Init

Accel.c

@@ -0,0 +1,143 @@
+//
+// Created by ilya on 25.03.24.
+//
+#include <alloca.h>
+#include <SystemDelayInterface.h>
+#include "Accel.h"
+#include "CmsisRtosThreadUtils.h"
+#include "ext_telematica.h"
+#include "at32f435_437_clock.h"
+
+crm_clocks_freq_type crm_clocks_freq_struct = {0};
+tAccel ACCEL;
+
+bool Accel_GetNext(tAccel *env, vector3 *value, uint32_t timeout) {
+    return osMessageQueueGet(env->dataQueue, value, 0, timeout) == osOK;
+}
+
+void Accel_Clear(tAccel *env) {
+    osMessageQueueReset(env->dataQueue);
+}
+
+void Accel_Init(tAccel *env, tSpiPortIO *accelIO) {
+
+    env->errorDataFlag = true;
+    AccelQma6100P_Init(&env->accel, accelIO);
+//    InitThreadAtrStatic(&env->thread.attr, "Accel", env->thread.controlBlock, env->thread.stack, osPriorityNormal);
+//    env->thread.id = 0;
+    env->dataQueue = osMessageQueueNew(128, sizeof(vector3), NULL);
+
+    env->accelDataFlow = (tAccelDataFlowInterface) {
+            .env = env,
+            .getNext = (accelDataGetNextCall) Accel_GetNext,
+            .clear = (accelDataClearCall) Accel_Clear,
+    };
+
+}
+
+void Accel_StartDevice(tAccel *env) {
+    AccelQma6100P_ConfigureDefaults(&env->accel);
+}
+
+bool Accel_WaitReady(tAccel *env, uint32_t timeout) {
+
+    uint32_t time_end = SystemGetMs() + timeout;
+
+    float len;
+    do {
+        len = vector3Len(env->current);
+    } while ((time_end > SystemGetMs()) && len < 0.1f);
+
+    return len > 0.1f;
+}
+
+
+static _Noreturn void Accel_Thread(tAccel *env) {
+    //todo нужно переделать под таймер и семафор
+    for (;;) {
+        if (AccelQma6100P_Read(&env->accel, &env->current)) {
+
+            if (EXT_ENV_ADR_TELE.META_EXT_ENV_TELE)
+                EXT_ENV_ADR_TELE.tele_func(&env->accel.xyz, TELE_MODULE_ACCEL_DATA);
+
+            osMessageQueuePut(env->dataQueue, &env->current, 0, 0);
+            env->errorDataFlag = true;
+        } else {
+            env->errorDataFlag = false;
+        }
+        SystemDelayMs(1);
+    }
+}
+
+void Accel_StartThread(tAccel *env) {
+//    if (!env->thread.id) {
+//        env->thread.id = osThreadNew((osThreadFunc_t) (Accel_Thread), (void *) (env), &env->thread.attr);
+//    }
+}
+
+void TMR1_Accel_TmrStart(tAccel *env){
+    /* get system clock */
+    crm_clocks_freq_get(&crm_clocks_freq_struct);
+
+    /* enable tmr1 clock */
+    crm_periph_clock_enable(CRM_TMR1_PERIPH_CLOCK, TRUE);
+
+    /* tmr1 configuration */
+    /* time base configuration */
+    uint32_t tmr = (crm_clocks_freq_struct.apb2_freq * 2 / 10000) - 1;
+    tmr_base_init(TMR1, 9998, tmr/1000);
+    tmr_cnt_dir_set(TMR1, TMR_COUNT_UP);
+
+    /* overflow interrupt enable */
+    tmr_interrupt_enable(TMR1, TMR_OVF_INT, TRUE);
+
+    /* tmr1 hall interrupt nvic init */
+    nvic_priority_group_config(NVIC_PRIORITY_GROUP_4);
+    nvic_irq_enable(TMR1_OVF_TMR10_IRQn, 0x59, 0);
+    /* enable tmr1 */
+    tmr_counter_enable(TMR1, TRUE);
+}
+
+//uint16_t ms[1000];
+//volatile  uint16_t i = 0;
+//volatile  uint16_t o = 0;
+//volatile uint32_t ttt = 0;
+//volatile uint32_t aa = 0;
+osStatus_t stat = osError;
+
+void TMR1_OVF_TMR10_IRQHandler(void)
+{
+    if(tmr_interrupt_flag_get(TMR1, TMR_OVF_FLAG) == SET)
+    {
+        if(ACCEL.errorDataFlag == true) {
+            if (AccelQma6100P_Read(&ACCEL.accel, &ACCEL.current)) {
+
+                if (EXT_ENV_ADR_TELE.META_EXT_ENV_TELE)
+                    EXT_ENV_ADR_TELE.tele_func(&ACCEL.accel.xyz, TELE_MODULE_ACCEL_DATA);
+
+                stat = osMessageQueuePut(ACCEL.dataQueue, &ACCEL.current, 0, 0);
+                if (stat != osOK) {
+                    asm("nop");
+                }
+                ACCEL.errorDataFlag = true;
+
+//                if(o == 1000){
+//                    o=0;
+//                }
+//                aa = SystemGetMs();
+//                if(ttt > aa){
+//                    ++i;
+//                } else {
+//                    ms[o] = i;
+//                    i=0;
+//                    o++;
+//                    ttt = SystemGetMs()+1000;
+//                }
+
+            } else {
+                ACCEL.errorDataFlag = false;
+            }
+        }
+        tmr_flag_clear(TMR1, TMR_OVF_FLAG);
+    }
+}

Accel.h

@@ -0,0 +1,41 @@
+//
+// Created by ilya on 25.03.24.
+//
+
+#ifndef SMART_COMPONENTS_ACCEL_H
+#define SMART_COMPONENTS_ACCEL_H
+
+#include <cmsis_os.h>
+#include "AccelDataFlowInterface.h"
+#include "Accel_QMA6100P.h"
+
+typedef struct {
+    tAccelQma6100P accel;
+    tAccelDataFlowInterface accelDataFlow;
+
+    osMessageQueueId_t dataQueue;
+    volatile bool errorDataFlag;
+    vector3 current;
+
+//    struct {
+//        osThreadId_t id;
+//        uint32_t stack[256];
+//        StaticTask_t controlBlock;
+//        osThreadAttr_t attr;
+//    } thread;
+
+} tAccel;
+
+extern tAccel ACCEL;
+
+void Accel_Init(tAccel *env, tSpiPortIO *accelIO);
+
+void Accel_StartDevice(tAccel *env);
+
+void Accel_StartThread(tAccel *env);
+void Accel_Clear(tAccel *env);
+void TMR1_Accel_TmrStart(tAccel *env);
+
+bool Accel_WaitReady(tAccel *env, uint32_t timeout);
+
+#endif //SMART_COMPONENTS_ACCEL_H

modular.json

@@ -0,0 +1,13 @@
+{
+  "dep": [
+
+  ],
+  "cmake": {
+    "inc_dirs": [
+      "./"
+    ],
+    "srcs": [
+      "./**.c"
+    ]
+  }
+}