Ben Katz / rubix_controller

servodisc goodness

Dependencies:   mbed-dev-f303

main.cpp@6:1143996ac690, 2018-01-15 (annotated)

Committer:
benkatz
Date:
Mon Jan 15 16:12:52 2018 +0000
Revision:
6:1143996ac690
Parent:
5:96cd67bcac8c
Child:
7:a278f58cdbd3
Child:
8:25a28a2ac486
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benkatz 0:92d18e011d98 1 #include "mbed.h"
benkatz 6:1143996ac690 2 #include "cube.h"
benkatz 6:1143996ac690 3 #include "communication.h"
benkatz 0:92d18e011d98 4
benkatz 1:27b535673eed 5 #define PI 3.14159265f
benkatz 1:27b535673eed 6 #define PWM_ARR 0x2E8 // PWM timer auto-reload
benkatz 1:27b535673eed 7 #define DT 0.00002067f // PWM_ARR/36 MHz
benkatz 1:27b535673eed 8 #define CPR 8000.0f // Encoder counts/revolution
benkatz 3:2e9713c61c2d 9 #define J 0.000065f // Inertia
benkatz 3:2e9713c61c2d 10 #define KT 0.0678f // Torque Constant
benkatz 1:27b535673eed 11 #define R 0.85f // Resistance
benkatz 3:2e9713c61c2d 12 #define V_IN 20.0f // DC input voltage
benkatz 3:2e9713c61c2d 13 #define K_SAT 22000.0f // Controller saturation gain
benkatz 3:2e9713c61c2d 14 #define DTC_MAX 0.97f // Max duty cycle (limited by bootstrapping)
benkatz 1:27b535673eed 15 #define V V_IN*DTC_MAX // Max useable voltage
benkatz 0:92d18e011d98 16
benkatz 3:2e9713c61c2d 17 #define TICKSTORAD(x) (float)x*2.0f*PI/CPR
benkatz 0:92d18e011d98 18 #define CONSTRAIN(x,min,max) ((x)<(min)?(min):((x)>(max)?(max):(x)))
benkatz 0:92d18e011d98 19
benkatz 1:27b535673eed 20 Serial pc (PA_2, PA_3); // Serial to programming header
benkatz 1:27b535673eed 21 Serial io(PB_6, PB_7); // Differential Serial to JST Header
benkatz 6:1143996ac690 22 DigitalIn id_3(PB_3); // ID Setting Jumpers
benkatz 1:27b535673eed 23 DigitalIn id_2(PB_4);
benkatz 6:1143996ac690 24 DigitalIn id_1(PB_5);
benkatz 1:27b535673eed 25 DigitalOut led(PA_15); // Debug LED
benkatz 1:27b535673eed 26 DigitalIn d_in(PA_4); // LED on input from AND Board
benkatz 6:1143996ac690 27
benkatz 6:1143996ac690 28 //AnalogOut a_out(PA_5);
benkatz 1:27b535673eed 29 DigitalOut d_out(PA_5); // LED on output to AND Board
benkatz 0:92d18e011d98 30
benkatz 0:92d18e011d98 31
benkatz 0:92d18e011d98 32 void Control();
benkatz 0:92d18e011d98 33 void InitEncoder();
benkatz 0:92d18e011d98 34 void InitPWM();
benkatz 1:27b535673eed 35 void InitGPIO();
benkatz 0:92d18e011d98 36 void WriteVoltage( float v);
benkatz 6:1143996ac690 37 int ReadID();
benkatz 6:1143996ac690 38
benkatz 4:6e290eb553cd 39 void SerialISR();
benkatz 0:92d18e011d98 40
benkatz 0:92d18e011d98 41
benkatz 0:92d18e011d98 42
benkatz 0:92d18e011d98 43 /* Control Variables */
benkatz 1:27b535673eed 44 int id;
benkatz 3:2e9713c61c2d 45 int q_raw, dir, dq_raw = 0;
benkatz 3:2e9713c61c2d 46 float q, q_old, dq, u, e, q_ref, dqdebug = 0;
benkatz 3:2e9713c61c2d 47 int count, count2;
benkatz 6:1143996ac690 48 int controlmode = 0;
