Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_PostLIGHT_210420

LIGHT2

Dependencies:   FastPWM mbed

INIT_HW/INIT_HW.cpp@244:30896263bd8b, 2022-06-13 (annotated)

Committer:
Lightvalve
Date:
Mon Jun 13 08:48:55 2022 +0000
Revision:
244:30896263bd8b
Parent:
241:fb5b57e3f157
Child:
245:e9c5ec04e378
220613

Who changed what in which revision?

UserRevisionLine numberNew contents of line
GiJeongKim 0:51c43836c1d7 1 #include "mbed.h"
GiJeongKim 0:51c43836c1d7 2 #include "FastPWM.h"
GiJeongKim 0:51c43836c1d7 3 #include "setting.h"
GiJeongKim 0:51c43836c1d7 4
Lightvalve 244:30896263bd8b 5 extern ADC_HandleTypeDef hadc1;
Lightvalve 244:30896263bd8b 6 extern ADC_HandleTypeDef hadc2;
Lightvalve 244:30896263bd8b 7
Lightvalve 244:30896263bd8b 8 //void Init_ADC(void){
Lightvalve 244:30896263bd8b 9 // // ADC Setup
Lightvalve 244:30896263bd8b 10 // RCC->APB2ENR |= RCC_APB2ENR_ADC3EN; // clock for ADC3
Lightvalve 244:30896263bd8b 11 // RCC->APB2ENR |= RCC_APB2ENR_ADC2EN; // clock for ADC2
Lightvalve 244:30896263bd8b 12 // RCC->APB2ENR |= RCC_APB2ENR_ADC1EN; // clock for ADC1
Lightvalve 244:30896263bd8b 13 //
Lightvalve 244:30896263bd8b 14 // RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN; // Enable clock for GPIOC
Lightvalve 244:30896263bd8b 15 // RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN; // Enable clock for GPIOA
Lightvalve 244:30896263bd8b 16 //
Lightvalve 244:30896263bd8b 17 // ADC->CCR = 0x00000016; // Regular simultaneous mode only
Lightvalve 244:30896263bd8b 18 // ADC1->CR2 |= ADC_CR2_ADON;//0x00000001; // ADC1 ON
Lightvalve 244:30896263bd8b 19 // ADC1->SQR3 = 0x0000000E; //channel // use PC_4 as input- ADC1_IN14
Lightvalve 244:30896263bd8b 20 // ADC2->CR2 |= ADC_CR2_ADON;//0x00000001; // ADC2 ON
Lightvalve 244:30896263bd8b 21 // ADC2->SQR3 = 0x00000008; // use PB_0 as input - ADC2_IN8
Lightvalve 244:30896263bd8b 22 // ADC3->CR2 |= ADC_CR2_ADON; // ADC3 ON
Lightvalve 244:30896263bd8b 23 // ADC3->SQR3 = 0x0000000B; // use PC_1, - ADC3_IN11
Lightvalve 244:30896263bd8b 24 // GPIOC->MODER |= 0b1100001100; //each channel // PC_4, PC_1 are analog inputs
Lightvalve 244:30896263bd8b 25 // GPIOB->MODER |= 0x3; // PB_0 as analog input
Lightvalve 244:30896263bd8b 26 //
Lightvalve 244:30896263bd8b 27 // ADC1->SMPR1 |= 0x00001000; // 15 cycles on CH_14, 0b0001000000000000
Lightvalve 244:30896263bd8b 28 // ADC2->SMPR2 |= 0x01000000; // 15 cycles on CH_8, 0b0000000100000000<<16
Lightvalve 244:30896263bd8b 29 // ADC3->SMPR1 |= 0x00000008; // 15 cycles on CH_11, 0b0000000000001000
Lightvalve 244:30896263bd8b 30 //}
Lightvalve 244:30896263bd8b 31
Lightvalve 244:30896263bd8b 32
Lightvalve 244:30896263bd8b 33 void Init_ADC(void)
Lightvalve 244:30896263bd8b 34 {
GiJeongKim 0:51c43836c1d7 35 // ADC Setup
Lightvalve 244:30896263bd8b 36 // RCC->APB2ENR |= RCC_APB2ENR_ADC3EN; // clock for ADC3
Lightvalve 244:30896263bd8b 37 // RCC->APB2ENR |= RCC_APB2ENR_ADC2EN; // clock for ADC2
Lightvalve 244:30896263bd8b 38 RCC->APB2ENR |= RCC_APB2ENR_ADC1EN; // clock for ADC1
Lightvalve 244:30896263bd8b 39
Lightvalve 244:30896263bd8b 40 // RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN; // Enable clock for GPIOC
