Sungwoo Kim
/
HydraulicControlBoard_Rainbow_v1_2
rainbow
Revision 247:bfdf0f479a38, committed 2022-06-24
- Comitter:
- Lightvalve
- Date:
- Fri Jun 24 00:18:20 2022 +0000
- Parent:
- 246:d5742551f432
- Child:
- 248:544011ad9c85
- Commit message:
- 220624 LVDT good
Changed in this revision
--- a/CAN/function_CAN.cpp Fri Jun 17 09:30:42 2022 +0000 +++ b/CAN/function_CAN.cpp Fri Jun 24 00:18:20 2022 +0000 @@ -1087,14 +1087,18 @@ void CAN_TX_VALVE_LIMIT(void) { CANMessage temp_msg; + int16_t temp_valve_min_pos = 0; + int16_t temp_valve_max_pos = 0; + temp_valve_min_pos = (int16_t) ((float) VALVE_MIN_POS * 0.1f); + temp_valve_max_pos = (int16_t) ((float) VALVE_MAX_POS * 0.1f); temp_msg.id = CID_TX_INFO; temp_msg.len = 5; temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_LIMIT; - temp_msg.data[1] = (uint8_t) VALVE_MIN_POS; - temp_msg.data[2] = (uint8_t) (VALVE_MIN_POS >> 8); - temp_msg.data[3] = (uint8_t) VALVE_MAX_POS; - temp_msg.data[4] = (uint8_t) (VALVE_MAX_POS >> 8); + temp_msg.data[1] = (uint8_t) temp_valve_min_pos; + temp_msg.data[2] = (uint8_t) (temp_valve_min_pos >> 8); + temp_msg.data[3] = (uint8_t) temp_valve_max_pos; + temp_msg.data[4] = (uint8_t) (temp_valve_max_pos >> 8); can.write(temp_msg); }
--- a/INIT_HW/INIT_HW.cpp Fri Jun 17 09:30:42 2022 +0000 +++ b/INIT_HW/INIT_HW.cpp Fri Jun 24 00:18:20 2022 +0000 @@ -8,164 +8,134 @@ void Init_ADC1(void) { -/* - // ADC Setup -// RCC->APB2ENR |= RCC_APB2ENR_ADC3EN; // clock for ADC3 -// RCC->APB2ENR |= RCC_APB2ENR_ADC2EN; // clock for ADC2 - RCC->APB2ENR |= RCC_APB2ENR_ADC1EN; // clock for ADC1 - RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN; // Enable clock for GPIOC -// RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN; // Enable clock for GPIOB - ADC1->CR2 |= ADC_CR2_ADON;//0x00000001; // ADC1 ON -// ADC->CCR = 0x00000016; // Regular simultaneous mode only - ADC1->CR1 |= 0x800; // Discontinuous mode - ADC1->CR1 |= 0x100; // Scan mode - ADC1->CR2 |= 0x400; // EOC - ADC1->SQR1 |= 0x100000; // 2 conversions -// ADC1->SQR3 = 0x00000008; // use PB_0 as input - ADC1_IN8 - ADC1->SQR3 |= 0x0000000E; //channel // use PC_4 as input - ADC1_IN14 - ADC1->SQR3 |= 0x000001E0; // use PC_5 as input - ADC1_IN15 0b0000 0000 0000 0000 0000 0001 1110 0000 -// ADC2->CR2 |= ADC_CR2_ADON;//0x00000001; // ADC2 ON -// ADC2->SQR3 = 0x00000008; // use PB_0 as input - ADC2_IN8 -// ADC3->CR2 |= ADC_CR2_ADON; // ADC3 ON00000000000 -// ADC3->SQR3 = 0x0000000B; // use PC_1, - ADC3_IN11 - GPIOC->MODER |= 0b111100000000; //each channel // PC_4, PC_5 are analog inputs -// GPIOB->MODER |= 0x3; // PB_0 as analog input -// ADC1->SMPR2 |= 0x01000000; // 15 cycles on CH_8, 0b0000000100000000<<16 -// ADC1->SMPR1 |= 0x00001000; // 15 cycles on CH_14 -// ADC1->SMPR1 |= 0x00008000; // 15 cycles on CH_15 -// ADC2->SMPR2 |= 0x01000000; // 15 cycles on CH_8, 0b0000000100000000<<16 -// ADC3->SMPR1 |= 0x00000008; // 15 cycles on CH_11, 0b0000000000001000 + /* + // ADC Setup + // RCC->APB2ENR |= RCC_APB2ENR_ADC3EN; // clock for ADC3 + // RCC->APB2ENR |= RCC_APB2ENR_ADC2EN; // clock for ADC2 + RCC->APB2ENR |= RCC_APB2ENR_ADC1EN; // clock for ADC1 + RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN; // Enable clock for