benkatz 6:1143996ac690 49
benkatz 6:1143996ac690 50
benkatz 6:1143996ac690 51 volatile int run_control = 0;
benkatz 6:1143996ac690 52 volatile int position_setpoint = 0;
benkatz 3:2e9713c61c2d 53
benkatz 3:2e9713c61c2d 54 /* Kalman Filter Variables */
benkatz 3:2e9713c61c2d 55 float q_est[2] = {0.0f};
benkatz 3:2e9713c61c2d 56 float q_meas[2] = {0.0f};
benkatz 6:1143996ac690 57 //float F[2][2] = {{1.0f, DT},{0.0f, 1.0f}};
benkatz 6:1143996ac690 58 //float B[2] = {0.0f, DT/J};
benkatz 6:1143996ac690 59 //float P[2][2] = {0};
benkatz 6:1143996ac690 60 //float Q[2] = {1.0f, 0.01f};
benkatz 6:1143996ac690 61 //float Rk[2] = {0.01, 10};
benkatz 6:1143996ac690 62 //float S[2][2] = {0};
benkatz 6:1143996ac690 63 //float Y[2] = {0};
benkatz 6:1143996ac690 64 //float K[2][2] = {0};
benkatz 3:2e9713c61c2d 65 float U;
benkatz 3:2e9713c61c2d 66
benkatz 3:2e9713c61c2d 67
benkatz 5:96cd67bcac8c 68 //int8_t log_vec[1250] = {0};
benkatz 3:2e9713c61c2d 69 //int16_t log_vec_2[1250] = {0};
benkatz 3:2e9713c61c2d 70
benkatz 0:92d18e011d98 71
benkatz 1:27b535673eed 72 /* PWM Timer Interrupt */
benkatz 1:27b535673eed 73 extern "C" void TIM1_UP_TIM16_IRQHandler(void) {
benkatz 0:92d18e011d98 74 if (TIM1->SR & TIM_SR_UIF ) {
benkatz 0:92d18e011d98 75 }
benkatz 0:92d18e011d98 76 count++;
benkatz 5:96cd67bcac8c 77 //d_out = !d_out;
benkatz 6:1143996ac690 78 /*
benkatz 3:2e9713c61c2d 79 if(count>1000 && count<2000){
benkatz 3:2e9713c61c2d 80 q_ref = 1.57f;
benkatz 3:2e9713c61c2d 81 //ref = 18000.0f;
benkatz 3:2e9713c61c2d 82 }
benkatz 3:2e9713c61c2d 83
benkatz 3:2e9713c61c2d 84 if(count>2000 && count<3000){
benkatz 3:2e9713c61c2d 85 q_ref = 0.0f;
benkatz 3:2e9713c61c2d 86 //ref = 0;
benkatz 3:2e9713c61c2d 87 //count = 0;
benkatz 3:2e9713c61c2d 88 }
benkatz 3:2e9713c61c2d 89 if(count>3000 && count<4000){
benkatz 6:1143996ac690 90 q_ref = 1.57f;
benkatz 3:2e9713c61c2d 91 }
benkatz 3:2e9713c61c2d 92
benkatz 3:2e9713c61c2d 93 if(count>4500){
benkatz 3:2e9713c61c2d 94 controlmode = 1;
benkatz 3:2e9713c61c2d 95 }
benkatz 6:1143996ac690 96
benkatz 3:2e9713c61c2d 97 if(count<5000){
benkatz 3:2e9713c61c2d 98 //log_vec_2[count/4] = (int)(q_est[1]*10.0f);
benkatz 5:96cd67bcac8c 99 log_vec[count/4] = q_raw>>4;
benkatz 3:2e9713c61c2d 100 }
benkatz 3:2e9713c61c2d 101
benkatz 5:96cd67bcac8c 102 if(count>20000 && count<21250){
benkatz 5:96cd67bcac8c 103 printf("%d\n\r", log_vec[count2]);
benkatz 5:96cd67bcac8c 104 wait_us(80);
benkatz 3:2e9713c61c2d 105 //printf("%d\n\r", log_vec_2[count2]);
benkatz 3:2e9713c61c2d 106 //wait_us(200);
benkatz 3:2e9713c61c2d 107 count2++;
benkatz 3:2e9713c61c2d 108 }
benkatz 3:2e9713c61c2d 109
benkatz 6:1143996ac690 110
benkatz 5:96cd67bcac8c 111 */
benkatz 0:92d18e011d98 112 Control();
benkatz 5:96cd67bcac8c 113
benkatz 3:2e9713c61c2d 114 /*
benkatz 1:27b535673eed 115 if(count > 5000){
