Alvee Ahmed
/
Hobbyking_Cheetah_Compact_DRV8323_14bit
customizing code for Aliexpress 14 bit version with MA702
Diff: hw_setup.cpp
- Revision:
- 22:60276ba87ac6
- Parent:
- 20:bf9ea5125d52
- Child:
- 24:58c2d7571207
diff -r 7d1f0a206668 -r 60276ba87ac6 hw_setup.cpp --- a/hw_setup.cpp Thu Mar 02 15:31:45 2017 +0000 +++ b/hw_setup.cpp Fri Mar 31 18:24:46 2017 +0000 @@ -7,56 +7,59 @@ void Init_PWM(GPIOStruct *gpio){ - RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN; // enable the clock to GPIOC - RCC->APB1ENR |= 0x00000001; // enable TIM2 clock - RCC->APB2ENR |= RCC_APB2ENR_TIM1EN; // enable TIM1 clock + RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN; // enable the clock to GPIOC + RCC->APB1ENR |= 0x00000001; // enable TIM2 clock + RCC->APB2ENR |= RCC_APB2ENR_TIM1EN; // enable TIM1 clock - //GPIOC->MODER = (1 << 8); // set pin 4 to be general purpose output + GPIOC->MODER |= (1 << 10); // set pin 5 to be general purpose output for LED gpio->enable = new DigitalOut(ENABLE_PIN); gpio->pwm_u = new FastPWM(PIN_U); gpio->pwm_v = new FastPWM(PIN_V); gpio->pwm_w = new FastPWM(PIN_W); + gpio->phasing = 1; + + //ISR Setup - NVIC_EnableIRQ(TIM1_UP_TIM10_IRQn); //Enable TIM1 IRQ + NVIC_EnableIRQ(TIM1_UP_TIM10_IRQn); //Enable TIM1 IRQ - TIM1->DIER |= TIM_DIER_UIE; // enable update interrupt - TIM1->CR1 = 0x40;//CMS = 10, interrupt only when counting up + TIM1->DIER |= TIM_DIER_UIE; // enable update interrupt + TIM1->CR1 = 0x40; // CMS = 10, interrupt only when counting up TIM1->CR1 |= TIM_CR1_UDIS; - TIM1->CR1 |= TIM_CR1_ARPE; // autoreload on, - TIM1->RCR |= 0x001; // update event once per up/down count of tim1 + TIM1->CR1 |= TIM_CR1_ARPE; // autoreload on, + TIM1->RCR |= 0x001; // update event once per up/down count of tim1 TIM1->EGR |= TIM_EGR_UG; //PWM Setup - TIM1->PSC = 0x0; // 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 = 0x1194; // 20 khz - TIM1->ARR = 0x8CA; //40 khz - TIM1->CCER |= ~(TIM_CCER_CC1NP); //Interupt when low side is on. - TIM1->CR1 |= TIM_CR1_CEN; + TIM1->ARR = 0x8CA; // set auto reload, 40 khz + TIM1->CCER |= ~(TIM_CCER_CC1NP); // Interupt when low side is on. + TIM1->CR1 |= TIM_CR1_CEN; // enable TIM1 } void Init_ADC(void){ // ADC Setup - RCC->APB2ENR |= RCC_APB2ENR_ADC2EN; // clock for ADC2 - RCC->APB2ENR |= RCC_APB2ENR_ADC1EN; // clock for ADC1 - RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;//0x0000002; // Enable clock for GPIOC + 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 - ADC->CCR = 0x00000006; // Regular simultaneous mode only - ADC1->CR2 |= ADC_CR2_ADON;//0x00000001; // ADC1 ON - ADC1->SQR3 = 0x000000A; // use PC_0 as input - ADC2->CR2 |= ADC_CR2_ADON;//0x00000001; // ADC1 ON - ADC2->SQR3 = 0x0000000B; // use PC_1 as input - GPIOC->MODER |= 0x0000000f; // PC_0, PC_1 are analog inputs + ADC->CCR = 0x00000006; // Regular simultaneous mode only + ADC1->CR2 |= ADC_CR2_ADON;//0x00000001; // ADC1 ON + ADC1->SQR3 = 0x000000A; // use PC_0 as input + ADC2->CR2 |= ADC_CR2_ADON;//0x00000001; // ADC1 ON + ADC2->SQR3 = 0x0000000B; // use PC_1 as input + GPIOC->MODER |= 0x0000000f; // Alternate function, PC_0, PC_1 are analog inputs } void Init_DAC(void){ - RCC->APB1ENR |= 0x20000000; // Enable clock for DAC - DAC->CR |= 0x00000001; // DAC control reg, both channels ON - GPIOA->MODER |= 0x00000300; // PA04 as analog output + RCC->APB1ENR |= 0x20000000; // Enable clock for DAC + DAC->CR |= 0x00000001; // DAC control reg, both channels ON + GPIOA->MODER |= 0x00000300; // PA04 as analog output } void Init_All_HW(GPIOStruct *gpio){