F446ZE.h

00001 //  5TH JUNE 2018 NONE OF THIS IS RIGHT YET !!
00002 //  Hoped to select servo functions from user info stored on EEROM. Too difficult. Do not define servo as in and out
00003 //  Port A -> MotorA, Port B -> MotorB
00004 const   uint16_t
00005 AUL = 1 << 1,   //  Feb 2018 Now using DGD21032 mosfet drivers via 74HC00 pwm gates (low side) - GOOD, works well with auto-tickle of high side drivers
00006 AVL = 1 << 2,   //  These are which port bits connect to which mosfet driver
00007 AWL = 1 << 3,
00008 
00009 AUH = 1 << 4,
00010 AVH = 1 << 5,
00011 AWH = 1 << 6,
00012 
00013 AUV =   AUH | AVL,  //  Each of 6 possible output energisations made up of one hi and one low
00014 AVU =   AVH | AUL,
00015 AUW =   AUH | AWL,
00016 AWU =   AWH | AUL,
00017 AVW =   AVH | AWL,
00018 AWV =   AWH | AVL,
00019 
00020 KEEP_L_MASK_A   = AUL | AVL | AWL,
00021 KEEP_H_MASK_A   = AUH | AVH | AWH,
00022 
00023 BRA = AUL | AVL | AWL,  //  All low side switches on (and all high side off) for braking
00024 
00025 BUL = 1 << 0,   //  Likewise for MotorB but different port bits on different port
00026 BVL = 1 << 1,
00027 BWL = 1 << 2,
00028 
00029 BUH = 1 << 10,
00030 BVH = 1 << 11,
00031 BWH = 1 << 3,
00032 
00033 BUV =   BUH | BVL,
00034 BVU =   BVH | BUL,
00035 BUW =   BUH | BWL,
00036 BWU =   BWH | BUL,
00037 BVW =   BVH | BWL,
00038 BWV =   BWH | BVL,
00039 
00040 KEEP_L_MASK_B   = BUL | BVL | BWL,
00041 KEEP_H_MASK_B   = BUH | BVH | BWH,
00042 
00043 BRB = BUL | BVL | BWL,
00044 
00045 PORT_A_MASK = AUL | AVL | AWL | AUH | AVH | AWH,            //  NEW METHOD FOR DGD21032 MOSFET DRIVERS
00046 PORT_B_MASK = BUL | BVL | BWL | BUH | BVH | BWH;
00047 //  Use Ports E and G - best first guess July 2018
00048 PortOut MotA    (PortE, PORT_A_MASK);   //  Activate output ports to motor drivers
00049 PortOut MotB    (PortG, PORT_B_MASK);
00050 
00051 //  Pin 1   VBAT    NET +3V3
00052 
00053 //DigitalIn   J3         (PC_13, PullUp);//  Pin 2   Jumper pulls to GND, R floats Hi
00054 InterruptIn   Temperature_pin   (PD_7);//  Pin ??   June 2018 - taken for temperature sensor - hard wired to T1 due to wrong thought T1 could be InterruptIn
00055 
00056 
00057 //  Pin 3   PC14-OSC32_IN   NET O32I
00058 //  Pin 4   PC15-OSC32_OUT  NET O32O
00059 //  Pin 5   PH0-OSC_IN      NET PH1
00060 //  Pin 6   PH1-OSC_OUT     NET PH1
00061 //  Pin 7   NRST            NET NRST
00062 AnalogIn    Ain_DriverPot   (PC_0); //  Pin 8   Spare Analogue in, net SAIN fitted with external pull-down
00063 AnalogIn    Ain_SystemVolts (PC_1); //  Pin 9
00064 AnalogIn    Motor_A_Current (PC_2); //  Pin 10
00065 AnalogIn    Motor_B_Current (PC_3); //  Pin 11
00066 //  Pin 12 VSSA/VREF-   NET GND
00067 //  Pin 13 VDDA/VREF+   NET +3V3
00068 //  Pin 14  Port_A AUL
00069 //  Pin 15  Port_A AUH
00070 //  Pins 16, 17 BufferedSerial pc
00071 BufferedSerial  pc          (PD_8, PD_9, 512, 4, NULL);    //  Pins 16, 17    tx, rx to pc via usb lead
00072 //  Pin 18  VSS     NET GND
00073 //  Pin 19  VDD     NET +3V3
00074 //  Pin 20  Port_A AWL
00075 //  Pin 21  DigitalOut led1(LED1);
