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

Dependencies:   FastPWM3 mbed-dev-f303

Fork of Hobbyking_Cheetah_V1 by Ben Katz

hw_setup.cpp

Committer:
benkatz
Date:
2018-07-30
Revision:
46:6cc428f3431d
Parent:
37:c0f352d6e8e3

File content as of revision 46:6cc428f3431d:


#include "mbed.h"
#include "hw_setup.h"
#include "hw_config.h"
#include "structs.h"
#include "FastPWM.h"

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

    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);
    
    
    
     //ISR Setup     
    
    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->CR1 |= TIM_CR1_UDIS;
    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->ARR = PWM_ARR;                                          // 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_ADC3EN;                        // clock for ADC3
     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
     RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;                        // Enable clock for GPIOA
    
     ADC->CCR = 0x00000016;                                     // Regular simultaneous mode only
     ADC1->CR2 |= ADC_CR2_ADON;//0x00000001;                    // ADC1 ON
     ADC1->SQR3 = 0x000000A;                                    // use PC_0 as input- ADC1_IN0
     ADC2->CR2 |= ADC_CR2_ADON;//0x00000001;                    // ADC2 ON
     ADC2->SQR3 = 0x0000000B;                                   // use PC_1 as input - ADC2_IN11
     ADC3->CR2 |= ADC_CR2_ADON;                                 // ADC3 ON
     ADC3->SQR3 = 0x00000000;                                   // use PA_0, - ADC3_IN0
     GPIOC->MODER |= 0x0000000f;                                // Alternate function, PC_0, PC_1 are analog inputs 
     GPIOA->MODER |= 0x3;                                       // PA_0 as analog input
     
     ADC1->SMPR1 |= 0x1;                                        // 15 cycles on CH_10, 0b 001
     ADC2->SMPR1 |= 0x8;                                        // 15 cycles on CH_11, 0b 0001 000
     ADC3->SMPR2 |= 0x1;                                        // 15 cycles on CH_0, 0b 001;



    }

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  
    }

void Init_All_HW(GPIOStruct *gpio){
    Init_PWM(gpio);
    Init_ADC();
    gpio->led = new DigitalOut(LED);
    //Init_DAC();
    
    }