq(int f)
{
uint8_t prescale = 0;
if(f >= 1526)
prescale = 0x03;
else if(f <= 24)
prescale = 0xFF;
else
{
float val = (25000000 / (4096 * (float)f)) - 1;
prescale = round(val);
}

PCA_sleepMode(1);
PCA_write8(PCA9685_PRESCALE, prescale);
PCA_sleepMode(0);
PCA_restartMode(1);
}

void PCA_setPWM(uint8_t channel, int ontime, int offtime)
{
uint8_t reg;
uint8_t buffer[4];

reg = PCA9685_LED0_ON_L + (4 * channel);
buffer[0] = ontime;
buffer[1] = ontime >> 8;
buffer[2] = offtime;
buffer[3] = offtime >> 8;

HAL_I2C_Mem_Write(&hi2c1, PCA9685_ADDRESS, reg, 1, buffer, 4, HAL_MAX_DELAY);
}

void PCA_setPin(uint8_t channel, int value)
{
if(value == 4095)
PCA_setPWM(channel, 4096, 0);
else if(value == 0)
PCA_setPWM(channel, 0, 4096);
else
PCA_setPWM(channel, 0, value);
}

//straight from arduino ide :3
long map(long x, long in_min, long in_max, long out_min, long out_max)
{
return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
}

void PCA_setServoAngle(uint8_t channel, float angle)
{
int a;
if(angle < 0) a = 0;
else a = map((uint16_t)angle, 0, 180, servoMinMaxValues[channel][0], servoMinMaxValues[channel][1]);
PCA_setPin(channel, a);
}

void PCA_begin()
{
PCA_reset();
PCA_setFreq(50);
PCA_autoIncrement(true);
}

//turn on/off builtin leds
void led_set(int led, bool turn_on)
{
Expand All @@ -271,6 +103,7 @@ void led_set(int led, bool turn_on)
HAL_GPIO_WritePin(LEDs[led].port, LEDs[led].pin, state);
}

// toggle yay
void led_toggle(int led)
{
if (led >= 0 && led < 8)
Expand Down Expand Up @@ -319,8 +152,6 @@ HAL_StatusTypeDef debug_serialWrite(char* message, bool nl)
return HAL_UART_Transmit(&huart1, (uint8_t*)&msg, strlen(msg), HAL_MAX_DELAY);
}



// split received data and execute a command
void debug_executeSerial()
{
Expand Down Expand Up @@ -444,6 +275,7 @@ void debug_handleSerial()
}
}

// interrupt on receive
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
if(huart == &huart1)
Expand Down Expand Up @@ -516,13 +348,22 @@ int main(void)

PCA_begin();

HX_begin(0);



/* USER CODE END 2 */

/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
led_toggle(6);
char msg[32] = "ODCZYT: ";
char buff[32];
itoa(HX_read(0), buff, 2);
strcat(msg, buff);
debug_serialWrite(msg, 1);
HAL_Delay(100);
HAL_IWDG_Refresh(&hiwdg);
/* USER CODE END WHILE */
Expand Down
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