Aditya Mehrotra / MotorShield_gen2

Updated for the next revision of the motor board

HardwareSetup.cpp@6:417655779dc5, 2020-08-26 (annotated)

Committer:
elijahsj
Date:
Wed Aug 26 19:35:02 2020 +0000
Revision:
6:417655779dc5
Parent:
5:d2dffc88e94d
Child:
7:e3a2ade56b79
Working but ADCs need DMA to run high speed loops

Who changed what in which revision?

UserRevisionLine numberNew contents of line
elijahsj 1:4c3c2b7337a6 1 #include "mbed.h"
elijahsj 1:4c3c2b7337a6 2 #include "HardwareSetup.h"
elijahsj 1:4c3c2b7337a6 3 #include "stm32h7xx_hal.h"
elijahsj 1:4c3c2b7337a6 4
elijahsj 1:4c3c2b7337a6 5 TIM_HandleTypeDef htim12;
elijahsj 1:4c3c2b7337a6 6 TIM_HandleTypeDef htim15;
elijahsj 1:4c3c2b7337a6 7 TIM_HandleTypeDef htim13;
elijahsj 1:4c3c2b7337a6 8 TIM_HandleTypeDef htim14;
elijahsj 1:4c3c2b7337a6 9 TIM_HandleTypeDef htim16;
elijahsj 1:4c3c2b7337a6 10 TIM_HandleTypeDef htim17;
elijahsj 6:417655779dc5 11 ADC_HandleTypeDef hadc1;
elijahsj 6:417655779dc5 12 ADC_HandleTypeDef hadc2;
elijahsj 1:4c3c2b7337a6 13
elijahsj 3:2f46953e7c8b 14 int PWM_PERIOD;
elijahsj 1:4c3c2b7337a6 15 void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim);
elijahsj 1:4c3c2b7337a6 16 static void MX_TIM12_Init(void);
elijahsj 2:30503be9a375 17 static void MX_TIM13_Init(void);
elijahsj 2:30503be9a375 18 static void MX_TIM14_Init(void);
elijahsj 2:30503be9a375 19 static void MX_TIM15_Init(void);
elijahsj 2:30503be9a375 20 static void MX_TIM16_Init(void);
elijahsj 2:30503be9a375 21 static void MX_TIM17_Init(void);
elijahsj 6:417655779dc5 22 static void MX_ADC1_Init(void);
elijahsj 6:417655779dc5 23 static void MX_ADC2_Init(void);
elijahsj 6:417655779dc5 24
elijahsj 6:417655779dc5 25 uint16_t Current_A;
elijahsj 6:417655779dc5 26 uint16_t Current_B;
elijahsj 6:417655779dc5 27 uint16_t Current_C;
elijahsj 6:417655779dc5 28 uint16_t Current_D;
elijahsj 6:417655779dc5 29
elijahsj 6:417655779dc5 30 AnalogIn currentA(PF_12); //Enable ADC pin
elijahsj 6:417655779dc5 31 AnalogIn currentB(PF_11); //Enable ADC pin
elijahsj 6:417655779dc5 32 AnalogIn currentC(PF_13); //Enable ADC pin
elijahsj 6:417655779dc5 33 AnalogIn currentD(PA_4); //Enable ADC pin
elijahsj 1:4c3c2b7337a6 34
elijahsj 3:2f46953e7c8b 35 void initHardware(int periodTicks){
elijahsj 3:2f46953e7c8b 36 PWM_PERIOD = periodTicks;
elijahsj 1:4c3c2b7337a6 37 /* Initialise the HAL Layer */
elijahsj 1:4c3c2b7337a6 38 HAL_Init();
elijahsj 1:4c3c2b7337a6 39
elijahsj 1:4c3c2b7337a6 40 /* Initialize all configured peripherals */
elijahsj 1:4c3c2b7337a6 41 MX_TIM12_Init();
elijahsj 2:30503be9a375 42 MX_TIM13_Init();
elijahsj 2:30503be9a375 43 MX_TIM14_Init();
elijahsj 2:30503be9a375 44 MX_TIM15_Init();
elijahsj 2:30503be9a375 45 MX_TIM16_Init();
elijahsj 2:30503be9a375 46 MX_TIM17_Init();
elijahsj 6:417655779dc5 47 MX_ADC1_Init();
elijahsj 6:417655779dc5 48 MX_ADC2_Init();
elijahsj 2:30503be9a375 49 //HAL_TIM_Base_Start(&htim15);
elijahsj 2:30503be9a375 50
elijahsj 1:4c3c2b7337a6 51 HAL_TIM_PWM_Start(&htim12, TIM_CHANNEL_1); // start pwm generation
elijahsj 1:4c3c2b7337a6 52 HAL_TIM_PWM_Start(&htim12, TIM_CHANNEL_2); // start pwm generation
elijahsj 2:30503be9a375 53 HAL_TIM_PWM_Start(&htim13, TIM_CHANNEL_1); // start pwm generation
elijahsj 2:30503be9a375 54 HAL_TIM_PWM_Start(&htim14, TIM_CHANNEL_1); // start pwm generation
elijahsj 2:30503be9a375 55 HAL_TIM_PWM_Start(&htim15, TIM_CHANNEL_1); // start pwm generation
elijahsj 2:30503be9a375 56 HAL_TIM_PWM_Start(&htim15, TIM_CHANNEL_2); // start pwm generation
elijahsj 2:30503be9a375 57 HAL_TIM_PWM_Start(&htim16, TIM_CHANNEL_1); // start pwm generation
elijahsj 2:30503be9a375 58 HAL_TIM_PWM_Start(&htim17, TIM_CHANNEL_1); // start pwm generation
elijahsj 2:30503be9a375 59
elijahsj 1:4c3c2b7337a6 60 }
elijahsj 1:4c3c2b7337a6 61
elijahsj 6:417655779dc5 62
elijahsj 6:417655779dc5 63
elijahsj 6:417655779dc5 64 uint16_t readADC1(int channel){
elijahsj 6:417655779dc5 65
