Tony Stark / BLDC_V2_JYB

motor control code by JYB

Dependencies:   mbed-dev-f303 FastPWM3

hw_setup.cpp@48:e9f6441bacf5, 2020-12-15 (annotated)

Committer:
MrStark
Date:
Tue Dec 15 08:46:20 2020 +0000
Revision:
48:e9f6441bacf5
Parent:
47:f4ecf3e0576a 
Try to publish

Who changed what in which revision?

UserRevisionLine numberNew contents of line
benkatz 20:bf9ea5125d52 1
benkatz 20:bf9ea5125d52 2 #include "mbed.h"
benkatz 20:bf9ea5125d52 3 #include "hw_setup.h"
benkatz 20:bf9ea5125d52 4 #include "hw_config.h"
benkatz 20:bf9ea5125d52 5 #include "structs.h"
benkatz 20:bf9ea5125d52 6 #include "FastPWM.h"
benkatz 20:bf9ea5125d52 7
benkatz 20:bf9ea5125d52 8 void Init_PWM(GPIOStruct *gpio){
benkatz 28:8c7e29f719c5 9
benkatz 22:60276ba87ac6 10 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN; // enable the clock to GPIOC
benkatz 22:60276ba87ac6 11 RCC->APB1ENR |= 0x00000001; // enable TIM2 clock
benkatz 22:60276ba87ac6 12 RCC->APB2ENR |= RCC_APB2ENR_TIM1EN; // enable TIM1 clock
benkatz 20:bf9ea5125d52 13
Wooden 47:f4ecf3e0576a 14 // GPIOC->MODER |= (1 << 10); // set pin 5 to be general purpose output for LED
Wooden 47:f4ecf3e0576a 15 GPIOB->MODER |= (1); // pB_0, output
Wooden 47:f4ecf3e0576a 16 GPIOB->MODER |= (1 << 2); // PB_1, output
Wooden 47:f4ecf3e0576a 17
Wooden 47:f4ecf3e0576a 18
benkatz 20:bf9ea5125d52 19 gpio->enable = new DigitalOut(ENABLE_PIN);
benkatz 20:bf9ea5125d52 20 gpio->pwm_u = new FastPWM(PIN_U);
benkatz 20:bf9ea5125d52 21 gpio->pwm_v = new FastPWM(PIN_V);
benkatz 20:bf9ea5125d52 22 gpio->pwm_w = new FastPWM(PIN_W);
benkatz 20:bf9ea5125d52 23
benkatz 22:60276ba87ac6 24
benkatz 22:60276ba87ac6 25
benkatz 20:bf9ea5125d52 26 //ISR Setup
benkatz 20:bf9ea5125d52 27
benkatz 22:60276ba87ac6 28 NVIC_EnableIRQ(TIM1_UP_TIM10_IRQn); //Enable TIM1 IRQ
benkatz 20:bf9ea5125d52 29
benkatz 22:60276ba87ac6 30 TIM1->DIER |= TIM_DIER_UIE; // enable update interrupt
benkatz 22:60276ba87ac6 31 TIM1->CR1 = 0x40; // CMS = 10, interrupt only when counting up
benkatz 20:bf9ea5125d52 32 TIM1->CR1 |= TIM_CR1_UDIS;
benkatz 22:60276ba87ac6 33 TIM1->CR1 |= TIM_CR1_ARPE; // autoreload on,
benkatz 22:60276ba87ac6 34 TIM1->RCR |= 0x001; // update event once per up/down count of tim1
benkatz 20:bf9ea5125d52 35 TIM1->EGR |= TIM_EGR_UG;
benkatz 20:bf9ea5125d52 36
benkatz 20:bf9ea5125d52 37 //PWM Setup
benkatz 20:bf9ea5125d52 38
benkatz 22:60276ba87ac6 39 TIM1->PSC = 0x0; // no prescaler, timer counts up in sync with the peripheral clock
benkatz 27:501fee691e0e 40 TIM1->ARR = PWM_ARR; // set auto reload, 40 khz
benkatz 22:60276ba87ac6 41 TIM1->CCER |= ~(TIM_CCER_CC1NP); // Interupt when low side is on.
benkatz 22:60276ba87ac6 42 TIM1->CR1 |= TIM_CR1_CEN; // enable TIM1