00076 DigitalOut  LED           (PB_0); //  Pin ?? as fitted to Nucleo board. Other leds use PB_7 and PB_14
00077 //  Pin 22  Port_A AVL
00078 //  Pin 23  Port_A AVH
00079 InterruptIn  MBH2      (PD_1); //  Pin ??
00080 InterruptIn  MBH3      (PD_3); //  Pin ??
00081 //  Pin 26  Port_B BUL
00082 //  Pin 27  Port_B BVL
00083 //  Pin 28  Port_B BWL
00084 //  Pin 29  Port_B BUH
00085 //  Pin 30  VCAP1
00086 //  Pin 31  VSS
00087 //  Pin 32  VDD
00088 //  Pin 33  Port_B BVH
00089 //  Pin 34  Port_B BWH
00090 
00091 //DigitalOut  T4        (PB_14);    //  Pin **
00092 //DigitalOut  T3        (PB_15);    //  Pin **
00093 
00094 //  BufferedSerial com2 pins 37 Tx, 38 Rx
00095 BufferedSerial  com2          (PC_10, PC_11);    //  Pins 37, 38  tx, rx to XBee module
00096 FastPWM     A_MAX_V_PWM     (PC_8, PWM_PRESECALER_DEFAULT),  //  Pin 39                  pwm3/3
00097             A_MAX_I_PWM     (PC_9, PWM_PRESECALER_DEFAULT); //  pin 40, prescaler value  pwm3/4
00098 //InterruptIn MotB_Hall   (PA_8); //  Pin 41
00099 //  Pin 41  Port_A AWH
00100 //  BufferedSerial com3 pins 42 Tx, 43 Rx
00101 //InterruptIn tryseredge  (PA_9);
00102 
00103 BufferedSerial  com3        (PC_12, PD_2);    //    Pins 42, 43  tx, rx to any aux module
00104 
00105 //  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 !
00106 //  No.
00107 
00108 //  Feb 2018 Pins 44 and 45 now liberated, could use for serial or other uses
00109 //BufferedSerial  extra_ser   (PA_11, PA_12);    //  Pins 44, 45  tx, rx to XBee module
00110 DigitalOut  T2  (PA_11);    //  Pin 44
00111 // was DigitalOut  T1  (PA_12);    //  Pin 45
00112 
00113 
00114 //InterruptIn T1  (PA_12);    //  Pin 45 now input counting pulses from LMT01 temperature sensor
00115 //  InterruptIn DOES NOT WORK ON PA_12. Boards are being made, will have to wire link PA12 to PC13
00116 //DigitalIn   T1    (PA_12);
00117 ////InterruptIn T1  (PC_13);    //  Pin 45 now input counting pulses from LMT01 temperature sensor
00118 
00119 
00120 
00121 //  Pin 46  SWDIO
00122 //  Pin 47  VSS
00123 //  Pin 48  VDD
00124 //  Pin 49  SWCLK
00125 
00126 //Was DigitalOut  T5  (PA_15); //  Pin 50
00127 DigitalIn   T5  (PA_15); //  Pin 50 now fwd/rev from remote control box if fitted
00128 InterruptIn MAH1    (PD_4);    //  Pin 51
00129 InterruptIn MAH2    (PD_5);    //  Pin 52
00130 InterruptIn MAH3    (PD_6);    //  Pin 53
00131 InterruptIn MBH1    (PD_0);     //  Pin 54
00132 DigitalOut  T6      (PB_3);     //  Pin 55
00133 FastPWM     B_MAX_V_PWM     (PE_13, PWM_PRESECALER_DEFAULT),  //  Pin 56                  pwm3/3
00134             B_MAX_I_PWM     (PE_14, PWM_PRESECALER_DEFAULT); //  pin 57, prescaler value  pwm3/4
00135 
00136 I2C i2c                     (PB_9, PB_8);   //  Pins 58, 59 For 24LC64 eeprom
00137 //  Pin 60  BOOT0
00138 
00139 //  Servo pins, 2 off. Configured as Input to read radio control receiver
00140 //  If used as servo output, code gives pin to 'Servo' - seems to work
00141 InterruptIn Servo1_i    (PF_14); //  Pin 61  to read output from rc rx
00142 InterruptIn Servo2_i    (PF_15); //  Pin 62  to read output from rc rx
00143 
00144 //  Pin 63  VSS
00145 //  Pin 64  VDD
00146 //  SYSTEM CONSTANTS
00147