ChibiOS Free Embedded RTOS

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#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
    }
}