Ben Katz / Mbed 2 deprecated Hobbyking_Cheetah_F334

f334

Dependencies:   CANnucleo FastPWM3 mbed

Fork of Hobbyking_Cheetah_Compact by Ben Katz

hw_setup.cpp@23:db1263aae417, 2017-11-02 (annotated)

Committer:
benkatz
Date:
Thu Nov 02 22:28:25 2017 +0000
Revision:
23:db1263aae417
Parent:
22:c8a1f2071bb0 
derp;

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 20:bf9ea5125d52 9
benkatz 22:c8a1f2071bb0 10 //RCC->AHBENR |= RCC_AHBENR_GPIOCEN; // enable the clock to GPIOC
benkatz 22:c8a1f2071bb0 11 //RCC->APB1ENR |= RCC_APB1ENR_TIM2EN; // enable TIM2 clock
benkatz 22:c8a1f2071bb0 12 //RCC->APB2ENR |= RCC_APB2ENR_TIM1EN; // enable TIM1 clock
benkatz 20:bf9ea5125d52 13
benkatz 20:bf9ea5125d52 14 //GPIOC->MODER = (1 << 8); // set pin 4 to be general purpose output
benkatz 20:bf9ea5125d52 15 gpio->enable = new DigitalOut(ENABLE_PIN);
benkatz 22:c8a1f2071bb0 16 gpio->pwm_u = new PwmOut(PIN_U);
benkatz 22:c8a1f2071bb0 17 gpio->pwm_v = new PwmOut(PIN_V);
benkatz 22:c8a1f2071bb0 18 gpio->pwm_w = new PwmOut(PIN_W);
benkatz 20:bf9ea5125d52 19
benkatz 20:bf9ea5125d52 20 //ISR Setup
benkatz 20:bf9ea5125d52 21
benkatz 22:c8a1f2071bb0 22 NVIC_EnableIRQ(TIM1_UP_TIM16_IRQn); //Enable TIM1 IRQ
benkatz 20:bf9ea5125d52 23
benkatz 20:bf9ea5125d52 24 TIM1->DIER |= TIM_DIER_UIE; // enable update interrupt
benkatz 22:c8a1f2071bb0 25 TIM1->CR1 |= 0x40;//CMS = 10, interrupt only when counting up
benkatz 20:bf9ea5125d52 26 TIM1->CR1 |= TIM_CR1_UDIS;
benkatz 20:bf9ea5125d52 27 TIM1->CR1 |= TIM_CR1_ARPE; // autoreload on,
benkatz 22:c8a1f2071bb0 28 TIM1->RCR |= 0x001; // update event once per up/down count of4 tim1
benkatz 20:bf9ea5125d52 29 TIM1->EGR |= TIM_EGR_UG;
benkatz 20:bf9ea5125d52 30
benkatz 20:bf9ea5125d52 31 //PWM Setup
benkatz 20:bf9ea5125d52 32
benkatz 20:bf9ea5125d52 33 TIM1->PSC = 0x0; // no prescaler, timer counts up in sync with the peripheral clock
benkatz 22:c8a1f2071bb0 34 TIM1->ARR = 0x708; //40 khz
benkatz 20:bf9ea5125d52 35 TIM1->CCER |= ~(TIM_CCER_CC1NP); //Interupt when low side is on.
benkatz 20:bf9ea5125d52 36 TIM1->CR1 |= TIM_CR1_CEN;
benkatz 20:bf9ea5125d52 37
benkatz 20:bf9ea5125d52 38 }
benkatz 20:bf9ea5125d52 39
benkatz 20:bf9ea5125d52 40 void Init_ADC(void){
benkatz 20:bf9ea5125d52 41 // ADC Setup
benkatz 22:c8a1f2071bb0 42 RCC->AHBENR |= RCC_AHBENR_ADC12EN; // clock for ADC1,2
benkatz 22:c8a1f2071bb0 43 RCC->AHBENR |= RCC_AHBENR_GPIOCEN; // enable the clock to GPIOC
benkatz 22:c8a1f2071bb0 44 GPIOC->MODER |= 0x0000000f; // PC_0, PC_1 are analog inputs
benkatz 22:c8a1f2071bb0 45 ADC12_COMMON->CCR |= 0x6; // Regular simultaneous mode only
benkatz 22:c8a1f2071bb0 46 ADC12_COMMON->CCR |= 0x0000; //CKMODE = 1;
benkatz 22:c8a1f2071bb0 47
benkatz 22:c8a1f2071bb0 48
benkatz 22:c8a1f2071bb0 49 ADC1->SQR1 = 0x180; // use PC_0 as input - CH6
benkatz 22:c8a1f2071bb0 50 //ADC1->IER |= ADC_IER_EOCIE; //EOC flag on
benkatz 20:bf9ea5125d52 51
benkatz 22:c8a1f2071bb0 52 ADC2->SQR1 = 0x1C0; // use PC_1 as input - CH7
benkatz 20:bf9ea5125d52 53
benkatz 22:c8a1f2071bb0 54 ADC1->SMPR1 |= (0x7<<18); //Sample time
benkatz 22:c8a1f2071bb0 55 ADC2->SMPR1 |= (0x7<<21); //Sample time
benkatz 22:c8a1f2071bb0 56
benkatz 22:c8a1f2071bb0 57 ADC1->CR |= ADC_CR_ADEN; // ADC1 ON
benkatz 22:c8a1f2071bb0 58 ADC2->CR |= ADC_CR_ADEN; // ADC2 ON
benkatz 22:c8a1f2071bb0 59
benkatz 22:c8a1f2071bb0 60 GPIOC->MODER = (1 << 8); // set pin 4 to be general purpose output
benkatz 22:c8a1f2071bb0 61 }
benkatz 20:bf9ea5125d52 62
benkatz 20:bf9ea5125d52 63 void Init_DAC(void){
benkatz 22:c8a1f2071bb0 64 RCC->APB1ENR |= RCC_APB1ENR_DAC1EN; // Enable clock for DAC
benkatz 22:c8a1f2071bb0 65 DAC->CR |= DAC_CR_EN1; // DAC control reg, both channels ON
benkatz 20:bf9ea5125d52 66 GPIOA->MODER |= 0x00000300; // PA04 as analog output
benkatz 20:bf9ea5125d52 67 }
benkatz 20:bf9ea5125d52 68
benkatz 20:bf9ea5125d52 69 void Init_All_HW(GPIOStruct *gpio){
benkatz 20:bf9ea5125d52 70 Init_PWM(gpio);
benkatz 20:bf9ea5125d52 71 Init_ADC();
benkatz 20:bf9ea5125d52 72 //Init_DAC();
benkatz 20:bf9ea5125d52 73
benkatz 20:bf9ea5125d52 74 }