Lightvalve 244:30896263bd8b 41 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN; // Enable clock for GPIOB
GiJeongKim 0:51c43836c1d7 42
Lightvalve 244:30896263bd8b 43 ADC->CCR = 0x00000016; // Regular simultaneous mode only
Lightvalve 244:30896263bd8b 44 ADC1->CR2 |= ADC_CR2_ADON;//0x00000001; // ADC1 ON
Lightvalve 244:30896263bd8b 45 ADC1->SQR3 = 0x00000008; // use PB_0 as input - ADC1_IN8
Lightvalve 244:30896263bd8b 46 // ADC1->SQR3 = 0x0000000E; //channel // use PC_4 as input- ADC1_IN14
Lightvalve 244:30896263bd8b 47 // ADC2->CR2 |= ADC_CR2_ADON;//0x00000001; // ADC2 ON
Lightvalve 244:30896263bd8b 48 // ADC2->SQR3 = 0x00000008; // use PB_0 as input - ADC2_IN8
Lightvalve 244:30896263bd8b 49 // ADC3->CR2 |= ADC_CR2_ADON; // ADC3 ON
Lightvalve 244:30896263bd8b 50 // ADC3->SQR3 = 0x0000000B; // use PC_1, - ADC3_IN11
Lightvalve 244:30896263bd8b 51 // GPIOC->MODER |= 0b1100001100; //each channel // PC_4, PC_1 are analog inputs
Lightvalve 244:30896263bd8b 52 GPIOB->MODER |= 0x3; // PB_0 as analog input
Lightvalve 244:30896263bd8b 53
Lightvalve 244:30896263bd8b 54 ADC1->SMPR2 |= 0x01000000; // 15 cycles on CH_8, 0b0000000100000000<<16
Lightvalve 244:30896263bd8b 55 // ADC1->SMPR1 |= 0x00001000; // 15 cycles on CH_14, 0b0001000000000000
Lightvalve 244:30896263bd8b 56 // ADC2->SMPR2 |= 0x01000000; // 15 cycles on CH_8, 0b0000000100000000<<16
Lightvalve 244:30896263bd8b 57 // ADC3->SMPR1 |= 0x00000008; // 15 cycles on CH_11, 0b0000000000001000
Lightvalve 244:30896263bd8b 58 }
Lightvalve 244:30896263bd8b 59
Lightvalve 244:30896263bd8b 60
Lightvalve 244:30896263bd8b 61
Lightvalve 244:30896263bd8b 62
Lightvalve 244:30896263bd8b 63
Lightvalve 244:30896263bd8b 64 void Init_PWM()
Lightvalve 244:30896263bd8b 65 {
GiJeongKim 0:51c43836c1d7 66
GiJeongKim 0:51c43836c1d7 67 RCC->APB1ENR |= RCC_APB1ENR_TIM4EN; // enable TIM4 clock
Lightvalve 244:30896263bd8b 68 // FastPWM pwm_v(PIN_V);
Lightvalve 244:30896263bd8b 69 // FastPWM pwm_w(PIN_W);
Lightvalve 244:30896263bd8b 70
Lightvalve 244:30896263bd8b 71 //ISR Setup
Lightvalve 244:30896263bd8b 72
GiJeongKim 0:51c43836c1d7 73 NVIC_EnableIRQ(TIM4_IRQn); //Enable TIM4 IRQ
GiJeongKim 0:51c43836c1d7 74
GiJeongKim 0:51c43836c1d7 75 TIM4->DIER |= TIM_DIER_UIE; // enable update interrupt
Lightvalve 244:30896263bd8b 76 TIM4->CR1 = 0x40; // CMS = 10, interrupt only when counting up // Center-aligned mode
Lightvalve 244:30896263bd8b 77 // TIM4->CR1 = 0x10;
GiJeongKim 0:51c43836c1d7 78 TIM4->CR1 |= TIM_CR1_UDIS;
Lightvalve 244:30896263bd8b 79 // TIM4->CR1 |= TIM_CR1_ARPE; // autoreload on,
Lightvalve 244:30896263bd8b 80 TIM4->RCR |= 0x001; // update event once per up/down count of TIM4
GiJeongKim 0:51c43836c1d7 81 TIM4->EGR |= TIM_EGR_UG;
Lightvalve 244:30896263bd8b 82
GiJeongKim 0:51c43836c1d7 83 //PWM Setup
GiJeongKim 0:51c43836c1d7 84 TIM4->PSC = 0x0; // no prescaler, timer counts up in sync with the peripheral clock
Lightvalve 244:30896263bd8b 85 // TIM4->PSC = 10-1; // no prescaler, timer counts up in sync with the peripheral clock
Lightvalve 241:fb5b57e3f157 86 TIM4->ARR = PWM_ARR-1; // set auto reload
GiJeongKim 0:51c43836c1d7 87 TIM4->CCER |= ~(TIM_CCER_CC1NP); // Interupt when low side is on.