elijahsj 6:417655779dc5 66 HAL_ADC_Start(&hadc1);
elijahsj 6:417655779dc5 67 HAL_ADC_PollForConversion(&hadc1,20);
elijahsj 6:417655779dc5 68 Current_A = HAL_ADC_GetValue(&hadc1);
elijahsj 6:417655779dc5 69 HAL_ADC_PollForConversion(&hadc1,20);
elijahsj 6:417655779dc5 70 Current_B = HAL_ADC_GetValue(&hadc1);
elijahsj 6:417655779dc5 71 HAL_ADC_Stop (&hadc1);
elijahsj 6:417655779dc5 72 if (channel){
elijahsj 6:417655779dc5 73
elijahsj 6:417655779dc5 74 return Current_A;
elijahsj 6:417655779dc5 75 }
elijahsj 6:417655779dc5 76 else
elijahsj 6:417655779dc5 77 return Current_B;
elijahsj 6:417655779dc5 78 }
elijahsj 6:417655779dc5 79
elijahsj 6:417655779dc5 80 uint16_t readADC2(int channel){
elijahsj 6:417655779dc5 81
elijahsj 6:417655779dc5 82 HAL_ADC_Start(&hadc2);
elijahsj 6:417655779dc5 83 HAL_ADC_PollForConversion(&hadc2,20);
elijahsj 6:417655779dc5 84 Current_C = HAL_ADC_GetValue(&hadc2);
elijahsj 6:417655779dc5 85 HAL_ADC_PollForConversion(&hadc2,20);
elijahsj 6:417655779dc5 86 Current_D = HAL_ADC_GetValue(&hadc2);
elijahsj 6:417655779dc5 87 HAL_ADC_Stop (&hadc2);
elijahsj 6:417655779dc5 88 if (channel){
elijahsj 6:417655779dc5 89
elijahsj 6:417655779dc5 90 return Current_C;
elijahsj 6:417655779dc5 91 }
elijahsj 6:417655779dc5 92 else
elijahsj 6:417655779dc5 93 return Current_D;
elijahsj 6:417655779dc5 94 }
elijahsj 6:417655779dc5 95
elijahsj 6:417655779dc5 96
elijahsj 6:417655779dc5 97 static void MX_ADC1_Init(void)
elijahsj 6:417655779dc5 98 {
elijahsj 6:417655779dc5 99 ADC_MultiModeTypeDef multimode = {0};
elijahsj 6:417655779dc5 100 ADC_ChannelConfTypeDef sConfig = {0};
elijahsj 6:417655779dc5 101 /** Common config
elijahsj 6:417655779dc5 102 */
elijahsj 6:417655779dc5 103 hadc1.Instance = ADC1;
elijahsj 6:417655779dc5 104 hadc1.Init.ClockPrescaler = ADC_CLOCK_ASYNC_DIV1;
elijahsj 6:417655779dc5 105 hadc1.Init.Resolution = ADC_RESOLUTION_16B;
elijahsj 6:417655779dc5 106 hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE;
elijahsj 6:417655779dc5 107 hadc1.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
elijahsj 6:417655779dc5 108 hadc1.Init.LowPowerAutoWait = DISABLE;
elijahsj 6:417655779dc5 109 hadc1.Init.ContinuousConvMode = ENABLE;
elijahsj 6:417655779dc5 110 hadc1.Init.NbrOfConversion = 2;
elijahsj 6:417655779dc5 111 hadc1.Init.DiscontinuousConvMode = DISABLE;
elijahsj 6:417655779dc5 112 hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
elijahsj 6:417655779dc5 113 hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
elijahsj 6:417655779dc5 114 hadc1.Init.ConversionDataManagement = ADC_CONVERSIONDATA_DR;
elijahsj 6:417655779dc5 115 hadc1.Init.Overrun = ADC_OVR_DATA_PRESERVED;
elijahsj 6:417655779dc5 116 hadc1.Init.LeftBitShift = ADC_LEFTBITSHIFT_NONE;
elijahsj 6:417655779dc5 117 hadc1.Init.OversamplingMode = DISABLE;
elijahsj 6:417655779dc5 118 if (HAL_ADC_Init(&hadc1) != HAL_OK)
elijahsj 6:417655779dc5 119 {
elijahsj 6:417655779dc5 120 //Error_Handler();
elijahsj 6:417655779dc5 121 }
elijahsj 6:417655779dc5 122 /** Configure the ADC multi-mode
elijahsj 6:417655779dc5 123 */
elijahsj 6:417655779dc5 124 multimode.Mode = ADC_MODE_INDEPENDENT;
elijahsj 6:417655779dc5 125 if (HAL_ADCEx_MultiModeConfigChannel(&hadc1, &multimode) != HAL_OK)
elijahsj 6:417655779dc5 126 {
elijahsj 6:417655779dc5 127 //Error_Handler();
elijahsj 6:417655779dc5 128 }
elijahsj 6:417655779dc5 129 /** Configure Regular Channel
elijahsj 6:417655779dc5 130 */
elijahsj 6:417655779dc5 131 sConfig.Channel = ADC_CHANNEL_2;
elijahsj 6:417655779dc5 132 sConfig.Rank = ADC_REGULAR_RANK_1;
elijahsj 6:417655779dc5 133 sConfig.SamplingTime = ADC_SAMPLETIME_1CYCLE_5;
elijahsj 6:417655779dc5 134 sConfig.SingleDiff = ADC_SINGLE_ENDED;
elijahsj 6:417655779dc5 135 sConfig.OffsetNumber = ADC_OFFSET_NONE;
elijahsj 6:417655779dc5 136 sConfig.Offset = 0;
elijahsj 6:417655779dc5 137 if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
elijahsj 6:417655779dc5 138 {