benkatz 3:2e9713c61c2d 116 //io.printf("derp\n\r");
benkatz 3:2e9713c61c2d 117 //pc.printf("derp\n\r");
benkatz 5:96cd67bcac8c 118 pc.printf("%d \n\r", q_raw);
benkatz 5:96cd67bcac8c 119 //printf("%f %f\n\r", dq, dqdebug);
benkatz 3:2e9713c61c2d 120 //d_out = !d_out;
benkatz 0:92d18e011d98 121 count = 0;
benkatz 0:92d18e011d98 122 }
benkatz 3:2e9713c61c2d 123 */
benkatz 6:1143996ac690 124 //a_out.write(q/2.0f);
benkatz 5:96cd67bcac8c 125
benkatz 0:92d18e011d98 126 TIM1->SR = 0x0; // reset the status register
benkatz 0:92d18e011d98 127 }
benkatz 0:92d18e011d98 128
benkatz 6:1143996ac690 129 // FUNCTIONS TO MODIFY
benkatz 6:1143996ac690 130 int get_board_id()
benkatz 6:1143996ac690 131 {
benkatz 6:1143996ac690 132 return id;
benkatz 6:1143996ac690 133 }
benkatz 6:1143996ac690 134
benkatz 6:1143996ac690 135 void do_rotation(int8_t num_turns, int8_t derp)
benkatz 6:1143996ac690 136 {
benkatz 6:1143996ac690 137 printf("[BOARD %d] Rotate %d turns!\r\n",get_board_id(),num_turns);
benkatz 6:1143996ac690 138 position_setpoint += num_turns;
benkatz 6:1143996ac690 139 q_ref = 0.5f*PI*position_setpoint;
benkatz 6:1143996ac690 140 run_control = 1;
benkatz 6:1143996ac690 141 while(run_control)
benkatz 6:1143996ac690 142 {
benkatz 6:1143996ac690 143 ;
benkatz 6:1143996ac690 144 }
benkatz 6:1143996ac690 145 wait(0.5f);
benkatz 6:1143996ac690 146 printf("done.\r\n");
benkatz 6:1143996ac690 147 }
benkatz 6:1143996ac690 148
benkatz 6:1143996ac690 149 void set_and_board(int8_t value, int8_t derp)
benkatz 6:1143996ac690 150 {
benkatz 6:1143996ac690 151 printf("[BOARD %d] Set and board %d\r\n",get_board_id(),value);
benkatz 6:1143996ac690 152 d_out = value;
benkatz 6:1143996ac690 153 }
benkatz 6:1143996ac690 154
benkatz 6:1143996ac690 155 int8_t get_and_board()
benkatz 6:1143996ac690 156 {
benkatz 6:1143996ac690 157 uint8_t value = d_in;
benkatz 6:1143996ac690 158 //printf("[BOARD %d] Check and board: %d\r\n",get_board_id(),value);
benkatz 6:1143996ac690 159 return value;
benkatz 6:1143996ac690 160 }
benkatz 6:1143996ac690 161
benkatz 6:1143996ac690 162
benkatz 6:1143996ac690 163
benkatz 6:1143996ac690 164 // BEGIN STATE MACHINE CODE
benkatz 6:1143996ac690 165 mbed_info_t state_machine_info;
benkatz 6:1143996ac690 166
benkatz 6:1143996ac690 167 void state_machine_init()
benkatz 6:1143996ac690 168 {
benkatz 6:1143996ac690 169 printf("Start state machine!\r\n");
benkatz 6:1143996ac690 170 int board_id = get_board_id();
benkatz 6:1143996ac690 171
benkatz 6:1143996ac690 172 // set up state_machine_info
benkatz 6:1143996ac690 173 state_machine_info.face = (face_t)board_id;
benkatz 6:1143996ac690 174 pc.printf("\tboard id: %d\n",board_id);
benkatz 6:1143996ac690 175 // set null sequence to disable everything
benkatz 6:1143996ac690 176 state_machine_info.seq = NULL;
benkatz 6:1143996ac690 177 state_machine_info.rotate = do_rotation;
