I got a strange bug in my code with GPT. Below I will give my code. In a nutshell, I create two threads and pull pin with 1kHz frequency in each. If used one thread no problem, in oscilloscope I can see normal signal.
If used two threads signal looks like this:
A different scale
Code: Select all
#include "ch.h"
#include "hal.h"
#include <chprintf.h>
static WORKING_AREA(waThread2, 128);
static msg_t Thread2(void *arg) {
(void)arg;
chRegSetThreadName("Ring1");
while (TRUE) {
moveRing1(TRUE, TRUE, 400, 150);
}
static WORKING_AREA(waThread3, 128);
static msg_t Thread3(void *arg) {
(void)arg;
chRegSetThreadName("Ring2");
while (TRUE) {
moveRing2(TRUE, TRUE, 400, 150);
}
void moveRing1(bool_t enable, bool_t dir, uint32_t stepsNum, uint32_t period) {
uint32_t count = 0;
if (enable != TRUE) {
palSetPad(GPIOE, GPIOE_INT2); // if not enable set pin GPIOE.1, stop driver
}
else {
palClearPad(GPIOE, GPIOE_INT2); // if enable clear pin GPIOE.1, start driver
}
if (dir == TRUE) {
palSetPad(GPIOE, GPIOE_PIN12); // directory of rotary, DIR pin on Driver, GPIOE.12
}
else {
palClearPad(GPIOE, GPIOE_PIN12);
}
while(count < stepsNum) {
palSetPad(GPIOC, GPIOC_PIN6);
gptPolledDelay(&GPTD2, period);
palClearPad(GPIOC, GPIOC_PIN6);
gptPolledDelay(&GPTD2, period);
count ++;
}
}
void moveRing2(bool_t enable, bool_t dir, uint32_t stepsNum, uint32_t period) {
uint32_t count = 0;
if (enable != TRUE) {
palSetPad(GPIOE, GPIOE_PIN2); // if not enable set pin GPIOE.1, stop driver
}
else {
palClearPad(GPIOE, GPIOE_PIN2); // if enable clear pin GPIOE.1, start driver
}
if (dir == TRUE) {
palSetPad(GPIOE, GPIOE_PIN13); // directory of rotary, DIR pin on Driver, GPIOE.12
}
else {
palClearPad(GPIOE, GPIOE_PIN13);
}
while(count < stepsNum) {
palSetPad(GPIOC, GPIOC_MCLK);
gptPolledDelay(&GPTD3, period);
palClearPad(GPIOC, GPIOC_MCLK);
gptPolledDelay(&GPTD3, period);
count ++;
}
}
/*
* GPT2 configuration.
*/
static GPTConfig gpt2cfg =
{
300000, /* timer clock.*/
NULL /* Timer callback.*/
};
/*
* GPT3 configuration.
*/
static GPTConfig gpt3cfg =
{
300000, /* timer clock.*/
NULL /* Timer callback.*/
};
void ringInit() {
palSetPadMode(GPIOE, GPIOE_INT2, PAL_MODE_OUTPUT_PUSHPULL);
palSetPadMode(GPIOE, GPIOE_PIN12, PAL_MODE_OUTPUT_PUSHPULL);
palSetPadMode(GPIOC, GPIOC_PIN6, PAL_MODE_OUTPUT_PUSHPULL); // step pin for ring 1
palSetPadMode(GPIOE, GPIOE_PIN2, PAL_MODE_OUTPUT_PUSHPULL);
palSetPadMode(GPIOE, GPIOE_PIN13, PAL_MODE_OUTPUT_PUSHPULL);
palSetPadMode(GPIOC, GPIOC_MCLK, PAL_MODE_OUTPUT_PUSHPULL); // step pin for ring2
palSetPadMode(GPIOE, GPIOE_CS_SPI, PAL_MODE_OUTPUT_PUSHPULL);
palSetPadMode(GPIOE, GPIOE_PIN14, PAL_MODE_OUTPUT_PUSHPULL);
palSetPadMode(GPIOB, GPIOB_PIN0, PAL_MODE_OUTPUT_PUSHPULL); // step pin for ring3
palSetPadMode(GPIOE, GPIOE_PIN4, PAL_MODE_OUTPUT_PUSHPULL);
palSetPadMode(GPIOE, GPIOE_PIN15, PAL_MODE_OUTPUT_PUSHPULL);
palSetPadMode(GPIOB, GPIOB_PIN1, PAL_MODE_OUTPUT_PUSHPULL); // step pin for ring3
}
// Application entry point.
int main(void) {
/*
* System initializations.
* - HAL initialization, this also initializes the configured device drivers
* and performs the board-specific initializations.
* - Kernel initialization, the main() function becomes a thread and the
* RTOS is active.
*/
halInit();
chSysInit();
/*
* Activates the serial driver 2 using the driver default configuration.
* PA2(TX) and PA3(RX) are routed to USART2.
*/
/*sdStart(&SD2, NULL);
palSetPadMode(GPIOA, 2, PAL_MODE_ALTERNATE(7));
palSetPadMode(GPIOA, 3, PAL_MODE_ALTERNATE(7));*/
ringInit();
gptStart(&GPTD2, &gpt2cfg);
gptStart(&GPTD3, &gpt3cfg);
/*
* Creates the example thread.
*/
chThdCreateStatic(waThread2, sizeof(waThread2), NORMALPRIO, Thread2, NULL);
chThdCreateStatic(waThread3, sizeof(waThread3), NORMALPRIO, Thread3, NULL);
/*
* Normal main() thread activity, in this demo it does nothing except
* sleeping in a loop.
*/
while (TRUE) {
//chprintf((BaseSequentialStream *) &SD2, " %d\r", 101);
chThdSleepMilliseconds(1); // Задержка для считывания новых данных, заменить на пин прерывания DRDY
}
} Help. I don't understand something simple.
