Aditya Mehrotra
Updated for the next revision of the motor board
Diff: HardwareSetup.cpp
- Revision:
- 2:30503be9a375
- Parent:
- 1:4c3c2b7337a6
- Child:
- 3:2f46953e7c8b
--- a/HardwareSetup.cpp Tue Aug 25 23:38:26 2020 +0000
+++ b/HardwareSetup.cpp Wed Aug 26 00:24:51 2020 +0000
@@ -12,6 +12,11 @@
void SystemClock_Config(void);
void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim);
static void MX_TIM12_Init(void);
+static void MX_TIM13_Init(void);
+static void MX_TIM14_Init(void);
+static void MX_TIM15_Init(void);
+static void MX_TIM16_Init(void);
+static void MX_TIM17_Init(void);
void initHardware(){
/* Initialise the HAL Layer */
@@ -22,24 +27,29 @@
/* Initialize all configured peripherals */
MX_TIM12_Init();
-
+ MX_TIM13_Init();
+ MX_TIM14_Init();
+ MX_TIM15_Init();
+ MX_TIM16_Init();
+ MX_TIM17_Init();
+ //HAL_TIM_Base_Start(&htim15);
+
HAL_TIM_PWM_Start(&htim12, TIM_CHANNEL_1); // start pwm generation
HAL_TIM_PWM_Start(&htim12, TIM_CHANNEL_2); // start pwm generation
+ HAL_TIM_PWM_Start(&htim13, TIM_CHANNEL_1); // start pwm generation
+ HAL_TIM_PWM_Start(&htim14, TIM_CHANNEL_1); // start pwm generation
+ HAL_TIM_PWM_Start(&htim15, TIM_CHANNEL_1); // start pwm generation
+ HAL_TIM_PWM_Start(&htim15, TIM_CHANNEL_2); // start pwm generation
+ HAL_TIM_PWM_Start(&htim16, TIM_CHANNEL_1); // start pwm generation
+ HAL_TIM_PWM_Start(&htim17, TIM_CHANNEL_1); // start pwm generation
+
+
}
static void MX_TIM12_Init(void)
{
-
- /* USER CODE BEGIN TIM12_Init 0 */
-
- /* USER CODE END TIM12_Init 0 */
-
__HAL_RCC_TIM12_CLK_ENABLE();
TIM_OC_InitTypeDef sConfigOC = {0};
-
- /* USER CODE BEGIN TIM12_Init 1 */
-
- /* USER CODE END TIM12_Init 1 */
htim12.Instance = TIM12;
htim12.Init.Prescaler = 0;
htim12.Init.CounterMode = TIM_COUNTERMODE_UP;
@@ -62,15 +72,218 @@
{
//Error_Handler();
}
- /* USER CODE BEGIN TIM12_Init 2 */
+ HAL_TIM_MspPostInit(&htim12);
+}
+
+static void MX_TIM13_Init(void)
+{
+ __HAL_RCC_TIM13_CLK_ENABLE();
+ TIM_OC_InitTypeDef sConfigOC = {0};
+ htim13.Instance = TIM13;
+ htim13.Init.Prescaler = 0;
+ htim13.Init.CounterMode = TIM_COUNTERMODE_UP;
+ htim13.Init.Period = PWM_PERIOD;
+ htim13.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+ htim13.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+ if (HAL_TIM_Base_Init(&htim13) != HAL_OK)
+ {
+ //Error_Handler();
+ }
+ if (HAL_TIM_PWM_Init(&htim13) != HAL_OK)
+ {
+ //Error_Handler();
+ }
+ sConfigOC.OCMode = TIM_OCMODE_PWM1;
+ sConfigOC.Pulse = 0;
+ sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+ sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+ if (HAL_TIM_PWM_ConfigChannel(&htim13, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+ {
+ //Error_Handler();
+ }
+ HAL_TIM_MspPostInit(&htim13);
+}
+
+static void MX_TIM14_Init(void)
+{
+ __HAL_RCC_TIM14_CLK_ENABLE();
+ TIM_OC_InitTypeDef sConfigOC = {0};
+ htim14.Instance = TIM14;
+ htim14.Init.Prescaler = 0;
+ htim14.Init.CounterMode = TIM_COUNTERMODE_UP;
+ htim14.Init.Period = PWM_PERIOD;
+ htim14.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+ htim14.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+ if (HAL_TIM_Base_Init(&htim14) != HAL_OK)
+ {
+ //Error_Handler();
+ }
+ if (HAL_TIM_PWM_Init(&htim14) != HAL_OK)
+ {
+ //Error_Handler();
+ }
+ sConfigOC.OCMode = TIM_OCMODE_PWM1;
+ sConfigOC.Pulse = 0;
+ sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+ sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+ if (HAL_TIM_PWM_ConfigChannel(&htim14, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+ {
+ //Error_Handler();
+ }
+ HAL_TIM_MspPostInit(&htim14);
+}
- /* USER CODE END TIM12_Init 2 */
- HAL_TIM_MspPostInit(&htim12);
+static void MX_TIM15_Init(void)
+{
+ __HAL_RCC_TIM15_CLK_ENABLE();
+ TIM_MasterConfigTypeDef sMasterConfig = {0};
+ TIM_OC_InitTypeDef sConfigOC = {0};
+ TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