benkatz 6:1143996ac690 178 state_machine_info.set_and = set_and_board;
benkatz 6:1143996ac690 179 state_machine_info.get_and = get_and_board;
benkatz 6:1143996ac690 180 // prepare for serial
benkatz 6:1143996ac690 181 clear_message_buffer();
benkatz 6:1143996ac690 182 }
benkatz 6:1143996ac690 183
benkatz 6:1143996ac690 184 void handle_serial(Serial* pc)
benkatz 6:1143996ac690 185 {
benkatz 6:1143996ac690 186 while(pc->readable())
benkatz 6:1143996ac690 187 {
benkatz 6:1143996ac690 188 // read it
benkatz 6:1143996ac690 189 uint8_t data = pc->getc();
benkatz 6:1143996ac690 190 if(data == '\n')
benkatz 6:1143996ac690 191 receive_move_sequence(pc,&state_machine_info);
benkatz 6:1143996ac690 192 }
benkatz 6:1143996ac690 193 }
benkatz 6:1143996ac690 194
benkatz 6:1143996ac690 195 // END STATE MACHINE CODE
benkatz 3:2e9713c61c2d 196
benkatz 0:92d18e011d98 197 /* Main Loop */
benkatz 0:92d18e011d98 198 int main() {
benkatz 5:96cd67bcac8c 199
benkatz 3:2e9713c61c2d 200 pc.baud(921600);
benkatz 6:1143996ac690 201 io.baud(115200);
benkatz 3:2e9713c61c2d 202
benkatz 6:1143996ac690 203 pc.printf("\n\r Rubix Controller\n\r");
benkatz 6:1143996ac690 204 print_sample_sequence_hex();
benkatz 1:27b535673eed 205 id_1.mode(PullUp);
benkatz 1:27b535673eed 206 id_2.mode(PullUp);
benkatz 1:27b535673eed 207 id_3.mode(PullUp);
benkatz 6:1143996ac690 208 id = ReadID();
benkatz 6:1143996ac690 209 pc.printf(" Motor ID: %d\n\r", id);
benkatz 3:2e9713c61c2d 210
benkatz 3:2e9713c61c2d 211 //d_in.mode(PullDown);
benkatz 1:27b535673eed 212 led = 1;
benkatz 6:1143996ac690 213 d_out = 0;
benkatz 3:2e9713c61c2d 214 //wait(.1);
benkatz 1:27b535673eed 215
benkatz 0:92d18e011d98 216 InitPWM();
benkatz 3:2e9713c61c2d 217 InitEncoder();
benkatz 3:2e9713c61c2d 218 //pc.printf("Initializing Encoder\n\r");
benkatz 3:2e9713c61c2d 219 //pc.printf("Initializing PWM\n\r");
benkatz 3:2e9713c61c2d 220 //wait(.1);
benkatz 6:1143996ac690 221 //io.attach(&SerialISR);
benkatz 6:1143996ac690 222
benkatz 6:1143996ac690 223 reset_mbed(); //MUST call this first thing in main - initializes data structures!
benkatz 6:1143996ac690 224 state_machine_init();
benkatz 0:92d18e011d98 225 while(1) {
benkatz 6:1143996ac690 226 //myled = get_board_id();
benkatz 6:1143996ac690 227 handle_serial(&io);
benkatz 6:1143996ac690 228 run_sequence_2(&state_machine_info); // run state machine
benkatz 0:92d18e011d98 229 }
benkatz 0:92d18e011d98 230 }
benkatz 0:92d18e011d98 231
benkatz 1:27b535673eed 232 /* Position Control */
benkatz 0:92d18e011d98 233 void Control(void){
benkatz 3:2e9713c61c2d 234
benkatz 3:2e9713c61c2d 235 // Sample Position and Velocity //
benkatz 3:2e9713c61c2d 236 q_raw = TIM2->CNT;
benkatz 3:2e9713c61c2d 237 dir = -2*(((TIM2->CR1)>>4)&1)+1;
benkatz 3:2e9713c61c2d 238 dq_raw = dir*(TIM15->CCR1);
benkatz 0:92d18e011d98 239 q = TICKSTORAD(q_raw);
benkatz 3:2e9713c61c2d 240 //dq = (q - q_old)/DT;