GPIOC + // RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN; // Enable clock for GPIOB + ADC1->CR2 |= ADC_CR2_ADON;//0x00000001; // ADC1 ON + // ADC->CCR = 0x00000016; // Regular simultaneous mode only + ADC1->CR1 |= 0x800; // Discontinuous mode + ADC1->CR1 |= 0x100; // Scan mode + ADC1->CR2 |= 0x400; // EOC + ADC1->SQR1 |= 0x100000; // 2 conversions + // ADC1->SQR3 = 0x00000008; // use PB_0 as input - ADC1_IN8 + ADC1->SQR3 |= 0x0000000E; //channel // use PC_4 as input - ADC1_IN14 + ADC1->SQR3 |= 0x000001E0; // use PC_5 as input - ADC1_IN15 0b0000 0000 0000 0000 0000 0001 1110 0000 + // ADC2->CR2 |= ADC_CR2_ADON;//0x00000001; // ADC2 ON + // ADC2->SQR3 = 0x00000008; // use PB_0 as input - ADC2_IN8 + // ADC3->CR2 |= ADC_CR2_ADON; // ADC3 ON00000000000 + // ADC3->SQR3 = 0x0000000B; // use PC_1, - ADC3_IN11 + GPIOC->MODER |= 0b111100000000; //each channel // PC_4, PC_5 are analog inputs + // GPIOB->MODER |= 0x3; // PB_0 as analog input + // ADC1->SMPR2 |= 0x01000000; // 15 cycles on CH_8, 0b0000000100000000<<16 + // ADC1->SMPR1 |= 0x00001000; // 15 cycles on CH_14 + // ADC1->SMPR1 |= 0x00008000; // 15 cycles on CH_15 + // ADC2->SMPR2 |= 0x01000000; // 15 cycles on CH_8, 0b0000000100000000<<16 + // ADC3->SMPR1 |= 0x00000008; // 15 cycles on CH_11, 0b0000000000001000 + + */ -*/ - - //////////////////////////////////////////////////ADC1//////////////////////////////////////////////// - ADC_ChannelConfTypeDef sConfig = {0}; + //////////////////////////////////////////////////ADC1//////////////////////////////////////////////// + ADC_ChannelConfTypeDef sConfig = {0}; - hadc1.Instance = ADC1; - hadc1.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV4; - hadc1.Init.Resolution = ADC_RESOLUTION_12B; - hadc1.Init.ScanConvMode = ENABLE; - hadc1.Init.ContinuousConvMode = DISABLE; - hadc1.Init.DiscontinuousConvMode = ENABLE; - hadc1.Init.NbrOfDiscConversion = 1; - hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE; - hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START; - hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT; - hadc1.Init.NbrOfConversion = 2; - hadc1.Init.DMAContinuousRequests = DISABLE; - hadc1.Init.EOCSelection = ADC_EOC_SINGLE_CONV; - if (HAL_ADC_Init(&hadc1) != HAL_OK) - { + hadc1.Instance = ADC1; + hadc1.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV4; + hadc1.Init.Resolution = ADC_RESOLUTION_12B; + hadc1.Init.ScanConvMode = ENABLE; + hadc1.Init.ContinuousConvMode = DISABLE; + hadc1.Init.DiscontinuousConvMode = ENABLE; + hadc1.Init.NbrOfDiscConversion = 1; + hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE; + hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START; + hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT; + hadc1.Init.NbrOfConversion = 2; + hadc1.Init.DMAContinuousRequests = DISABLE; + hadc1.Init.EOCSelection = ADC_EOC_SINGLE_CONV; + if (HAL_ADC_Init(&hadc1) != HAL_OK) { // Error_Handler(); - } - sConfig.Channel = ADC_CHANNEL_14; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_3CYCLES; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { + } + sConfig.Channel = ADC_CHANNEL_14; + sConfig.Rank = 1; + sConfig.SamplingTime = ADC_SAMPLETIME_3CYCLES; + if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) { // Error_Handler(); - } - sConfig.Channel = ADC_CHANNEL_15; - sConfig.Rank = 2; - if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) - { + } + sConfig.Channel = ADC_CHANNEL_15; + sConfig.Rank = 2; + if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) { // Error_Handler(); - } - hadc1.Instance->CR2 |= ADC_CR2_ADON; + } + hadc1.Instance->CR2 |= ADC_CR2_ADON; } void Init_ADC2(void) { - - //////////////////////////////////////////////////ADC2//////////////////////////////////////////////// - ADC_ChannelConfTypeDef sConfig = {0}; - - hadc2.Instance = ADC2; - hadc2.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV4; - hadc2.Init.Resolution = ADC_RESOLUTION_12B; - hadc2.Init.ScanConvMode = ENABLE; - hadc2.Init.ContinuousConvMode = DISABLE; - hadc2.Init.DiscontinuousConvMode = ENABLE; - hadc2.Init.NbrOfDiscConversion = 1; - hadc2.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE; - hadc2.Init.ExternalTrigConv = ADC_SOFTWARE_START; - hadc2.Init.DataAlign = ADC_DATAALIGN_RIGHT; - hadc2.Init.NbrOfConversion = 2; - hadc2.Init.DMAContinuousRequests = DISABLE; - hadc2.Init.EOCSelection = ADC_EOC_SINGLE_CONV; - if (HAL_ADC_Init(&hadc2) != HAL_OK) - { + + //////////////////////////////////////////////////ADC2//////////////////////////////////////////////// + ADC_ChannelConfTypeDef sConfig = {0}; + + hadc2.Instance = ADC2; + hadc2.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV4; + hadc2.Init.Resolution = ADC_RESOLUTION_12B; + hadc2.Init.ScanConvMode = ENABLE; + hadc2.Init.ContinuousConvMode = DISABLE; + hadc2.Init.DiscontinuousConvMode = ENABLE; + hadc2.Init.NbrOfDiscConversion = 1; + hadc2.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE; + hadc2.Init.ExternalTrigConv = ADC_SOFTWARE_START; + hadc2.Init.DataAlign = ADC_DATAALIGN_RIGHT; + hadc2.Init.NbrOfConversion = 2; + hadc2.Init.DMAContinuousRequests = DISABLE; + hadc2.Init.EOCSelection = ADC_EOC_SINGLE_CONV; + if (HAL_ADC_Init(&hadc2) != HAL_OK) { // Error_Handler(); - } - sConfig.Channel = ADC_CHANNEL_11; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_3CYCLES; - if (HAL_ADC_ConfigChannel(&hadc2, &sConfig) != HAL_OK) - { + } + sConfig.Channel = ADC_CHANNEL_11; + sConfig.Rank = 1; + sConfig.SamplingTime = ADC_SAMPLETIME_3CYCLES; + if (HAL_ADC_ConfigChannel(&hadc2, &sConfig) != HAL_OK) { // Error_Handler(); - } - sConfig.Channel = ADC_CHANNEL_9; - sConfig.Rank = 2; - if (HAL_ADC_ConfigChannel(&hadc2, &sConfig) != HAL_OK) - { + } + sConfig.Channel = ADC_CHANNEL_9; + sConfig.Rank = 2; + if (HAL_ADC_ConfigChannel(&hadc2, &sConfig) != HAL_OK) { // Error_Handler(); - } - hadc2.Instance->CR2 |= ADC_CR2_ADON; + } + hadc2.Instance->CR2 |= ADC_CR2_ADON; } void Init_ADC3(void) { - //////////////////////////////////////////////////ADC3//////////////////////////////////////////////// - ADC_ChannelConfTypeDef sConfig = {0}; - - hadc3.Instance = ADC3; - hadc3.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV4; - hadc3.Init.Resolution = ADC_RESOLUTION_12B; - hadc3.Init.ScanConvMode = DISABLE; - hadc3.Init.ContinuousConvMode = DISABLE; - hadc3.Init.DiscontinuousConvMode = DISABLE; - hadc3.