benkatz 20:bf9ea5125d52 43
benkatz 20:bf9ea5125d52 44 }
benkatz 20:bf9ea5125d52 45
benkatz 20:bf9ea5125d52 46 void Init_ADC(void){
benkatz 37:c0f352d6e8e3 47 // ADC Setup
benkatz 37:c0f352d6e8e3 48 RCC->APB2ENR |= RCC_APB2ENR_ADC3EN; // clock for ADC3
benkatz 22:60276ba87ac6 49 RCC->APB2ENR |= RCC_APB2ENR_ADC2EN; // clock for ADC2
benkatz 22:60276ba87ac6 50 RCC->APB2ENR |= RCC_APB2ENR_ADC1EN; // clock for ADC1
benkatz 20:bf9ea5125d52 51
benkatz 37:c0f352d6e8e3 52 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN; // Enable clock for GPIOC
benkatz 37:c0f352d6e8e3 53 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN; // Enable clock for GPIOA
benkatz 37:c0f352d6e8e3 54
benkatz 37:c0f352d6e8e3 55 ADC->CCR = 0x00000016; // Regular simultaneous mode only
benkatz 22:60276ba87ac6 56 ADC1->CR2 |= ADC_CR2_ADON;//0x00000001; // ADC1 ON
benkatz 37:c0f352d6e8e3 57 ADC1->SQR3 = 0x000000A; // use PC_0 as input- ADC1_IN0
benkatz 37:c0f352d6e8e3 58 ADC2->CR2 |= ADC_CR2_ADON;//0x00000001; // ADC2 ON
benkatz 37:c0f352d6e8e3 59 ADC2->SQR3 = 0x0000000B; // use PC_1 as input - ADC2_IN11
benkatz 37:c0f352d6e8e3 60 ADC3->CR2 |= ADC_CR2_ADON; // ADC3 ON
Wooden 47:f4ecf3e0576a 61 // ADC3->SQR3 = 0x00000000; // use PA_0, - ADC3_IN0
Wooden 47:f4ecf3e0576a 62 ADC3->SQR3 = 0x0000000D; // PC_4 a, ADC3)IN0
Wooden 47:f4ecf3e0576a 63 // GPIOC->MODER |= 0x0000000f; // Alternate function, PC_0, PC_1 are analog inputs
Wooden 47:f4ecf3e0576a 64 GPIOC->MODER |= 0x000000cf;
Wooden 47:f4ecf3e0576a 65
Wooden 47:f4ecf3e0576a 66 // GPIOA->MODER |= 0x3; // PA_0 as analog input
benkatz 37:c0f352d6e8e3 67
benkatz 37:c0f352d6e8e3 68 ADC1->SMPR1 |= 0x1; // 15 cycles on CH_10, 0b 001
benkatz 37:c0f352d6e8e3 69 ADC2->SMPR1 |= 0x8; // 15 cycles on CH_11, 0b 0001 000
Wooden 47:f4ecf3e0576a 70 // ADC3->SMPR2 |= 0x1; // 15 cycles on CH_0, 0b 001;
Wooden 47:f4ecf3e0576a 71 ADC3->SMPR1 |= 0x0200; // 15 cycles on CH_13, 0b 001 000 000 000
benkatz 37:c0f352d6e8e3 72
benkatz 37:c0f352d6e8e3 73
benkatz 20:bf9ea5125d52 74
benkatz 20:bf9ea5125d52 75 }
benkatz 20:bf9ea5125d52 76
benkatz 20:bf9ea5125d52 77 void Init_DAC(void){
benkatz 22:60276ba87ac6 78 RCC->APB1ENR |= 0x20000000; // Enable clock for DAC
benkatz 22:60276ba87ac6 79 DAC->CR |= 0x00000001; // DAC control reg, both channels ON
benkatz 22:60276ba87ac6 80 GPIOA->MODER |= 0x00000300; // PA04 as analog output
benkatz 20:bf9ea5125d52 81 }
benkatz 20:bf9ea5125d52 82
benkatz 20:bf9ea5125d52 83 void Init_All_HW(GPIOStruct *gpio){
benkatz 20:bf9ea5125d52 84 Init_PWM(gpio);
benkatz 20:bf9ea5125d52 85 Init_ADC();
benkatz 37:c0f352d6e8e3 86 gpio->led = new DigitalOut(LED);
benkatz 20:bf9ea5125d52 87 //Init_DAC();
benkatz 20:bf9ea5125d52 88
benkatz 20:bf9ea5125d52 89 }