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

Dependencies:   FastPWM3 mbed-dev-f303

Fork of Hobbyking_Cheetah_V1 by Ben Katz

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Show/hide line numbers hw_setup.cpp Source File

hw_setup.cpp

00001 
00002 #include "mbed.h"
00003 #include "hw_setup.h"
00004 #include "hw_config.h"
00005 #include "structs.h"
00006 #include "FastPWM.h"
00007 
00008 void Init_PWM(GPIOStruct *gpio){
00009 
00010     RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;                        // enable the clock to GPIOC
00011     RCC->APB1ENR |= 0x00000001;                                 // enable TIM2 clock
00012     RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;                         // enable TIM1 clock
00013 
00014     GPIOC->MODER |= (1 << 10);                                  // set pin 5 to be general purpose output for LED
00015     gpio->enable = new DigitalOut(ENABLE_PIN);
00016     gpio->pwm_u = new FastPWM(PIN_U);
00017     gpio->pwm_v = new FastPWM(PIN_V);
00018     gpio->pwm_w = new FastPWM(PIN_W);
00019     
00020     
00021     
00022      //ISR Setup     
00023     
00024     NVIC_EnableIRQ(TIM1_UP_TIM10_IRQn);                         //Enable TIM1 IRQ
00025 
00026     TIM1->DIER |= TIM_DIER_UIE;                                 // enable update interrupt
00027     TIM1->CR1 = 0x40;                                           // CMS = 10, interrupt only when counting up
00028     TIM1->CR1 |= TIM_CR1_UDIS;
00029     TIM1->CR1 |= TIM_CR1_ARPE;                                  // autoreload on, 
00030     TIM1->RCR |= 0x001;                                         // update event once per up/down count of tim1 
00031     TIM1->EGR |= TIM_EGR_UG;
00032  
00033     //PWM Setup
00034 
00035     TIM1->PSC = 0x0;                                            // no prescaler, timer counts up in sync with the peripheral clock
00036     TIM1->ARR = PWM_ARR;                                          // set auto reload, 40 khz
00037     TIM1->CCER |= ~(TIM_CCER_CC1NP);                            // Interupt when low side is on.
00038     TIM1->CR1 |= TIM_CR1_CEN;                                   // enable TIM1
00039     
00040     }
00041 
00042 void Init_ADC(void){
00043     // ADC Setup
00044      RCC->APB2ENR |= RCC_APB2ENR_ADC3EN;                        // clock for ADC3
00045      RCC->APB2ENR |= RCC_APB2ENR_ADC2EN;                        // clock for ADC2
00046      RCC->APB2ENR |= RCC_APB2ENR_ADC1EN;                        // clock for ADC1
00047      
00048      RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;                        // Enable clock for GPIOC
00049      RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;                        // Enable clock for GPIOA
00050     
00051      ADC->CCR = 0x00000016;                                     // Regular simultaneous mode only
00052      ADC1->CR2 |= ADC_CR2_ADON;//0x00000001;                    // ADC1 ON
00053      ADC1->SQR3 = 0x000000A;                                    // use PC_0 as input- ADC1_IN0
00054      ADC2->CR2 |= ADC_CR2_ADON;//0x00000001;                    // ADC2 ON
00055      ADC2->SQR3 = 0x0000000B;                                   // use PC_1 as input - ADC2_IN11
00056      ADC3->CR2 |= ADC_CR2_ADON;                                 // ADC3 ON
00057      ADC3->SQR3 = 0x00000000;                                   // use PA_0, - ADC3_IN0
00058      GPIOC->MODER |= 0x0000000f;                                // Alternate function, PC_0, PC_1 are analog inputs 
00059      GPIOA->MODER |= 0x3;                                       // PA_0 as analog input
00060      
00061      ADC1->SMPR1 |= 0x1;                                        // 15 cycles on CH_10, 0b 001
00062      ADC2->SMPR1 |= 0x8;                                        // 15 cycles on CH_11, 0b 0001 000
00063      ADC3->SMPR2 |= 0x1;                                        // 15 cycles on CH_0, 0b 001;
00064 
00065 
00066 
00067     }
00068 
00069 void Init_DAC(void){
00070      RCC->APB1ENR |= 0x20000000;                                // Enable clock for DAC
00071      DAC->CR |= 0x00000001;                                     // DAC control reg, both channels ON
00072      GPIOA->MODER |= 0x00000300;                                // PA04 as analog output  
00073     }
00074 
00075 void Init_All_HW(GPIOStruct *gpio){
00076     Init_PWM(gpio);
00077     Init_ADC();
00078     gpio->led = new DigitalOut(LED);
00079     //Init_DAC();
00080     
00081     }