benkatz 3:2e9713c61c2d 241 dq = (18000000.0f*4.0f*2.0f*PI/CPR)/((float)dq_raw);
benkatz 3:2e9713c61c2d 242 if(isinf(dq)){ dq = 0.0f;}
benkatz 0:92d18e011d98 243 q_old = q;
benkatz 3:2e9713c61c2d 244
benkatz 3:2e9713c61c2d 245 q_meas[0] = q;
benkatz 3:2e9713c61c2d 246 q_meas[1] = dq;
benkatz 3:2e9713c61c2d 247
benkatz 3:2e9713c61c2d 248 // Kalman Filter //
benkatz 3:2e9713c61c2d 249 // Update Model //
benkatz 5:96cd67bcac8c 250 /*
benkatz 3:2e9713c61c2d 251 q_est[0] += q_est[1]*F[0][1];
benkatz 3:2e9713c61c2d 252 q_est[1] += B[1]*U;
benkatz 3:2e9713c61c2d 253
benkatz 3:2e9713c61c2d 254
benkatz 3:2e9713c61c2d 255 P[0][0] += Q[0] + DT*P[1][0] + DT*(P[0][1] + DT*P[1][1]);
benkatz 3:2e9713c61c2d 256 P[0][1] += DT*P[1][1];
benkatz 3:2e9713c61c2d 257 P[1][0] += DT*P[1][1];
benkatz 3:2e9713c61c2d 258 P[1][1] += Q[1];
benkatz 3:2e9713c61c2d 259
benkatz 3:2e9713c61c2d 260 //Calculate Kalman Gains//
benkatz 3:2e9713c61c2d 261 S[0][0] = P[0][0] + Rk[0];
benkatz 3:2e9713c61c2d 262 S[0][1] = P[0][1];
benkatz 3:2e9713c61c2d 263 S[1][0] = P[1][0];
benkatz 3:2e9713c61c2d 264 S[1][1] = P[1][1] + Rk[1];
benkatz 3:2e9713c61c2d 265 float denom = (S[0][0]*S[1][1] - S[0][1]*S[1][0]);
benkatz 3:2e9713c61c2d 266 K[0][0] = (P[0][0]*S[1][1])/denom - (P[0][1]*S[1][0])/denom;
benkatz 3:2e9713c61c2d 267 K[0][1] = (P[0][1]*S[0][0])/denom - (P[0][0]*S[0][1])/denom;
benkatz 3:2e9713c61c2d 268 K[1][0] = (P[1][0]*S[1][1])/(S[0][0]*S[1][1] - S[0][1]*S[1][0]) - (P[1][1]*S[1][0])/denom;
benkatz 3:2e9713c61c2d 269 K[1][1] = (P[1][1]*S[0][0])/(S[0][0]*S[1][1] - S[0][1]*S[1][0]) - (P[1][0]*S[0][1])/denom;
benkatz 3:2e9713c61c2d 270
benkatz 3:2e9713c61c2d 271 Y[0] = q_meas[0] - q_est[0];
benkatz 3:2e9713c61c2d 272 Y[1] = q_meas[1] - q_est[1];
benkatz 3:2e9713c61c2d 273
benkatz 3:2e9713c61c2d 274 // Update Estimate //
benkatz 3:2e9713c61c2d 275 q_est[0] += K[0][0]*Y[0] + K[0][1]*Y[1];
benkatz 3:2e9713c61c2d 276 q_est[1] += K[1][0]*Y[0] + K[1][1]*Y[1];
benkatz 3:2e9713c61c2d 277
benkatz 3:2e9713c61c2d 278 P[0][0] = -K[0][1]*P[1][0] - P[0][0]*(K[0][0] - 1.0f);
benkatz 3:2e9713c61c2d 279 P[0][1] = -K[0][1]*P[1][1] - P[0][1]*(K[0][0] - 1.0f);
benkatz 3:2e9713c61c2d 280 P[1][0] = -K[1][0]*P[0][0] - P[1][0]*(K[1][1] - 1.0f);
benkatz 3:2e9713c61c2d 281 P[1][1] = -K[1][0]*P[0][1] - P[1][1]*(K[1][1] - 1.0f);
benkatz 5:96cd67bcac8c 282 */
benkatz 3:2e9713c61c2d 283
benkatz 3:2e9713c61c2d 284
benkatz 3:2e9713c61c2d 285 // Control Law //
benkatz 6:1143996ac690 286 if(run_control == 1){
benkatz 3:2e9713c61c2d 287 e = K_SAT*((q_ref - q) + (abs(dq)*dq*1.3f*R*J)/(2.0f*KT*(-V - KT*abs(dq)))); // Bullshit sliding mode control with nonlinear sliding surface, for minimum-time response
benkatz 3:2e9713c61c2d 288 //e = K_SAT*((q_ref - q) + (abs(q_est[1])*q_est[1]*1.3f*R*J)/(2.0f*KT*(-V - 1.0f*KT*abs(q_est[1])))); // Bullshit sliding mode control with nonlinear sliding surface, for minimum-time response