elijahsj 6:417655779dc5 139 //Error_Handler();
elijahsj 6:417655779dc5 140 }
elijahsj 6:417655779dc5 141
elijahsj 6:417655779dc5 142 sConfig.Channel = ADC_CHANNEL_6;
elijahsj 6:417655779dc5 143 sConfig.Rank = ADC_REGULAR_RANK_2;
elijahsj 6:417655779dc5 144 sConfig.SamplingTime = ADC_SAMPLETIME_1CYCLE_5;
elijahsj 6:417655779dc5 145 sConfig.SingleDiff = ADC_SINGLE_ENDED;
elijahsj 6:417655779dc5 146 sConfig.OffsetNumber = ADC_OFFSET_NONE;
elijahsj 6:417655779dc5 147 sConfig.Offset = 0;
elijahsj 6:417655779dc5 148 if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
elijahsj 6:417655779dc5 149 {
elijahsj 6:417655779dc5 150 //Error_Handler();
elijahsj 6:417655779dc5 151 }
elijahsj 6:417655779dc5 152 }
elijahsj 6:417655779dc5 153
elijahsj 6:417655779dc5 154 /**
elijahsj 6:417655779dc5 155 * @brief ADC2 Initialization Function
elijahsj 6:417655779dc5 156 * @param None
elijahsj 6:417655779dc5 157 * @retval None
elijahsj 6:417655779dc5 158 */
elijahsj 6:417655779dc5 159 static void MX_ADC2_Init(void)
elijahsj 6:417655779dc5 160 {
elijahsj 6:417655779dc5 161 ADC_MultiModeTypeDef multimode = {0};
elijahsj 6:417655779dc5 162 ADC_ChannelConfTypeDef sConfig = {0};
elijahsj 6:417655779dc5 163 /** Common config
elijahsj 6:417655779dc5 164 */
elijahsj 6:417655779dc5 165 hadc2.Instance = ADC2;
elijahsj 6:417655779dc5 166 hadc2.Init.ClockPrescaler = ADC_CLOCK_ASYNC_DIV1;
elijahsj 6:417655779dc5 167 hadc2.Init.Resolution = ADC_RESOLUTION_16B;
elijahsj 6:417655779dc5 168 hadc2.Init.ScanConvMode = ADC_SCAN_ENABLE;
elijahsj 6:417655779dc5 169 hadc2.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
elijahsj 6:417655779dc5 170 hadc2.Init.LowPowerAutoWait = DISABLE;
elijahsj 6:417655779dc5 171 hadc2.Init.ContinuousConvMode = ENABLE;
elijahsj 6:417655779dc5 172 hadc2.Init.NbrOfConversion = 2;
elijahsj 6:417655779dc5 173 hadc2.Init.DiscontinuousConvMode = DISABLE;
elijahsj 6:417655779dc5 174 hadc2.Init.ExternalTrigConv = ADC_SOFTWARE_START;
elijahsj 6:417655779dc5 175 hadc2.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
elijahsj 6:417655779dc5 176 hadc2.Init.ConversionDataManagement = ADC_CONVERSIONDATA_DR;
elijahsj 6:417655779dc5 177 hadc2.Init.Overrun = ADC_OVR_DATA_PRESERVED;
elijahsj 6:417655779dc5 178 hadc2.Init.LeftBitShift = ADC_LEFTBITSHIFT_NONE;
elijahsj 6:417655779dc5 179 hadc2.Init.OversamplingMode = DISABLE;
elijahsj 6:417655779dc5 180 if (HAL_ADC_Init(&hadc2) != HAL_OK)
elijahsj 6:417655779dc5 181 {
elijahsj 6:417655779dc5 182 //Error_Handler();
elijahsj 6:417655779dc5 183 }
elijahsj 6:417655779dc5 184 /** Configure the ADC multi-mode
elijahsj 6:417655779dc5 185 */
elijahsj 6:417655779dc5 186 multimode.Mode = ADC_MODE_INDEPENDENT;
elijahsj 6:417655779dc5 187 if (HAL_ADCEx_MultiModeConfigChannel(&hadc2, &multimode) != HAL_OK)
elijahsj 6:417655779dc5 188 {
elijahsj 6:417655779dc5 189 //Error_Handler();
elijahsj 6:417655779dc5 190 }
elijahsj 6:417655779dc5 191 /** Configure Regular Channel
elijahsj 6:417655779dc5 192 */
elijahsj 6:417655779dc5 193 sConfig.Channel = ADC_CHANNEL_2;
elijahsj 6:417655779dc5 194 sConfig.Rank = ADC_REGULAR_RANK_1;
elijahsj 6:417655779dc5 195 sConfig.SamplingTime = ADC_SAMPLETIME_1CYCLE_5;
elijahsj 6:417655779dc5 196 sConfig.SingleDiff = ADC_SINGLE_ENDED;
elijahsj 6:417655779dc5 197 sConfig.OffsetNumber = ADC_OFFSET_NONE;
elijahsj 6:417655779dc5 198 sConfig.Offset = 0;
elijahsj 6:417655779dc5 199 if (HAL_ADC_ConfigChannel(&hadc2, &sConfig) != HAL_OK)
elijahsj 6:417655779dc5 200 {
elijahsj 6:417655779dc5 201 //Error_Handler();
elijahsj 6:417655779dc5 202 }
elijahsj 6:417655779dc5 203
elijahsj 6:417655779dc5 204 sConfig.Channel = ADC_CHANNEL_18;
elijahsj 6:417655779dc5 205 sConfig.Rank = ADC_REGULAR_RANK_2;
elijahsj 6:417655779dc5 206 sConfig.SamplingTime = ADC_SAMPLETIME_1CYCLE_5;
elijahsj 6:417655779dc5 207 sConfig.SingleDiff = ADC_SINGLE_ENDED;
elijahsj 6:417655779dc5 208 sConfig.OffsetNumber = ADC_OFFSET_NONE;