+ htim15.Instance = TIM15;
+ htim15.Init.Prescaler = 0;
+ htim15.Init.CounterMode = TIM_COUNTERMODE_UP;
+ htim15.Init.Period = PWM_PERIOD;
+ htim15.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+ htim15.Init.RepetitionCounter = 0;
+ htim15.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+ if (HAL_TIM_PWM_Init(&htim15) != HAL_OK)
+ {
+ //Error_Handler();
+ }
+ sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+ sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+ if (HAL_TIMEx_MasterConfigSynchronization(&htim15, &sMasterConfig) != HAL_OK)
+ {
+ //Error_Handler();
+ }
+ sConfigOC.OCMode = TIM_OCMODE_PWM1;
+ sConfigOC.Pulse = 0;
+ sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+ sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
+ sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+ sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
+ sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
+ if (HAL_TIM_PWM_ConfigChannel(&htim15, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+ {
+ //Error_Handler();
+ }
+ if (HAL_TIM_PWM_ConfigChannel(&htim15, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
+ {
+ //Error_Handler();
+ }
+ sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
+ sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
+ sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
+ sBreakDeadTimeConfig.DeadTime = 0;
+ sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
+ sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
+ sBreakDeadTimeConfig.BreakFilter = 0;
+ sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
+ if (HAL_TIMEx_ConfigBreakDeadTime(&htim15, &sBreakDeadTimeConfig) != HAL_OK)
+ {
+ //Error_Handler();
+ }
+ HAL_TIM_MspPostInit(&htim15);
+
+}
+
+static void MX_TIM16_Init(void)
+{
+ __HAL_RCC_TIM16_CLK_ENABLE();
+ TIM_OC_InitTypeDef sConfigOC = {0};
+ TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
+ htim16.Instance = TIM16;
+ htim16.Init.Prescaler = 0;
+ htim16.Init.CounterMode = TIM_COUNTERMODE_UP;
+ htim16.Init.Period = PWM_PERIOD;
+ htim16.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+ htim16.Init.RepetitionCounter = 0;
+ htim16.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+ if (HAL_TIM_Base_Init(&htim16) != HAL_OK)
+ {
+ //Error_Handler();
+ }
+ if (HAL_TIM_PWM_Init(&htim16) != HAL_OK)
+ {
+ //Error_Handler();
+ }
+ sConfigOC.OCMode = TIM_OCMODE_PWM1;
+ sConfigOC.Pulse = 0;
+ sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+ sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
+ sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+ sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
+ sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
+ if (HAL_TIM_PWM_ConfigChannel(&htim16, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+ {
+ //Error_Handler();
+ }
+ sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
+ sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
+ sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
+ sBreakDeadTimeConfig.DeadTime = 0;
+ sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
+ sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
+ sBreakDeadTimeConfig.BreakFilter = 0;
+ sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
+ if (HAL_TIMEx_ConfigBreakDeadTime(&htim16, &sBreakDeadTimeConfig) != HAL_OK)
+ {
+ //Error_Handler();
+ }
+ HAL_TIM_MspPostInit(&htim16);
+
+}
+
+static void MX_TIM17_Init(void)
+{
+ __HAL_RCC_TIM17_CLK_ENABLE();
+ TIM_OC_InitTypeDef sConfigOC = {0};
+ TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
+ htim17.Instance = TIM17;
+ htim17.Init.Prescaler = 0;
+ htim17.Init.CounterMode = TIM_COUNTERMODE_UP;
+ htim17.Init.Period = PWM_PERIOD;
+ htim17.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+ htim17.Init.RepetitionCounter = 0;
