Diff: F411RE.h

Revision:

13:ef7a06fa11de

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/F411RE.h	Sun Sep 29 16:34:37 2019 +0000
@@ -0,0 +1,187 @@
+#include    "STM3_ESC.h"
+//  Feb 2018 Now using DGD21032 mosfet drivers via 74HC00 pwm gates (low side) - GOOD, works well with auto-tickle of high side drivers
+
+//  Jan 2019    Trying to add two Radio Control inputs on PC_14 and PC_15, previously connected to unused LF Xtal. 
+//              Problem - Appears to conflict with serial port used for comms with controller
+//              Earlier efforts to use 'Servo' ports as 'you choose' between I/O failed as pins not capable of use as 'InterruptIn'
+
+//  CORRECTION  Comms problem with Touch Screen was insufficient pull-up on STM3_ESC opto. Change R12 from 1k to 470R
+
+//                  Experiment disabling RC inputs to see if clearing serial conflict is possible
+
+
+//  Port A -> MotorA, Port B -> MotorB
+const   uint16_t
+//  This is where port bits get assigned to motor output phase switches.
+//  Phases are U, V and W.
+//  Each phase uses two bits, one for the low side switch, one for the high side switch.
+//MotorN_port_bits[] =  {UL, VL, WL, UH, VH, WH},   //  Order must be as shown - 3 low side switches U,V,W followed by 3 high side switches U,V,W
+MotorA_port_bits[] =    {0,  6,  4,  1,  7,  8},    //  List of port A bits used to drive motor A UL, VL, WL, UH, VH, WH
+MotorB_port_bits[] =    {0,  1,  2, 10, 12, 13},    //  List of port B bits used to drive motor B UL, VL, WL, UH, VH, WH
+//  Using port bit info in the two lines above, the compiler sorts all this into creation of lookup table
+//  to provide correct energisation sequencing as motors rotate.
+//  You need concern yourself no further about any of this.
+
+
+AUL = (1 << MotorA_port_bits[0]),
+AVL = (1 << MotorA_port_bits[1]),   //  These are which port bits connect to which mosfet driver
+AWL = (1 << MotorA_port_bits[2]),
+
+AUH = (1 << MotorA_port_bits[3]),
+AVH = (1 << MotorA_port_bits[4]),
+AWH = (1 << MotorA_port_bits[5]),
+
+AUHVL =   AUH | AVL,  //  Each of 6 possible output energisations made up of one hi and one low
+AVHUL =   AVH | AUL,
+AUHWL =   AUH | AWL,
+AWHUL =   AWH | AUL,
+AVHWL =   AVH | AWL,
+AWHVL =   AWH | AVL,
+
+KEEP_L_MASK_A   = AUL | AVL | AWL,
+KEEP_H_MASK_A   = AUH | AVH | AWH,
+
+BRA = AUL | AVL | AWL,  //  All low side switches on (and all high side off) for braking
+
+BUL = (1 << MotorB_port_bits[0]),   //  Likewise for MotorB but different port bits on different port
+BVL = (1 << MotorB_port_bits[1]),
+BWL = (1 << MotorB_port_bits[2]),
+
+BUH = (1 << MotorB_port_bits[3]),
+BVH = (1 << MotorB_port_bits[4]),
+BWH = (1 << MotorB_port_bits[5]),
+
+BUHVL =   BUH | BVL,
+BVHUL =   BVH | BUL,
+BUHWL =   BUH | BWL,
+BWHUL =   BWH | BUL,
+BVHWL =   BVH | BWL,
+BWHVL =   BWH | BVL,
+
+KEEP_L_MASK_B   = BUL | BVL | BWL,
+KEEP_H_MASK_B   = BUH | BVH | BWH,
+
+BRB = BUL | BVL | BWL,
+
+PORT_A_MASK = AUL | AVL | AWL | AUH | AVH | AWH,            //  NEW METHOD FOR DGD21032 MOSFET DRIVERS
+PORT_B_MASK = BUL | BVL | BWL | BUH | BVH | BWH;
+
+//PortOut MotA    (PortA, PORT_A_MASK);   //  Activate output ports to motor drivers
+//PortOut MotB    (PortB, PORT_B_MASK);
+
+//  Pin 1   VBAT    NET +3V3
+
+//DigitalIn   J3         (PC_13, PullUp);//  Pin 2   Jumper pulls to GND, R floats Hi
+#ifdef  TEMP_SENSOR_ENABLE
+InterruptIn   Temperature_pin   (PC_13);//  Pin 2   June 2018 - taken for temperature sensor - hard wired to T1 due to wrong thought T1 could be InterruptIn
+#endif
+
+//  Pin 3   PC14-OSC32_IN   NET O32I    Xtal chucked off these pins, now needed for RC inputs
+//  Pin 4   PC15-OSC32_OUT  NET O32O
+//  Pin 5   PH0-OSC_IN      NET PH1
+//  Pin 6   PH1-OSC_OUT     NET PH1
+//  Pin 7   NRST            NET NRST
+AnalogIn    Ain_DriverPot   (PC_0); //  Pin 8   Spare Analogue in, net SAIN fitted with external pull-down
+AnalogIn    Ain_SystemVolts (PC_1); //  Pin 9
+#define MOT_A_I_ADC PC_2
+#define MOT_B_I_ADC PC_3
+//AnalogIn    Motor_A_Current (PC_2); //  Pin 10
