Sungwoo Kim
rainbow
Diff: INIT_HW/INIT_HW.cpp
- Revision:
- 247:bfdf0f479a38
- Parent:
- 244:e9c5ec04e378
- Child:
- 248:544011ad9c85
--- 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