+ htim17.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+ if (HAL_TIM_Base_Init(&htim17) != HAL_OK)
+ {
+ //Error_Handler();
+ }
+ if (HAL_TIM_PWM_Init(&htim17) != HAL_OK)
+ {
+ //Error_Handler();
+ }
+ sConfigOC.OCMode = TIM_OCMODE_PWM1;
+ sConfigOC.Pulse = 0;
+ sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+ sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
+ sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+ sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
+ sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
+ if (HAL_TIM_PWM_ConfigChannel(&htim17, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+ {
+ //Error_Handler();
+ }
+ sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
+ sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
+ sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
+ sBreakDeadTimeConfig.DeadTime = 0;
+ sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
+ sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
+ sBreakDeadTimeConfig.BreakFilter = 0;
+ sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
+ if (HAL_TIMEx_ConfigBreakDeadTime(&htim17, &sBreakDeadTimeConfig) != HAL_OK)
+ {
+ //Error_Handler();
+ }
+ HAL_TIM_MspPostInit(&htim17);
+
}
void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
{
- /* GPIO Ports Clock Enable */
+ /* GPIO Ports Clock Enable */
__HAL_RCC_GPIOE_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOF_CLK_ENABLE();
@@ -94,18 +307,9 @@
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF2_TIM12;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
-
- /* USER CODE BEGIN TIM12_MspPostInit 1 */
-
- /* USER CODE END TIM12_MspPostInit 1 */
}
else if(htim->Instance==TIM13)
{
- /* USER CODE BEGIN TIM13_MspPostInit 0 */
-
- /* USER CODE END TIM13_MspPostInit 0 */
-
- __HAL_RCC_GPIOA_CLK_ENABLE();
/**TIM13 GPIO Configuration
PA6 ------> TIM13_CH1
*/
@@ -115,18 +319,9 @@
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF9_TIM13;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-
- /* USER CODE BEGIN TIM13_MspPostInit 1 */
-
- /* USER CODE END TIM13_MspPostInit 1 */
}
else if(htim->Instance==TIM14)
{
- /* USER CODE BEGIN TIM14_MspPostInit 0 */
-
- /* USER CODE END TIM14_MspPostInit 0 */
-
- __HAL_RCC_GPIOF_CLK_ENABLE();
/**TIM14 GPIO Configuration
PF9 ------> TIM14_CH1
*/
@@ -136,18 +331,9 @@
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF9_TIM14;
HAL_GPIO_Init(GPIOF, &GPIO_InitStruct);
-
- /* USER CODE BEGIN TIM14_MspPostInit 1 */
-
- /* USER CODE END TIM14_MspPostInit 1 */
}
else if(htim->Instance==TIM15)
{
- /* USER CODE BEGIN TIM15_MspPostInit 0 */
-
- /* USER CODE END TIM15_MspPostInit 0 */
-
- __HAL_RCC_GPIOE_CLK_ENABLE();
/**TIM15 GPIO Configuration
PE5 ------> TIM15_CH1
PE6 ------> TIM15_CH2
@@ -158,18 +344,9 @@
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF4_TIM15;
HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
-
- /* USER CODE BEGIN TIM15_MspPostInit 1 */
-
- /* USER CODE END TIM15_MspPostInit 1 */
}
else if(htim->Instance==TIM16)
{
- /* USER CODE BEGIN TIM16_MspPostInit 0 */
-
- /* USER CODE END TIM16_MspPostInit 0 */
-
- __HAL_RCC_GPIOF_CLK_ENABLE();
/**TIM16 GPIO Configuration
PF6 ------> TIM16_CH1
*/
@@ -179,18 +356,9 @@
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF1_TIM16;
HAL_GPIO_Init(GPIOF, &GPIO_InitStruct);
-
- /* USER CODE BEGIN TIM16_MspPostInit 1 */
-
- /* USER CODE END TIM16_MspPostInit 1 */
}
else if(htim->Instance==TIM17)
{
- /* USER CODE BEGIN TIM17_MspPostInit 0 */
-
- /* USER CODE END TIM17_MspPostInit 0 */
-
- __HAL_RCC_GPIOF_CLK_ENABLE();
/**TIM17 GPIO Configuration
PF7 ------> TIM17_CH1
*/
@@ -200,10 +368,6 @@
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF1_TIM17;
HAL_GPIO_Init(GPIOF, &GPIO_InitStruct);
-
- /* USER CODE BEGIN TIM17_MspPostInit 1 */
-
- /* USER CODE END TIM17_MspPostInit 1 */
}
}