XY2_100 protocol up and running

Luos-io · Jan 19, 2024 · 61186c4 · 61186c4
1 parent faf3780
commit 61186c4
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Showing 5 changed files with 256 additions and 59 deletions.
diff --git a/examples/projects/NUCLEO-L476RG/laser/lib/Galvo/_galvo.h b/examples/projects/NUCLEO-L476RG/laser/lib/Galvo/_galvo.h
diff --git a/examples/projects/NUCLEO-L476RG/laser/lib/Galvo/galvo.c b/examples/projects/NUCLEO-L476RG/laser/lib/Galvo/galvo.c
@@ -5,16 +5,21 @@
  * @version 0.0.0
  ******************************************************************************/
 #include "galvo.h"
-#include "_galvo.h"
 #include "xy2-100.h"
 
 /*******************************************************************************
  * Definitions
  ******************************************************************************/
-uint8_t buf[40] = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10,
-                   11, 12, 13, 14, 15, 16, 17, 18, 19, 20,
-                   21, 22, 23, 24, 25, 26, 27, 28, 29, 30,
-                   31, 32, 33, 34, 35, 36, 37, 38, 39, 40};
+typedef struct
+{
+    uint16_t x;
+    uint16_t y;
+} __attribute__((packed)) pos_2d_t;
+
+pos_2d_t stream_buf[512];
+streaming_channel_t stream;
+time_luos_t period;
+control_t control;
 
 /*******************************************************************************
  * Variables
@@ -35,7 +40,13 @@ void Galvo_Init(void)
 
     revision_t revision = {.major = 1, .minor = 0, .build = 0};
     Luos_CreateService(Galvo_MsgHandler, STATE_TYPE, "galvo", revision);
-    Xy_Start(buf, 40);
+    stream       = Streaming_CreateChannel(stream_buf, 41, 2 * sizeof(uint16_t));
+    period       = TimeOD_TimeFrom_s(1.0 / 100.0); // Configure the trajectory samplerate at 100Hz
+    control.flux = STOP;
+
+    period = TimeOD_TimeFrom_s(1.0 / 40.0);
+    Streaming_AddAvailableSampleNB(&stream, 40);
+    Xy_Start(&stream, period);
 }
 /******************************************************************************
  * @brief loop must be call in project loop
@@ -55,12 +66,23 @@ static void Galvo_MsgHandler(service_t *service, const msg_t *msg)
 {
     if (msg->header.cmd == GET_CMD)
     {
+        // The galvo don't send anything
         return;
     }
-}
-
-uint32_t Galvo_GetData(uint8_t **data)
-{
-    *data = buf;
-    return 40;
+    if (msg->header.cmd == CONTROL)
+    {
+        // Get the control value
+        control_t last_control = control;
+        ControlOD_ControlFromMsg(&control, msg);
+        if (control.flux == PLAY && last_control.flux != PLAY)
+        {
+            // Start the trajectory
+            Xy_Start(&stream, period);
+        }
+        else
+        {
+            // Stop the trajectory
+            Xy_Stop();
+        }
+    }
 }
diff --git a/examples/projects/NUCLEO-L476RG/laser/lib/Galvo/galvo_config.h b/examples/projects/NUCLEO-L476RG/laser/lib/Galvo/galvo_config.h
@@ -46,6 +46,11 @@
     #define GALVO_Y_PIN GPIO_PIN_3
 #endif
 
+// ENABLE Pinout
+#ifndef GALVO_ENABLE_PIN
+    #define GALVO_ENABLE_PIN GPIO_PIN_4
+#endif
+
 // ********************* TIMER *********************
 #ifndef GALVO_TIMER
     #define GALVO_TIMER TIM6
@@ -84,4 +89,9 @@
     #define GALVO_DMA_IRQHANDLER() DMA1_Channel3_IRQHandler()
 #endif
 
+// ********************* BUFFER *********************
+#ifndef GALVO_BUFFER_SIZE
+    #define GALVO_BUFFER_SIZE 4000 // Buffer size need to be a multiple of 40
+#endif
+
 #endif /* _GALVO_HAL_CONFIG_H_ */