auto-measurements
Dependencies: FastPWM3 mbed-dev
Fork of Hobbyking_Cheetah_Compact by
hw_setup.cpp
- Committer:
- benkatz
- Date:
- 2017-08-28
- Revision:
- 30:db9081ac5658
- Parent:
- 28:8c7e29f719c5
File content as of revision 30:db9081ac5658:
#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 = 0x1194; // 20 khz 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_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; // 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 } void Init_All_HW(GPIOStruct *gpio){ Init_PWM(gpio); //Init_ADC(); Init_DAC(); }