stmbl

#ifdef FB_TX
#error at the moment you can only have one component using the tx channel of the feeback port(res or encm)
#else
#define FB_TX
#endif

COMP(encm);

//HAL_PIN(enable) = 0.0;

HAL_PIN(pos) = 0.0;

HAL_PIN(error) = 0;
//HAL_PIN(cmd) = 50.0;

/*
HAL_PIN(b0) = 0;
HAL_PIN(b1) = 0;
HAL_PIN(b2) = 0;
HAL_PIN(b3) = 0;
HAL_PIN(b4) = 0;
HAL_PIN(b5) = 0;
HAL_PIN(b6) = 0;
HAL_PIN(b7) = 0;
HAL_PIN(b8) = 0;
*/

MEM(uint32_t error_) = 0.0;

//UART3
INIT(
  GPIO_InitTypeDef GPIO_InitStruct;
  USART_InitTypeDef USART_InitStruct;

  //txen
  RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
  GPIO_InitStruct.GPIO_Pin   = GPIO_Pin_12;
  GPIO_InitStruct.GPIO_Mode  = GPIO_Mode_OUT;
  GPIO_InitStruct.GPIO_OType = GPIO_OType_PP;
  GPIO_InitStruct.GPIO_Speed = GPIO_Speed_2MHz;
  GPIO_InitStruct.GPIO_PuPd  = GPIO_PuPd_NOPULL;
  GPIO_Init(GPIOB, &GPIO_InitStruct);

  RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE);
  RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
  //RCC_AHB1PeriphClockCmd(UART_CMD_TX_IO_RCC, ENABLE);

  //USART TX
  GPIO_PinAFConfig(GPIOB, GPIO_PinSource10, GPIO_AF_USART3);
  GPIO_InitStruct.GPIO_Pin = GPIO_Pin_10;
  GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF;
  GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_InitStruct.GPIO_OType = GPIO_OType_PP;
  GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_UP ;
  GPIO_Init(GPIOB, &GPIO_InitStruct);

  //USART RX
  GPIO_PinAFConfig(GPIOB, GPIO_PinSource11, GPIO_AF_USART3);
  GPIO_InitStruct.GPIO_Pin = GPIO_Pin_11;
  GPIO_Init(GPIOB, &GPIO_InitStruct);

  USART_InitStruct.USART_BaudRate = 2500000;
  USART_InitStruct.USART_WordLength = USART_WordLength_8b;
  USART_InitStruct.USART_StopBits = USART_StopBits_1;
  USART_InitStruct.USART_Parity = USART_Parity_No;
  USART_InitStruct.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
  USART_InitStruct.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
  USART_Init(USART3, &USART_InitStruct);

  USART_ITConfig(USART3, USART_IT_RXNE, ENABLE);
  USART_ITConfig(USART3, USART_IT_TC, ENABLE);

  NVIC_InitStructure.NVIC_IRQChannel = USART3_IRQn;
  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
  NVIC_Init(&NVIC_InitStructure);

  /* Enable the USART */
  USART_Cmd(USART3, ENABLE);

  // Clock Enable
  //RCC_AHB1PeriphClockCmd(UART_CMD_TX_DMA_RCC, ENABLE);

  // DMA-Disable
  //DMA_Cmd(UART_CMD_TX_DMA, DISABLE);
  //DMA_DeInit(UART_CMD_TX_DMA);

  // DMA2-Config
  /*DMA_InitStructure.DMA_Channel = UART_CMD_TX_DMA_CHAN;
  DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&(UART_CMD->DR);
  DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)&UART_DMA_Buffer;
  DMA_InitStructure.DMA_DIR = DMA_DIR_MemoryToPeripheral;
  DMA_InitStructure.DMA_BufferSize = DATALENGTH*2+1;//uint32_t + start
  DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
  DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
  DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord;
  DMA_InitStructure.DMA_MemoryDataSize = DMA_PeripheralDataSize_HalfWord;
  DMA_InitStructure.DMA_Mode = DMA_Mode_Normal;
  DMA_InitStructure.DMA_Priority = DMA_Priority_High;
  DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable;
  DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_HalfFull;
  DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
  DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;*/
  //DMA_Init(UART_CMD_TX_DMA, &DMA_InitStructure);

  //DMA_Cmd(UART_CMD_TX_DMA, ENABLE);

  //USART_DMACmd(UART_CMD, USART_DMAReq_Tx, ENABLE);
);

RT(
  uint32_t tpos;

  //if(PIN(enable) > 0.0){
    if(menc_pos == 9 && menc_buf[0] == 0x32 && ((menc_buf[0] ^ menc_buf[1] ^ menc_buf[2] ^ menc_buf[3] ^ menc_buf[4] ^ menc_buf[5] ^ menc_buf[6] ^ menc_buf[7] ^ menc_buf[8]) == 0)){
      //tpos = menc_buf[2]+menc_buf[3]*256+menc_buf[4]*65536; //length = 9, res = 17 bit, cmd = 2
      tpos = ((menc_buf[2] & 0x80) >> 7) + menc_buf[3]*2 + menc_buf[4]*512;//length = 9, res = 17 bit, cmd = 50(0x32)
      PIN(pos) = (tpos * M_PI * 2.0 / 131072.0) - M_PI;
      PIN(error) = 0.0;
    }else //if(PIN(enable) > 0.0){
    {
      error_++;
      PIN(error) = error_;
    }

    GPIO_SetBits(GPIOB,GPIO_Pin_12);
    USART_SendData(USART3, 0x32/*(unsigned char)PIN(cmd)*/);
  //}
  menc_pos = 0;
);

ENDCOMP;