elijahsj 6:417655779dc5 209 sConfig.Offset = 0;
elijahsj 6:417655779dc5 210 if (HAL_ADC_ConfigChannel(&hadc2, &sConfig) != HAL_OK)
elijahsj 6:417655779dc5 211 {
elijahsj 6:417655779dc5 212 //Error_Handler();
elijahsj 6:417655779dc5 213 }
elijahsj 6:417655779dc5 214
elijahsj 6:417655779dc5 215 }
elijahsj 6:417655779dc5 216
elijahsj 6:417655779dc5 217
elijahsj 1:4c3c2b7337a6 218 static void MX_TIM12_Init(void)
elijahsj 1:4c3c2b7337a6 219 {
elijahsj 1:4c3c2b7337a6 220 __HAL_RCC_TIM12_CLK_ENABLE();
elijahsj 1:4c3c2b7337a6 221 TIM_OC_InitTypeDef sConfigOC = {0};
elijahsj 1:4c3c2b7337a6 222 htim12.Instance = TIM12;
elijahsj 1:4c3c2b7337a6 223 htim12.Init.Prescaler = 0;
elijahsj 1:4c3c2b7337a6 224 htim12.Init.CounterMode = TIM_COUNTERMODE_UP;
elijahsj 1:4c3c2b7337a6 225 htim12.Init.Period = PWM_PERIOD;
elijahsj 1:4c3c2b7337a6 226 htim12.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
elijahsj 1:4c3c2b7337a6 227 htim12.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
elijahsj 1:4c3c2b7337a6 228 if (HAL_TIM_PWM_Init(&htim12) != HAL_OK)
elijahsj 1:4c3c2b7337a6 229 {
elijahsj 1:4c3c2b7337a6 230 //Error_Handler();
elijahsj 1:4c3c2b7337a6 231 }
elijahsj 1:4c3c2b7337a6 232 sConfigOC.OCMode = TIM_OCMODE_PWM1;
elijahsj 1:4c3c2b7337a6 233 sConfigOC.Pulse = 0;
elijahsj 1:4c3c2b7337a6 234 sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
elijahsj 1:4c3c2b7337a6 235 sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
elijahsj 1:4c3c2b7337a6 236 if (HAL_TIM_PWM_ConfigChannel(&htim12, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
elijahsj 1:4c3c2b7337a6 237 {
elijahsj 1:4c3c2b7337a6 238 //Error_Handler();
elijahsj 1:4c3c2b7337a6 239 }
elijahsj 1:4c3c2b7337a6 240 if (HAL_TIM_PWM_ConfigChannel(&htim12, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
elijahsj 1:4c3c2b7337a6 241 {
elijahsj 1:4c3c2b7337a6 242 //Error_Handler();
elijahsj 1:4c3c2b7337a6 243 }
elijahsj 2:30503be9a375 244 HAL_TIM_MspPostInit(&htim12);
elijahsj 2:30503be9a375 245 }
elijahsj 2:30503be9a375 246
elijahsj 2:30503be9a375 247 static void MX_TIM13_Init(void)
elijahsj 2:30503be9a375 248 {
elijahsj 2:30503be9a375 249 __HAL_RCC_TIM13_CLK_ENABLE();
elijahsj 2:30503be9a375 250 TIM_OC_InitTypeDef sConfigOC = {0};
elijahsj 2:30503be9a375 251 htim13.Instance = TIM13;
elijahsj 2:30503be9a375 252 htim13.Init.Prescaler = 0;
elijahsj 2:30503be9a375 253 htim13.Init.CounterMode = TIM_COUNTERMODE_UP;
elijahsj 2:30503be9a375 254 htim13.Init.Period = PWM_PERIOD;
elijahsj 2:30503be9a375 255 htim13.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
elijahsj 2:30503be9a375 256 htim13.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
elijahsj 2:30503be9a375 257 if (HAL_TIM_Base_Init(&htim13) != HAL_OK)
elijahsj 2:30503be9a375 258 {
elijahsj 2:30503be9a375 259 //Error_Handler();
elijahsj 2:30503be9a375 260 }
elijahsj 2:30503be9a375 261 if (HAL_TIM_PWM_Init(&htim13) != HAL_OK)
elijahsj 2:30503be9a375 262 {
elijahsj 2:30503be9a375 263 //Error_Handler();
elijahsj 2:30503be9a375 264 }
elijahsj 2:30503be9a375 265 sConfigOC.OCMode = TIM_OCMODE_PWM1;
elijahsj 2:30503be9a375 266 sConfigOC.Pulse = 0;
elijahsj 2:30503be9a375 267 sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
elijahsj 2:30503be9a375 268 sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
elijahsj 2:30503be9a375 269 if (HAL_TIM_PWM_ConfigChannel(&htim13, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
elijahsj 2:30503be9a375 270 {
elijahsj 2:30503be9a375 271 //Error_Handler();
elijahsj 2:30503be9a375 272 }
elijahsj 2:30503be9a375 273 HAL_TIM_MspPostInit(&htim13);
elijahsj 2:30503be9a375 274 }
elijahsj 2:30503be9a375 275
elijahsj 2:30503be9a375 276 static void MX_TIM14_Init(void)
elijahsj 2:30503be9a375 277 {
elijahsj 2:30503be9a375 278 __HAL_RCC_TIM14_CLK_ENABLE();
elijahsj 2:30503be9a375 279 TIM_OC_InitTypeDef sConfigOC = {0};
elijahsj 2:30503be9a375 280 htim14.Instance = TIM14;
elijahsj 2:30503be9a375 281 htim14.Init.Prescaler = 0;
