Sungwoo Kim
2011
Diff: INIT_HW/INIT_HW.cpp
- Revision:
- 244:e9c5ec04e378
- Parent:
- 243:30896263bd8b
- Child:
- 247:bfdf0f479a38
--- a/INIT_HW/INIT_HW.cpp Mon Jun 13 08:48:55 2022 +0000
+++ b/INIT_HW/INIT_HW.cpp Fri Jun 17 06:06:53 2022 +0000
@@ -4,142 +4,184 @@
extern ADC_HandleTypeDef hadc1;
extern ADC_HandleTypeDef hadc2;
+extern ADC_HandleTypeDef hadc3;
-//void Init_ADC(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 GPIOA
-//
-// ADC->CCR = 0x00000016; // Regular simultaneous mode only
-// ADC1->CR2 |= ADC_CR2_ADON;//0x00000001; // ADC1 ON
-// ADC1->SQR3 = 0x0000000E; //channel // use PC_4 as input- ADC1_IN14
-// ADC2->CR2 |= ADC_CR2_ADON;//0x00000001; // ADC2 ON
-// ADC2->SQR3 = 0x00000008; // use PB_0 as input - ADC2_IN8
-// ADC3->CR2 |= ADC_CR2_ADON; // ADC3 ON
-// ADC3->SQR3 = 0x0000000B; // use PC_1, - ADC3_IN11
-// GPIOC->MODER |= 0b1100001100; //each channel // PC_4, PC_1 are analog inputs
-// GPIOB->MODER |= 0x3; // PB_0 as analog input
-//
-// ADC1->SMPR1 |= 0x00001000; // 15 cycles on CH_14, 0b0001000000000000
-// ADC2->SMPR2 |= 0x01000000; // 15 cycles on CH_8, 0b0000000100000000<<16
-// ADC3->SMPR1 |= 0x00000008; // 15 cycles on CH_11, 0b0000000000001000
-//}
-
-
-void Init_ADC(void)
+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
-
- ADC->CCR = 0x00000016; // Regular simultaneous mode only
+ 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
- ADC1->SQR3 = 0x00000008; // use PB_0 as input - ADC1_IN8
-// ADC1->SQR3 = 0x0000000E; //channel // use PC_4 as input- ADC1_IN14
+// 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 ON
+// ADC3->CR2 |= ADC_CR2_ADON; // ADC3 ON00000000000
// ADC3->SQR3 = 0x0000000B; // use PC_1, - ADC3_IN11
-// GPIOC->MODER |= 0b1100001100; //each channel // PC_4, PC_1 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, 0b0001000000000000
+ 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};
+
+ 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)
+ {
+// Error_Handler();
+ }
+ sConfig.Channel = ADC_CHANNEL_15;
+ sConfig.Rank = 2;
+ if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
+ {
+// Error_Handler();
+ }
+ 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)
+ {
+// Error_Handler();
+ }
+ 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)
+ {
+// Error_Handler();
+ }
+ hadc2.Instance->CR2 |= ADC_CR2_ADON;
+}
-void Init_PWM()
+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)
+ {
+// Error_Handler();
+ }
+ 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;
+}
+void Init_TIM4()
+{
RCC->APB1ENR |= RCC_APB1ENR_TIM4EN; // enable TIM4 clock
-// FastPWM pwm_v(PIN_V);
-// FastPWM pwm_w(PIN_W);
-
- //ISR Setup
-
- NVIC_EnableIRQ(TIM4_IRQn); //Enable TIM4 IRQ
-
+// 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 = 0x10;
TIM4->CR1 |= TIM_CR1_UDIS;
-// TIM4->CR1 |= TIM_CR1_ARPE; // autoreload on,
TIM4->RCR |= 0x001; // update event once per up/down count of TIM4
TIM4->EGR |= TIM_EGR_UG;
//PWM Setup
- TIM4->PSC = 0x0; // no prescaler, timer counts up in sync with the peripheral clock
-// TIM4->PSC = 10-1; // no prescaler, timer counts up in sync with the peripheral clock
+// 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;
-
+// TIM4->CCMR1 |= 0x7060;
}
-
-//void Init_TMR3()
-//{
-// RCC->APB1ENR |= RCC_APB1ENR_TIM3EN; // enable TIM3 clock
-//// FastPWM pwm_v(PIN_V);
-//// FastPWM pwm_w(PIN_W);
-// //ISR Setup
-//
-// NVIC_EnableIRQ(TIM3_IRQn); //Enable TIM3 IRQ
-//
-// TIM3->DIER |= TIM_DIER_UIE; // enable update interrupt
-//// TIM3->CR1 = 0x40; // CMS = 10, interrupt only when counting up // Center-aligned mode
-// TIM3->CR1 = 0x10;
-// TIM3->CR1 |= TIM_CR1_UDIS;
-//// TIM3->CR1 |= TIM_CR1_ARPE; // autoreload on,
-// TIM3->RCR |= 0x001; // update event once per up/down count of TIM3
-// TIM3->EGR |= TIM_EGR_UG;
-//
-//// TIM3->PSC = 0x00; // no prescaler, timer counts up in sync with the peripheral clock
-// TIM3->PSC = 0x01;
-// TIM3->ARR = TMR3_COUNT-1; // set auto reload, 5 khz
-// TIM3->CCER |= ~(TIM_CCER_CC1NP); // Interupt when low side is on.