GiJeongKim 0:51c43836c1d7 88 TIM4->CR1 |= TIM_CR1_CEN; // enable TIM4
Lightvalve 244:30896263bd8b 89
Lightvalve 244:30896263bd8b 90 TIM4->CCMR1 |= 0x7060;
Lightvalve 244:30896263bd8b 91
GiJeongKim 0:51c43836c1d7 92 }
Lightvalve 11:82d8768d7351 93
Lightvalve 241:fb5b57e3f157 94
Lightvalve 244:30896263bd8b 95 //void Init_TMR3()
Lightvalve 244:30896263bd8b 96 //{
Lightvalve 244:30896263bd8b 97 // RCC->APB1ENR |= RCC_APB1ENR_TIM3EN; // enable TIM3 clock
Lightvalve 244:30896263bd8b 98 //// FastPWM pwm_v(PIN_V);
Lightvalve 244:30896263bd8b 99 //// FastPWM pwm_w(PIN_W);
Lightvalve 244:30896263bd8b 100 // //ISR Setup
Lightvalve 244:30896263bd8b 101 //
Lightvalve 244:30896263bd8b 102 // NVIC_EnableIRQ(TIM3_IRQn); //Enable TIM3 IRQ
Lightvalve 244:30896263bd8b 103 //
Lightvalve 244:30896263bd8b 104 // TIM3->DIER |= TIM_DIER_UIE; // enable update interrupt
Lightvalve 244:30896263bd8b 105 //// TIM3->CR1 = 0x40; // CMS = 10, interrupt only when counting up // Center-aligned mode
Lightvalve 244:30896263bd8b 106 // TIM3->CR1 = 0x10;
Lightvalve 244:30896263bd8b 107 // TIM3->CR1 |= TIM_CR1_UDIS;
Lightvalve 244:30896263bd8b 108 //// TIM3->CR1 |= TIM_CR1_ARPE; // autoreload on,
Lightvalve 244:30896263bd8b 109 // TIM3->RCR |= 0x001; // update event once per up/down count of TIM3
Lightvalve 244:30896263bd8b 110 // TIM3->EGR |= TIM_EGR_UG;
Lightvalve 244:30896263bd8b 111 //
Lightvalve 244:30896263bd8b 112 //// TIM3->PSC = 0x00; // no prescaler, timer counts up in sync with the peripheral clock
Lightvalve 244:30896263bd8b 113 // TIM3->PSC = 0x01;
Lightvalve 244:30896263bd8b 114 // TIM3->ARR = TMR3_COUNT-1; // set auto reload, 5 khz
Lightvalve 244:30896263bd8b 115 // TIM3->CCER |= ~(TIM_CCER_CC1NP); // Interupt when low side is on.