elijahsj 2:30503be9a375 282 htim14.Init.CounterMode = TIM_COUNTERMODE_UP;
elijahsj 2:30503be9a375 283 htim14.Init.Period = PWM_PERIOD;
elijahsj 2:30503be9a375 284 htim14.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
elijahsj 2:30503be9a375 285 htim14.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
elijahsj 2:30503be9a375 286 if (HAL_TIM_Base_Init(&htim14) != HAL_OK)
elijahsj 2:30503be9a375 287 {
elijahsj 2:30503be9a375 288 //Error_Handler();
elijahsj 2:30503be9a375 289 }
elijahsj 2:30503be9a375 290 if (HAL_TIM_PWM_Init(&htim14) != HAL_OK)
elijahsj 2:30503be9a375 291 {
elijahsj 2:30503be9a375 292 //Error_Handler();
elijahsj 2:30503be9a375 293 }
elijahsj 2:30503be9a375 294 sConfigOC.OCMode = TIM_OCMODE_PWM1;
elijahsj 2:30503be9a375 295 sConfigOC.Pulse = 0;
elijahsj 2:30503be9a375 296 sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
elijahsj 2:30503be9a375 297 sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
elijahsj 2:30503be9a375 298 if (HAL_TIM_PWM_ConfigChannel(&htim14, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
elijahsj 2:30503be9a375 299 {
elijahsj 2:30503be9a375 300 //Error_Handler();
elijahsj 2:30503be9a375 301 }
elijahsj 2:30503be9a375 302 HAL_TIM_MspPostInit(&htim14);
elijahsj 2:30503be9a375 303 }
elijahsj 1:4c3c2b7337a6 304
elijahsj 2:30503be9a375 305 static void MX_TIM15_Init(void)
elijahsj 2:30503be9a375 306 {
elijahsj 2:30503be9a375 307 __HAL_RCC_TIM15_CLK_ENABLE();
elijahsj 2:30503be9a375 308 TIM_MasterConfigTypeDef sMasterConfig = {0};
elijahsj 2:30503be9a375 309 TIM_OC_InitTypeDef sConfigOC = {0};
elijahsj 2:30503be9a375 310 TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
elijahsj 2:30503be9a375 311 htim15.Instance = TIM15;
elijahsj 2:30503be9a375 312 htim15.Init.Prescaler = 0;
elijahsj 2:30503be9a375 313 htim15.Init.CounterMode = TIM_COUNTERMODE_UP;
elijahsj 2:30503be9a375 314 htim15.Init.Period = PWM_PERIOD;
elijahsj 2:30503be9a375 315 htim15.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
elijahsj 2:30503be9a375 316 htim15.Init.RepetitionCounter = 0;
elijahsj 2:30503be9a375 317 htim15.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
elijahsj 2:30503be9a375 318 if (HAL_TIM_PWM_Init(&htim15) != HAL_OK)
elijahsj 2:30503be9a375 319 {
elijahsj 2:30503be9a375 320 //Error_Handler();
elijahsj 2:30503be9a375 321 }
elijahsj 2:30503be9a375 322 sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
elijahsj 2:30503be9a375 323 sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
elijahsj 2:30503be9a375 324 if (HAL_TIMEx_MasterConfigSynchronization(&htim15, &sMasterConfig) != HAL_OK)
elijahsj 2:30503be9a375 325 {
elijahsj 2:30503be9a375 326 //Error_Handler();
elijahsj 2:30503be9a375 327 }
elijahsj 2:30503be9a375 328 sConfigOC.OCMode = TIM_OCMODE_PWM1;
elijahsj 2:30503be9a375 329 sConfigOC.Pulse = 0;
elijahsj 2:30503be9a375 330 sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
elijahsj 2:30503be9a375 331 sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
elijahsj 2:30503be9a375 332 sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
elijahsj 2:30503be9a375 333 sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
elijahsj 2:30503be9a375 334 sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
elijahsj 2:30503be9a375 335 if (HAL_TIM_PWM_ConfigChannel(&htim15, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
elijahsj 2:30503be9a375 336 {
elijahsj 2:30503be9a375 337 //Error_Handler();
elijahsj 2:30503be9a375 338 }
elijahsj 2:30503be9a375 339 if (HAL_TIM_PWM_ConfigChannel(&htim15, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
elijahsj 2:30503be9a375 340 {
elijahsj 2:30503be9a375 341 //Error_Handler();
elijahsj 2:30503be9a375 342 }
elijahsj 2:30503be9a375 343 sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
elijahsj 2:30503be9a375 344 sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
elijahsj 2:30503be9a375 345 sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