-// TIM3->CR1 |= TIM_CR1_CEN; // enable TIM4
-//}
-
void Init_TMR3()
{
RCC->APB1ENR |= RCC_APB1ENR_TIM3EN; // enable TIM3 clock
-// FastPWM pwm_v(PIN_V);
-// FastPWM pwm_w(PIN_W);
- //ISR Setup
-
NVIC_EnableIRQ(TIM3_IRQn); //Enable TIM3 IRQ
TIM3->DIER |= TIM_DIER_UIE; // enable update interrupt
TIM3->CR1 = 0x40; // CMS = 10, interrupt only when counting up // Center-aligned mode
-// TIM3->CR1 = 0x10;
TIM3->CR1 |= TIM_CR1_UDIS;
-// TIM3->CR1 |= TIM_CR1_ARPE; // autoreload on,
TIM3->RCR |= 0x001; // update event once per up/down count of TIM3
TIM3->EGR |= TIM_EGR_UG;
TIM3->PSC = 0x00; // no prescaler, timer counts up in sync with the peripheral clock
-// TIM3->PSC = 0x01;
TIM3->ARR = TMR3_COUNT-1; // set auto reload, 5 khz
TIM3->CCER |= ~(TIM_CCER_CC1NP); // Interupt when low side is on.
TIM3->CR1 |= TIM_CR1_CEN; // enable TIM4
-
- TIM3->CCMR1 |= 0x7060;
}
void Init_TMR2()
@@ -152,7 +194,6 @@
TIM2->DIER |= TIM_DIER_UIE; // enable update interrupt
TIM2->CR1 = 0x40; // CMS = 10, interrupt only when counting up // Center-aligned mode
TIM2->CR1 |= TIM_CR1_UDIS;
-// TIM2->CR1 |= TIM_CR1_ARPE; // autoreload on,
TIM2->RCR |= 0x001; // update event once per up/down count of TIM2
TIM2->EGR |= TIM_EGR_UG;
@@ -164,11 +205,12 @@
void Init_TMR1()
{
-
RCC->APB2ENR |= RCC_APB2ENR_TIM1EN; // enable TIM1 clock
-// RCC->APB2ENR |= 0x02; // enable TIM8 clock
- FastPWM pwm_v(PIN_V);
- FastPWM pwm_w(PIN_W);
+
+ FastPWM pwm_H1(PIN_H1);
+ FastPWM pwm_L1(PIN_L1);
+ FastPWM pwm_H2(PIN_H2);
+ FastPWM pwm_L2(PIN_L2);
TIM1->DIER |= TIM_DIER_UIE; // enable update interrupt
TIM1->CR1 = 0x40; // CMS = 10, interrupt only when counting up // Center-aligned mode
@@ -177,34 +219,16 @@
TIM1->RCR |= 0x001; // update event once per up/down count of TIM8
TIM1->EGR |= TIM_EGR_UG;
+ TIM1->CCMR1 |= 0x60; //CH1 - PWM mode 1
+ TIM1->CCMR1 |= 0x6000; //CH2 - PWM mode 1
- TIM1->CCMR1 |= 0x60;
-// TIM1->CCMR1 |= TIM_CCMR1_OC1PE;
-// TIM1->CCMR1 &= ~TIM_CCMR1_OC1FE;
-// TIM1->CCMR1 |= TIM_CCMR1_OC2PE;
-// TIM1->CCMR1 &= ~TIM_CCMR1_OC2FE;
-
- TIM1->PSC = 0x00; // no prescaler, timer counts up in sync with the peripheral clock
- TIM1->ARR = TMR1_COUNT-1; // set auto reload, 5 khz
-// TIM1->CCER |= ~(TIM_CCER_CC1NP); // Interupt when low side is on.
+ TIM1->PSC = 0x00; // no prescaler, timer counts up in sync with the peripheral clock
+ TIM1->ARR = TMR1_COUNT-1; // set auto reload, 20 khz
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 TIM8
-
-
-
-// __HAL_RCC_GPIOA_CLK_ENABLE();
-//
-// GPIO_InitTypeDef GPIO_InitStruct = {0};
-//
-// GPIO_InitStruct.Pin = GPIO_PIN_7|GPIO_PIN_6;
-// GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-// GPIO_InitStruct.Pull = GPIO_NOPULL;
-// GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
-// GPIO_InitStruct.Alternate = GPIO_AF3_TIM1;
-// HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
-
+ TIM1->CR1 |= TIM_CR1_CEN; // enable TIM1
}
\ No newline at end of file