Lightvalve 244:30896263bd8b 116 // TIM3->CR1 |= TIM_CR1_CEN; // enable TIM4
Lightvalve 244:30896263bd8b 117 //}
Lightvalve 244:30896263bd8b 118
Lightvalve 244:30896263bd8b 119 void Init_TMR3()
Lightvalve 244:30896263bd8b 120 {
Lightvalve 11:82d8768d7351 121 RCC->APB1ENR |= RCC_APB1ENR_TIM3EN; // enable TIM3 clock
Lightvalve 244:30896263bd8b 122 // FastPWM pwm_v(PIN_V);
Lightvalve 244:30896263bd8b 123 // FastPWM pwm_w(PIN_W);
Lightvalve 244:30896263bd8b 124 //ISR Setup
Lightvalve 244:30896263bd8b 125
Lightvalve 241:fb5b57e3f157 126 NVIC_EnableIRQ(TIM3_IRQn); //Enable TIM3 IRQ
Lightvalve 11:82d8768d7351 127
Lightvalve 11:82d8768d7351 128 TIM3->DIER |= TIM_DIER_UIE; // enable update interrupt
Lightvalve 244:30896263bd8b 129 TIM3->CR1 = 0x40; // CMS = 10, interrupt only when counting up // Center-aligned mode
Lightvalve 244:30896263bd8b 130 // TIM3->CR1 = 0x10;
Lightvalve 11:82d8768d7351 131 TIM3->CR1 |= TIM_CR1_UDIS;
Lightvalve 244:30896263bd8b 132 // TIM3->CR1 |= TIM_CR1_ARPE; // autoreload on,
Lightvalve 244:30896263bd8b 133 TIM3->RCR |= 0x001; // update event once per up/down count of TIM3
Lightvalve 11:82d8768d7351 134 TIM3->EGR |= TIM_EGR_UG;
Lightvalve 11:82d8768d7351 135
Lightvalve 244:30896263bd8b 136 TIM3->PSC = 0x00; // no prescaler, timer counts up in sync with the peripheral clock
Lightvalve 244:30896263bd8b 137 // TIM3->PSC = 0x01;
Lightvalve 241:fb5b57e3f157 138 TIM3->ARR = TMR3_COUNT-1; // set auto reload, 5 khz
Lightvalve 11:82d8768d7351 139 TIM3->CCER |= ~(TIM_CCER_CC1NP); // Interupt when low side is on.
Lightvalve 11:82d8768d7351 140 TIM3->CR1 |= TIM_CR1_CEN; // enable TIM4
Lightvalve 244:30896263bd8b 141
Lightvalve 244:30896263bd8b 142 TIM3->CCMR1 |= 0x7060;
Lightvalve 20:806196fda269 143 }
Lightvalve 20:806196fda269 144
Lightvalve 244:30896263bd8b 145 void Init_TMR2()
Lightvalve 244:30896263bd8b 146 {
Lightvalve 241:fb5b57e3f157 147 RCC->APB1ENR |= RCC_APB1ENR_TIM2EN; // enable TIM2 clock
Lightvalve 244:30896263bd8b 148
Lightvalve 244:30896263bd8b 149 //ISR Setup
Lightvalve 241:fb5b57e3f157 150 NVIC_EnableIRQ(TIM2_IRQn); //Enable TIM2 IRQ
Lightvalve 20:806196fda269 151
Lightvalve 23:59218d4a256d 152 TIM2->DIER |= TIM_DIER_UIE; // enable update interrupt
Lightvalve 23:59218d4a256d 153 TIM2->CR1 = 0x40; // CMS = 10, interrupt only when counting up // Center-aligned mode
Lightvalve 23:59218d4a256d 154 TIM2->CR1 |= TIM_CR1_UDIS;
Lightvalve 244:30896263bd8b 155 // TIM2->CR1 |= TIM_CR1_ARPE; // autoreload on,
Lightvalve 244:30896263bd8b 156 TIM2->RCR |= 0x001; // update event once per up/down count of TIM2
Lightvalve 23:59218d4a256d 157 TIM2->EGR |= TIM_EGR_UG;
Lightvalve 20:806196fda269 158
Lightvalve 241:fb5b57e3f157 159 TIM2->PSC = 0x00; // no prescaler, timer counts up in sync with the peripheral clock
Lightvalve 241:fb5b57e3f157 160 TIM2->ARR = TMR2_COUNT-1; // set auto reload, 5 khz
Lightvalve 23:59218d4a256d 161 TIM2->CCER |= ~(TIM_CCER_CC1NP); // Interupt when low side is on.