+//AnalogIn    Motor_B_Current (PC_3); //  Pin 11
+//  Pin 12 VSSA/VREF-   NET GND
+//  Pin 13 VDDA/VREF+   NET +3V3
+//  Pin 14  Port_A AUL
+//  Pin 15  Port_A AUH
+//  Pins 16, 17 BufferedSerial pc
+BufferedSerial  pc          (PA_2, PA_3, 2048, 4, NULL);    //  Pins 16, 17    tx, rx to pc via usb lead
+//  Pin 18  VSS     NET GND
+//  Pin 19  VDD     NET +3V3
+//  Pin 20  Port_A AWL
+//  Pin 21  DigitalOut led1(LED1);
+DigitalOut  LED           (PA_5); //  Pin 21
+//  Pin 22  Port_A AVL
+//  Pin 23  Port_A AVH
+//InterruptIn  MBH2      (PC_4); //  Pin 24
+//InterruptIn  MBH3      (PC_5); //  Pin 25
+#define _MBH2   PC_4
+#define _MBH3   PC_5
+//  Pin 26  Port_B BUL
+//  Pin 27  Port_B BVL
+//  Pin 28  Port_B BWL
+//  Pin 29  Port_B BUH
+//  Pin 30  VCAP1
+//  Pin 31  VSS
+//  Pin 32  VDD
+//  Pin 33  Port_B BVH
+//  Pin 34  Port_B BWH
+DigitalOut  T4        (PB_14);    //  Pin 35
+DigitalOut  T3        (PB_15);    //  Pin 36
+//  BufferedSerial com2 pins 37 Tx, 38 Rx
+BufferedSerial  com2          (PC_6, PC_7);    //  Pins 37, 38  tx, rx to Touch Screen Controller
+#define APWMV   PC_8
+#define APWMI   PC_9
+//FastPWM     A_MAX_V_PWM     (PC_8, PWM_PRESECALER_DEFAULT),  //  Pin 39                  pwm3/3
+//            A_MAX_I_PWM     (PC_9, PWM_PRESECALER_DEFAULT); //  pin 40, prescaler value  pwm3/4
+//InterruptIn MotB_Hall   (PA_8); //  Pin 41
+//  Pin 41  Port_A AWH
+//  BufferedSerial com3 pins 42 Tx, 43 Rx
+//InterruptIn tryseredge  (PA_9);
+BufferedSerial  com3        (PA_9, PA_10);    //    Pins 42, 43  tx, rx to any aux module
+//  PA_9 is Tx. I wonder, can we also use InterruptIn on this pin to generate interrupts on tx bit transitions ? Let's find out !
+//  No.
+
+//  Feb 2018 Pins 44 and 45 now liberated, could use for serial or other uses
+//BufferedSerial  extra_ser   (PA_11, PA_12);    //  Pins 44, 45  tx, rx to XBee module
+DigitalOut  T2  (PA_11);    //  Pin 44
+// was DigitalOut  T1  (PA_12);    //  Pin 45
+
+
+//InterruptIn T1  (PA_12);    //  Pin 45 now input counting pulses from LMT01 temperature sensor
+//  InterruptIn DOES NOT WORK ON PA_12. Boards are being made, will have to wire link PA12 to PC13
+DigitalIn   T1    (PA_12);
+////InterruptIn T1  (PC_13);    //  Pin 45 now input counting pulses from LMT01 temperature sensor
+
+
+
+//  Pin 46  SWDIO
+//  Pin 47  VSS
+//  Pin 48  VDD
+//  Pin 49  SWCLK
+
+//Was DigitalOut  T5  (PA_15); //  Pin 50
+DigitalIn   T5  (PA_15); //  Pin 50 now fwd/rev from remote control box if fitted
+#define _MAH1   PC_10   //  Pin 51
+#define _MAH2   PC_11   //  Pin 52
+#define _MAH3   PC_12   //  Pin 53
+//InterruptIn MBH1    (PD_2);     //  Pin 54
+#define _MBH1   PD_2
+DigitalOut  T6      (PB_3);     //  Pin 55
+#define BPWMV   PB_4
+#define BPWMI   PB_5
+//FastPWM     B_MAX_V_PWM     (PB_4, PWM_PRESECALER_DEFAULT),  //  Pin 56                  pwm3/3
+//            B_MAX_I_PWM     (PB_5, PWM_PRESECALER_DEFAULT); //  pin 57, prescaler value  pwm3/4
+
+//I2C i2c                     (PB_7, PB_6);   //  Pins 58, 59 For 24LC64 eeprom
+#define SDA_PIN PB_7
+#define SCL_PIN PB_6
+//  Pin 60  BOOT0
+
+//  Servo pins, 2 off. Configured as Input to read radio control receiver
+//      ** Update December 2018 **
+//  These pins can not be used as InterruptIn.
+//  Can be used as outputs by 'Servo'
+//  If used as servo output, code gives pin to 'Servo' - seems to work
+//InterruptIn Servo1_i    (PB_8); //  Pin 61  to read output from rc rx
+//InterruptIn Servo2_i    (PB_9); //  Pin 62  to read output from rc rx
+//  *** NOTE *** Above InterruptIn Servo using PB pins seems not to work, probably due to other Port B pins used as PortOut (try PortInOut?)
+//  Nov 2018 - Yet to try using PC14, PC15, free now as 32k768 xtal not fitted
+
+
+//  Pin 63  VSS
+//  Pin 64  VDD
+//  SYSTEM CONSTANTS
+//  December 2018   ** NEED TO PROVE SERVO OUT WORKS ** YES, DONE.
+    Servo   Servo1  (PB_8)  ;
+//    Servos[0] = & Servo1;
+    Servo   Servo2  (PB_9)  ;
+//    Servos[1] = & Servo2;
+