elijahsj 2:30503be9a375 346 sBreakDeadTimeConfig.DeadTime = 0;
elijahsj 2:30503be9a375 347 sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
elijahsj 2:30503be9a375 348 sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
elijahsj 2:30503be9a375 349 sBreakDeadTimeConfig.BreakFilter = 0;
elijahsj 2:30503be9a375 350 sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
elijahsj 2:30503be9a375 351 if (HAL_TIMEx_ConfigBreakDeadTime(&htim15, &sBreakDeadTimeConfig) != HAL_OK)
elijahsj 2:30503be9a375 352 {
elijahsj 2:30503be9a375 353 //Error_Handler();
elijahsj 2:30503be9a375 354 }
elijahsj 2:30503be9a375 355 HAL_TIM_MspPostInit(&htim15);
elijahsj 2:30503be9a375 356
elijahsj 2:30503be9a375 357 }
elijahsj 2:30503be9a375 358
elijahsj 2:30503be9a375 359 static void MX_TIM16_Init(void)
elijahsj 2:30503be9a375 360 {
elijahsj 2:30503be9a375 361 __HAL_RCC_TIM16_CLK_ENABLE();
elijahsj 2:30503be9a375 362 TIM_OC_InitTypeDef sConfigOC = {0};
elijahsj 2:30503be9a375 363 TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
elijahsj 2:30503be9a375 364 htim16.Instance = TIM16;
elijahsj 2:30503be9a375 365 htim16.Init.Prescaler = 0;
elijahsj 2:30503be9a375 366 htim16.Init.CounterMode = TIM_COUNTERMODE_UP;
elijahsj 2:30503be9a375 367 htim16.Init.Period = PWM_PERIOD;
elijahsj 2:30503be9a375 368 htim16.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
elijahsj 2:30503be9a375 369 htim16.Init.RepetitionCounter = 0;
elijahsj 2:30503be9a375 370 htim16.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
elijahsj 2:30503be9a375 371 if (HAL_TIM_Base_Init(&htim16) != HAL_OK)
elijahsj 2:30503be9a375 372 {
elijahsj 2:30503be9a375 373 //Error_Handler();
elijahsj 2:30503be9a375 374 }
elijahsj 2:30503be9a375 375 if (HAL_TIM_PWM_Init(&htim16) != HAL_OK)
elijahsj 2:30503be9a375 376 {
elijahsj 2:30503be9a375 377 //Error_Handler();
elijahsj 2:30503be9a375 378 }
elijahsj 2:30503be9a375 379 sConfigOC.OCMode = TIM_OCMODE_PWM1;
elijahsj 2:30503be9a375 380 sConfigOC.Pulse = 0;
elijahsj 2:30503be9a375 381 sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
elijahsj 2:30503be9a375 382 sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
elijahsj 2:30503be9a375 383 sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
elijahsj 2:30503be9a375 384 sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
elijahsj 2:30503be9a375 385 sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
elijahsj 2:30503be9a375 386 if (HAL_TIM_PWM_ConfigChannel(&htim16, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
elijahsj 2:30503be9a375 387 {
elijahsj 2:30503be9a375 388 //Error_Handler();
elijahsj 2:30503be9a375 389 }
elijahsj 2:30503be9a375 390 sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
elijahsj 2:30503be9a375 391 sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
elijahsj 2:30503be9a375 392 sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
elijahsj 2:30503be9a375 393 sBreakDeadTimeConfig.DeadTime = 0;
elijahsj 2:30503be9a375 394 sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
elijahsj 2:30503be9a375 395 sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
elijahsj 2:30503be9a375 396 sBreakDeadTimeConfig.BreakFilter = 0;
elijahsj 2:30503be9a375 397 sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
elijahsj 2:30503be9a375 398 if (HAL_TIMEx_ConfigBreakDeadTime(&htim16, &sBreakDeadTimeConfig) != HAL_OK)
elijahsj 2:30503be9a375 399 {
elijahsj 2:30503be9a375 400 //Error_Handler();
elijahsj 2:30503be9a375 401 }
elijahsj 2:30503be9a375 402 HAL_TIM_MspPostInit(&htim16);
elijahsj 2:30503be9a375 403
elijahsj 2:30503be9a375 404 }
elijahsj 2:30503be9a375 405
elijahsj 2:30503be9a375 406 static void MX_TIM17_Init(void)
elijahsj 2:30503be9a375 407 {
elijahsj 2:30503be9a375 408 __HAL_RCC_TIM17_CLK_ENABLE();
elijahsj 2:30503be9a375 409 TIM_OC_InitTypeDef sConfigOC = {0};
elijahsj 2:30503be9a375 410 TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