Lightvalve 241:fb5b57e3f157 162 TIM2->CR1 |= TIM_CR1_CEN; // enable TIM2
Lightvalve 241:fb5b57e3f157 163 }
Lightvalve 241:fb5b57e3f157 164
Lightvalve 244:30896263bd8b 165 void Init_TMR1()
Lightvalve 244:30896263bd8b 166 {
Lightvalve 244:30896263bd8b 167
Lightvalve 244:30896263bd8b 168 RCC->APB2ENR |= RCC_APB2ENR_TIM1EN; // enable TIM1 clock
Lightvalve 244:30896263bd8b 169 // RCC->APB2ENR |= 0x02; // enable TIM8 clock
Lightvalve 244:30896263bd8b 170 FastPWM pwm_v(PIN_V);
Lightvalve 244:30896263bd8b 171 FastPWM pwm_w(PIN_W);
Lightvalve 244:30896263bd8b 172
Lightvalve 244:30896263bd8b 173 TIM1->DIER |= TIM_DIER_UIE; // enable update interrupt
Lightvalve 244:30896263bd8b 174 TIM1->CR1 = 0x40; // CMS = 10, interrupt only when counting up // Center-aligned mode
Lightvalve 244:30896263bd8b 175 TIM1->CR1 |= TIM_CR1_UDIS;
Lightvalve 244:30896263bd8b 176 TIM1->CR1 |= TIM_CR1_ARPE; // autoreload on,
Lightvalve 244:30896263bd8b 177 TIM1->RCR |= 0x001; // update event once per up/down count of TIM8
Lightvalve 244:30896263bd8b 178 TIM1->EGR |= TIM_EGR_UG;
Lightvalve 244:30896263bd8b 179
Lightvalve 244:30896263bd8b 180
Lightvalve 244:30896263bd8b 181 TIM1->CCMR1 |= 0x60;
Lightvalve 244:30896263bd8b 182 // TIM1->CCMR1 |= TIM_CCMR1_OC1PE;
Lightvalve 244:30896263bd8b 183 // TIM1->CCMR1 &= ~TIM_CCMR1_OC1FE;
Lightvalve 244:30896263bd8b 184 // TIM1->CCMR1 |= TIM_CCMR1_OC2PE;
Lightvalve 244:30896263bd8b 185 // TIM1->CCMR1 &= ~TIM_CCMR1_OC2FE;
Lightvalve 244:30896263bd8b 186
Lightvalve 244:30896263bd8b 187 TIM1->PSC = 0x00; // no prescaler, timer counts up in sync with the peripheral clock
Lightvalve 244:30896263bd8b 188 TIM1->ARR = TMR1_COUNT-1; // set auto reload, 5 khz
Lightvalve 244:30896263bd8b 189 // TIM1->CCER |= ~(TIM_CCER_CC1NP); // Interupt when low side is on.
Lightvalve 244:30896263bd8b 190 TIM1->CCER |= 0x05; // CC1E = 1, CC1P = 0, CC1NE = 1, CC1NP = 0
Lightvalve 244:30896263bd8b 191
Lightvalve 244:30896263bd8b 192 TIM1->BDTR |= 0x8000; // MOE = 1;
Lightvalve 244:30896263bd8b 193 TIM1->BDTR |= 0x7F; // Dead-time 7Ftick
Lightvalve 244:30896263bd8b 194
Lightvalve 244:30896263bd8b 195 TIM1->CR1 |= TIM_CR1_CEN; // enable TIM8
Lightvalve 244:30896263bd8b 196
Lightvalve 244:30896263bd8b 197
Lightvalve 244:30896263bd8b 198
Lightvalve 244:30896263bd8b 199 // __HAL_RCC_GPIOA_CLK_ENABLE();
Lightvalve 241:fb5b57e3f157 200 //
Lightvalve 244:30896263bd8b 201 // GPIO_InitTypeDef GPIO_InitStruct = {0};
Lightvalve 241:fb5b57e3f157 202 //
Lightvalve 244:30896263bd8b 203 // GPIO_InitStruct.Pin = GPIO_PIN_7|GPIO_PIN_6;
Lightvalve 244:30896263bd8b 204 // GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
Lightvalve 244:30896263bd8b 205 // GPIO_InitStruct.Pull = GPIO_NOPULL;
Lightvalve 244:30896263bd8b 206 // GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
Lightvalve 244:30896263bd8b 207 // GPIO_InitStruct.Alternate = GPIO_AF3_TIM1;
Lightvalve 244:30896263bd8b 208 // HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
Lightvalve 244:30896263bd8b 209
Lightvalve 244:30896263bd8b 210 }