Motor control for robots. More compact, less object-oriented revision.

Dependencies:   FastPWM3 mbed-dev-f303

Fork of Hobbyking_Cheetah_V1 by Ben Katz

Committer:
benkatz
Date:
Mon Jul 30 20:33:23 2018 +0000
Revision:
46:6cc428f3431d
Parent:
37:c0f352d6e8e3
fixed dumb bug in float_to_uint (already fixed in SPIne)

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