elijahsj 2:30503be9a375 411 htim17.Instance = TIM17;
elijahsj 2:30503be9a375 412 htim17.Init.Prescaler = 0;
elijahsj 2:30503be9a375 413 htim17.Init.CounterMode = TIM_COUNTERMODE_UP;
elijahsj 2:30503be9a375 414 htim17.Init.Period = PWM_PERIOD;
elijahsj 2:30503be9a375 415 htim17.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
elijahsj 2:30503be9a375 416 htim17.Init.RepetitionCounter = 0;
elijahsj 2:30503be9a375 417 htim17.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
elijahsj 2:30503be9a375 418 if (HAL_TIM_Base_Init(&htim17) != HAL_OK)
elijahsj 2:30503be9a375 419 {
elijahsj 2:30503be9a375 420 //Error_Handler();
elijahsj 2:30503be9a375 421 }
elijahsj 2:30503be9a375 422 if (HAL_TIM_PWM_Init(&htim17) != HAL_OK)
elijahsj 2:30503be9a375 423 {
elijahsj 2:30503be9a375 424 //Error_Handler();
elijahsj 2:30503be9a375 425 }
elijahsj 2:30503be9a375 426 sConfigOC.OCMode = TIM_OCMODE_PWM1;
elijahsj 2:30503be9a375 427 sConfigOC.Pulse = 0;
elijahsj 2:30503be9a375 428 sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
elijahsj 2:30503be9a375 429 sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
elijahsj 2:30503be9a375 430 sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
elijahsj 2:30503be9a375 431 sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
elijahsj 2:30503be9a375 432 sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
elijahsj 2:30503be9a375 433 if (HAL_TIM_PWM_ConfigChannel(&htim17, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
elijahsj 2:30503be9a375 434 {
elijahsj 2:30503be9a375 435 //Error_Handler();
elijahsj 2:30503be9a375 436 }
elijahsj 2:30503be9a375 437 sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
elijahsj 2:30503be9a375 438 sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
elijahsj 2:30503be9a375 439 sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
elijahsj 2:30503be9a375 440 sBreakDeadTimeConfig.DeadTime = 0;
elijahsj 2:30503be9a375 441 sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
elijahsj 2:30503be9a375 442 sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
elijahsj 2:30503be9a375 443 sBreakDeadTimeConfig.BreakFilter = 0;
elijahsj 2:30503be9a375 444 sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
elijahsj 2:30503be9a375 445 if (HAL_TIMEx_ConfigBreakDeadTime(&htim17, &sBreakDeadTimeConfig) != HAL_OK)
elijahsj 2:30503be9a375 446 {
elijahsj 2:30503be9a375 447 //Error_Handler();
elijahsj 2:30503be9a375 448 }
elijahsj 2:30503be9a375 449 HAL_TIM_MspPostInit(&htim17);
elijahsj 2:30503be9a375 450
elijahsj 1:4c3c2b7337a6 451 }
elijahsj 1:4c3c2b7337a6 452
elijahsj 1:4c3c2b7337a6 453 void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
elijahsj 1:4c3c2b7337a6 454 {
elijahsj 2:30503be9a375 455 /* GPIO Ports Clock Enable */
elijahsj 1:4c3c2b7337a6 456 __HAL_RCC_GPIOE_CLK_ENABLE();
elijahsj 1:4c3c2b7337a6 457 __HAL_RCC_GPIOC_CLK_ENABLE();
elijahsj 1:4c3c2b7337a6 458 __HAL_RCC_GPIOF_CLK_ENABLE();
elijahsj 1:4c3c2b7337a6 459 __HAL_RCC_GPIOH_CLK_ENABLE();
elijahsj 1:4c3c2b7337a6 460 __HAL_RCC_GPIOA_CLK_ENABLE();
elijahsj 1:4c3c2b7337a6 461 __HAL_RCC_GPIOB_CLK_ENABLE();
elijahsj 1:4c3c2b7337a6 462 __HAL_RCC_GPIOD_CLK_ENABLE();
elijahsj 1:4c3c2b7337a6 463 __HAL_RCC_GPIOG_CLK_ENABLE();
elijahsj 1:4c3c2b7337a6 464
elijahsj 1:4c3c2b7337a6 465 GPIO_InitTypeDef GPIO_InitStruct = {0};
elijahsj 1:4c3c2b7337a6 466 if(htim->Instance==TIM12)
elijahsj 1:4c3c2b7337a6 467 {
elijahsj 1:4c3c2b7337a6 468
elijahsj 1:4c3c2b7337a6 469 /**TIM12 GPIO Configuration
elijahsj 1:4c3c2b7337a6 470 PB14 ------> TIM12_CH1
elijahsj 1:4c3c2b7337a6 471 PB15 ------> TIM12_CH2
elijahsj 1:4c3c2b7337a6 472 */
elijahsj 1:4c3c2b7337a6 473 GPIO_InitStruct.Pin = GPIO_PIN_14|GPIO_PIN_15;
elijahsj 1:4c3c2b7337a6 474 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
elijahsj 1:4c3c2b7337a6 475 GPIO_InitStruct.Pull = GPIO_NOPULL;
elijahsj 1:4c3c2b7337a6 476 GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