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE; - hadc3.Init.ExternalTrigConv = ADC_SOFTWARE_START; - hadc3.Init.DataAlign = ADC_DATAALIGN_RIGHT; - hadc3.Init.NbrOfConversion = 1; - hadc3.Init.DMAContinuousRequests = DISABLE; - hadc3.Init.EOCSelection = ADC_EOC_SEQ_CONV; - if (HAL_ADC_Init(&hadc3) != HAL_OK) - { + //////////////////////////////////////////////////ADC3//////////////////////////////////////////////// + ADC_ChannelConfTypeDef sConfig = {0}; + + hadc3.Instance = ADC3; + hadc3.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV4; + hadc3.Init.Resolution = ADC_RESOLUTION_12B; + hadc3.Init.ScanConvMode = DISABLE; + hadc3.Init.ContinuousConvMode = DISABLE; + hadc3.Init.DiscontinuousConvMode = DISABLE; + hadc3.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE; + hadc3.Init.ExternalTrigConv = ADC_SOFTWARE_START; + hadc3.Init.DataAlign = ADC_DATAALIGN_RIGHT; + hadc3.Init.NbrOfConversion = 1; + hadc3.Init.DMAContinuousRequests = DISABLE; + hadc3.Init.EOCSelection = ADC_EOC_SEQ_CONV; + if (HAL_ADC_Init(&hadc3) != HAL_OK) { // Error_Handler(); - } - sConfig.Channel = ADC_CHANNEL_1; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_3CYCLES; - if (HAL_ADC_ConfigChannel(&hadc3, &sConfig) != HAL_OK) - { + } + sConfig.Channel = ADC_CHANNEL_1; + sConfig.Rank = 1; + sConfig.SamplingTime = ADC_SAMPLETIME_3CYCLES; + if (HAL_ADC_ConfigChannel(&hadc3, &sConfig) != HAL_OK) { // Error_Handler(); - } - hadc3.Instance->CR2 |= ADC_CR2_ADON; + } + hadc3.Instance->CR2 |= ADC_CR2_ADON; } -void Init_TIM4() -{ - RCC->APB1ENR |= RCC_APB1ENR_TIM4EN; // enable TIM4 clock -// FastPWM pwm_H3(PIN_H3); -// FastPWM pwm_L3(PIN_L3); - - NVIC_EnableIRQ(TIM4_IRQn); //Enable TIM4 IRQ - - TIM4->DIER |= TIM_DIER_UIE; // enable update interrupt - TIM4->CR1 = 0x40; // CMS = 10, interrupt only when counting up // Center-aligned mode - TIM4->CR1 |= TIM_CR1_UDIS; - TIM4->RCR |= 0x001; // update event once per up/down count of TIM4 - TIM4->EGR |= TIM_EGR_UG; - - //PWM Setup -// TIM4->PSC = 0x0; - TIM4->PSC = 10-1; // 10 prescaler, timer counts up in sync with the peripheral clock - TIM4->ARR = PWM_ARR-1; // set auto reload - TIM4->CCER |= ~(TIM_CCER_CC1NP); // Interupt when low side is on. - TIM4->CR1 |= TIM_CR1_CEN; // enable TIM4 -// TIM4->CCMR1 |= 0x7060; -} void Init_TMR3() { @@ -180,6 +150,8 @@ TIM3->PSC = 0x00; // no prescaler, timer counts up in sync with the peripheral clock TIM3->ARR = TMR3_COUNT-1; // set auto reload, 5 khz + TIM3->CNT = 0; + TIM3->SR = 0; TIM3->CCER |= ~(TIM_CCER_CC1NP); // Interupt when low side is on. TIM3->CR1 |= TIM_CR1_CEN; // enable TIM4 } @@ -199,36 +171,64 @@ TIM2->PSC = 0x00; // no prescaler, timer counts up in sync with the peripheral clock TIM2->ARR = TMR2_COUNT-1; // set auto reload, 5 khz - TIM2->CCER |= ~(TIM_CCER_CC1NP); // Interupt when low side is on. + TIM2->CNT = 0; + TIM2->SR = 0; TIM2->CR1 |= TIM_CR1_CEN; // enable TIM2 } + void Init_TMR1() { RCC->APB2ENR |= RCC_APB2ENR_TIM1EN; // enable TIM1 clock - + FastPWM pwm_H1(PIN_H1); FastPWM pwm_L1(PIN_L1); FastPWM pwm_H2(PIN_H2); FastPWM pwm_L2(PIN_L2); + + TIM1->CR2 |= 0x20; //MMS = 010 + + TIM1->DIER |= TIM_DIER_UIE; // enable update interrupt TIM1->CR1 = 0x40; // CMS = 10, interrupt only when counting up // Center-aligned mode +// TIM1->CR1 = 0x10; // CMS = 10, interrupt only when counting up // Center-aligned mode TIM1->CR1 |= TIM_CR1_UDIS; TIM1->CR1 |= TIM_CR1_ARPE; // autoreload on, - TIM1->RCR |= 0x001; // update event once per up/down count of TIM8 + TIM1->RCR |= 0x001; // update event once per up/down count of TIM1 TIM1->EGR |= TIM_EGR_UG; TIM1->CCMR1 |= 0x60; //CH1 - PWM mode 1 TIM1->CCMR1 |= 0x6000; //CH2 - PWM mode 1 - TIM1->PSC = 0x00; // no prescaler, timer counts up in sync with the peripheral clock + TIM1->PSC = 0x0; // no prescaler, timer counts up in sync with the peripheral clock TIM1->ARR = TMR1_COUNT-1; // set auto reload, 20 khz + TIM1->CNT = 0; + TIM1->SR = 0; TIM1->CCER |= 0x05; // CC1E = 1, CC1P = 0, CC1NE = 1, CC1NP = 0 TIM1->CCER |= 0x50; // CC2E = 1, CC2P = 0, CC2NE = 1, CC2NP = 0 - + TIM1->BDTR |= 0x8000; // MOE = 1; TIM1->BDTR |= 0x7F; // Dead-time 7Ftick - + TIM1->CR1 |= TIM_CR1_CEN; // enable TIM1 +} + +void Init_TIM4() +{ + RCC->APB1ENR |= RCC_APB1ENR_TIM4EN; // enable TIM4 clock + + NVIC_EnableIRQ(TIM4_IRQn); //Enable TIM4 IRQ + + TIM4->DIER |= TIM_DIER_UIE; // enable update interrupt + TIM4->CR1 = 0x10; + TIM4->CR1 |= TIM_CR1_UDIS; + TIM4->EGR |= TIM_EGR_UG; + + TIM4->PSC = 10-1; // 10 prescaler, timer counts up in sync with the peripheral clock + TIM4->ARR = 1; + TIM4->CNT = 0; + TIM4->SR = 0; + TIM4->SMCR = 0x07; //External clock mode + TIM4->CR1 |= TIM_CR1_CEN; // enable TIM4 } \ No newline at end of file
--- a/main.cpp Fri Jun 17 09:30:42 2022 +0000 +++ b/main.cpp Fri Jun 24 00:18:20 2022 +0000 @@ -214,8 +214,6 @@ ROM_CALL_DATA(); make_delay(); - - // ADC init RCC->APB2ENR |= RCC_APB2ENR_ADC1EN; // clock for ADC3 RCC->APB2ENR |= RCC_APB2ENR_ADC2EN; // clock for ADC2 @@ -241,22 +239,22 @@ // TMR1 init (PWM) Init_TMR1(); - TIM1->CR1 ^= TIM_CR1_UDIS; + TIM1->CR1 &= ~(TIM_CR1_UDIS); make_delay(); // TMR2 init (Control) Init_TMR2(); - TIM2->CR1 ^= TIM_CR1_UDIS; + TIM2->CR1 &= ~(TIM_CR1_UDIS); make_delay(); // TMR3 init (Sensors) Init_TMR3(); - TIM3->CR1 ^= TIM_CR1_UDIS; + TIM3->CR1 &= ~(TIM_CR1_UDIS); make_delay(); // TIM4 init (LVDT) Init_TIM4(); - TIM4->CR1 ^= TIM_CR1_UDIS; + TIM4->CR1 &= ~(TIM_CR1_UDIS); make_delay(); //Timer priority @@ -446,16 +444,9 @@ TIMER INTERRUPT *******************************************************************************/ - -//------------------------------------------------ -// TMR3 : PWM, Sensor 20kHz //------------------------------------------------ -float LVDT_new = 0.0f; -float LVDT_old = 0.0f; -float LVDT_f_cut = 1000.0f; -float LVDT_LPF = 0.0f; -float LVDT_sum = 0.0f; - +// TMR3 : Sensor 20kHz +//------------------------------------------------ float FREQ_TMR3 = (float)FREQ_20k; long CNT_TMR3 = 0; float DT_TMR3 = (float)DT_20k; @@ -534,8 +525,13 @@ //------------------------------------------------ // TMR4 : LVDT 1kHz //------------------------------------------------ -float FREQ_TMR4 = (float)FREQ_20k; -float DT_TMR4 = (float)DT_20k; +float LVDT_new = 0.0f; +float LVDT_old = 0.0f; +float LVDT_f_cut = 1000.0f; +float LVDT_LPF = 0.0f; +float LVDT_sum = 0.0f; +float FREQ_TMR4 = (float)FREQ_1k; +float DT_TMR4 = (float)DT_1k; long CNT_TMR4 = 0; int TMR4_FREQ_10k = (int)FREQ_10k; extern "C" void TIM4_IRQHandler(void)