elijahsj 1:4c3c2b7337a6 477 GPIO_InitStruct.Alternate = GPIO_AF2_TIM12;
elijahsj 1:4c3c2b7337a6 478 HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
elijahsj 1:4c3c2b7337a6 479 }
elijahsj 1:4c3c2b7337a6 480 else if(htim->Instance==TIM13)
elijahsj 1:4c3c2b7337a6 481 {
elijahsj 1:4c3c2b7337a6 482 /**TIM13 GPIO Configuration
elijahsj 1:4c3c2b7337a6 483 PA6 ------> TIM13_CH1
elijahsj 1:4c3c2b7337a6 484 */
elijahsj 1:4c3c2b7337a6 485 GPIO_InitStruct.Pin = GPIO_PIN_6;
elijahsj 1:4c3c2b7337a6 486 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
elijahsj 1:4c3c2b7337a6 487 GPIO_InitStruct.Pull = GPIO_NOPULL;
elijahsj 1:4c3c2b7337a6 488 GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
elijahsj 1:4c3c2b7337a6 489 GPIO_InitStruct.Alternate = GPIO_AF9_TIM13;
elijahsj 1:4c3c2b7337a6 490 HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
elijahsj 1:4c3c2b7337a6 491 }
elijahsj 1:4c3c2b7337a6 492 else if(htim->Instance==TIM14)
elijahsj 1:4c3c2b7337a6 493 {
elijahsj 1:4c3c2b7337a6 494 /**TIM14 GPIO Configuration
elijahsj 1:4c3c2b7337a6 495 PF9 ------> TIM14_CH1
elijahsj 1:4c3c2b7337a6 496 */
elijahsj 1:4c3c2b7337a6 497 GPIO_InitStruct.Pin = GPIO_PIN_9;
elijahsj 1:4c3c2b7337a6 498 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
elijahsj 1:4c3c2b7337a6 499 GPIO_InitStruct.Pull = GPIO_NOPULL;
elijahsj 1:4c3c2b7337a6 500 GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
elijahsj 1:4c3c2b7337a6 501 GPIO_InitStruct.Alternate = GPIO_AF9_TIM14;
elijahsj 1:4c3c2b7337a6 502 HAL_GPIO_Init(GPIOF, &GPIO_InitStruct);
elijahsj 1:4c3c2b7337a6 503 }
elijahsj 1:4c3c2b7337a6 504 else if(htim->Instance==TIM15)
elijahsj 1:4c3c2b7337a6 505 {
elijahsj 1:4c3c2b7337a6 506 /**TIM15 GPIO Configuration
elijahsj 1:4c3c2b7337a6 507 PE5 ------> TIM15_CH1
elijahsj 1:4c3c2b7337a6 508 PE6 ------> TIM15_CH2
elijahsj 1:4c3c2b7337a6 509 */
elijahsj 1:4c3c2b7337a6 510 GPIO_InitStruct.Pin = GPIO_PIN_5|GPIO_PIN_6;
elijahsj 1:4c3c2b7337a6 511 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
elijahsj 1:4c3c2b7337a6 512 GPIO_InitStruct.Pull = GPIO_NOPULL;
elijahsj 1:4c3c2b7337a6 513 GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
elijahsj 1:4c3c2b7337a6 514 GPIO_InitStruct.Alternate = GPIO_AF4_TIM15;
elijahsj 1:4c3c2b7337a6 515 HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
elijahsj 1:4c3c2b7337a6 516 }
elijahsj 1:4c3c2b7337a6 517 else if(htim->Instance==TIM16)
elijahsj 1:4c3c2b7337a6 518 {
elijahsj 1:4c3c2b7337a6 519 /**TIM16 GPIO Configuration
elijahsj 1:4c3c2b7337a6 520 PF6 ------> TIM16_CH1
elijahsj 1:4c3c2b7337a6 521 */
elijahsj 1:4c3c2b7337a6 522 GPIO_InitStruct.Pin = GPIO_PIN_6;
elijahsj 1:4c3c2b7337a6 523 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
elijahsj 1:4c3c2b7337a6 524 GPIO_InitStruct.Pull = GPIO_NOPULL;
elijahsj 1:4c3c2b7337a6 525 GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
elijahsj 1:4c3c2b7337a6 526 GPIO_InitStruct.Alternate = GPIO_AF1_TIM16;
elijahsj 1:4c3c2b7337a6 527 HAL_GPIO_Init(GPIOF, &GPIO_InitStruct);
elijahsj 1:4c3c2b7337a6 528 }
elijahsj 1:4c3c2b7337a6 529 else if(htim->Instance==TIM17)
elijahsj 1:4c3c2b7337a6 530 {
elijahsj 1:4c3c2b7337a6 531 /**TIM17 GPIO Configuration
elijahsj 1:4c3c2b7337a6 532 PF7 ------> TIM17_CH1
elijahsj 1:4c3c2b7337a6 533 */
elijahsj 1:4c3c2b7337a6 534 GPIO_InitStruct.Pin = GPIO_PIN_7;
elijahsj 1:4c3c2b7337a6 535 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
elijahsj 1:4c3c2b7337a6 536 GPIO_InitStruct.Pull = GPIO_NOPULL;
elijahsj 1:4c3c2b7337a6 537 GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
elijahsj 1:4c3c2b7337a6 538 GPIO_InitStruct.Alternate = GPIO_AF1_TIM17;
elijahsj 1:4c3c2b7337a6 539 HAL_GPIO_Init(GPIOF, &GPIO_InitStruct);
elijahsj 1:4c3c2b7337a6 540 }
elijahsj 1:4c3c2b7337a6 541
elijahsj 1:4c3c2b7337a6 542 }
elijahsj 1:4c3c2b7337a6 543
elijahsj 1:4c3c2b7337a6 544
elijahsj 1:4c3c2b7337a6 545
elijahsj 1:4c3c2b7337a6 546