benkatz 3:2e9713c61c2d 289
benkatz 3:2e9713c61c2d 290 }
benkatz 6:1143996ac690 291
benkatz 3:2e9713c61c2d 292 //q_ref = 0.0f;
benkatz 6:1143996ac690 293 if(run_control == 0){
benkatz 3:2e9713c61c2d 294 e = 0;
benkatz 3:2e9713c61c2d 295 //e = 40.0f*(q_ref - q) + .2f*(0.0f-dq);
benkatz 3:2e9713c61c2d 296 }
benkatz 6:1143996ac690 297 if(run_control&(abs(q_ref - q))<.05f){
benkatz 6:1143996ac690 298 printf("control done\n\r");}
benkatz 6:1143996ac690 299 run_control = (abs(q_ref - q))>.05f;
benkatz 6:1143996ac690 300
benkatz 0:92d18e011d98 301 u = CONSTRAIN(e, -V, V);
benkatz 3:2e9713c61c2d 302 WriteVoltage(u);
benkatz 3:2e9713c61c2d 303 U = KT*(u - KT*dq)/R;
benkatz 3:2e9713c61c2d 304 //WriteVoltage(-10.0f);
benkatz 1:27b535673eed 305 }
benkatz 1:27b535673eed 306
benkatz 1:27b535673eed 307 /* Set motor voltage */
benkatz 1:27b535673eed 308 void WriteVoltage(float v){
benkatz 1:27b535673eed 309 if(v>0){
benkatz 1:27b535673eed 310 TIM1->CCR1 = 0;
benkatz 1:27b535673eed 311 TIM1->CCR2 = (int) (PWM_ARR*(v/V));
benkatz 1:27b535673eed 312 }
benkatz 3:2e9713c61c2d 313 else if(v<=0){
benkatz 1:27b535673eed 314 TIM1->CCR2 = 0;
benkatz 3:2e9713c61c2d 315 TIM1->CCR1 = (int) (PWM_ARR*(abs(v)/V));
benkatz 1:27b535673eed 316 }
benkatz 0:92d18e011d98 317 }
benkatz 0:92d18e011d98 318
benkatz 3:2e9713c61c2d 319 void SerialISR(void){
benkatz 3:2e9713c61c2d 320
benkatz 4:6e290eb553cd 321 io.putc(io.getc());
benkatz 3:2e9713c61c2d 322
benkatz 3:2e9713c61c2d 323 }
benkatz 3:2e9713c61c2d 324
benkatz 3:2e9713c61c2d 325
benkatz 1:27b535673eed 326 /* Read ID Jumpers */
benkatz 6:1143996ac690 327 int ReadID(void){
benkatz 1:27b535673eed 328 int i1 = !id_1.read();
benkatz 1:27b535673eed 329 int i2 = !id_2.read();
benkatz 1:27b535673eed 330 int i3 = !id_3.read();
benkatz 1:27b535673eed 331 return (i1<<2) | (i2<<1) | i3;
benkatz 0:92d18e011d98 332 }
benkatz 0:92d18e011d98 333
benkatz 6:1143996ac690 334
benkatz 1:27b535673eed 335 /* Initialize Encoder */
benkatz 0:92d18e011d98 336 void InitEncoder(void) {
benkatz 0:92d18e011d98 337 // configure GPIO PA0 & PA1 as inputs for Encoder
benkatz 3:2e9713c61c2d 338 //RCC->AHBENR |= RCC_AHBENR_GPIOAEN; // enable the clock to GPIOA
benkatz 1:27b535673eed 339 GPIOA->MODER |= GPIO_MODER_MODER0_1 | GPIO_MODER_MODER1_1 ; // PA0 & PA1 as Alternate Function
benkatz 1:27b535673eed 340 GPIOA->OTYPER |= GPIO_OTYPER_OT_0 | GPIO_OTYPER_OT_1 ; // PA0 & PA1 as Inputs
benkatz 1:27b535673eed 341 GPIOA->OSPEEDR |= 0x00000011; // GPIO Speed
benkatz 3:2e9713c61c2d 342 //GPIOA->PUPDR |= GPIO_PUPDR_PUPDR0_1 | GPIO_PUPDR_PUPDR1_1 ; // Pull Down
benkatz 1:27b535673eed 343 GPIOA->AFR[0] |= 0x00000011 ; // AF01 for PA0 & PA1
benkatz 1:27b535673eed 344 GPIOA->AFR[1] |= 0x00000000 ; //
benkatz 1:27b535673eed 345
benkatz 0:92d18e011d98 346 // configure TIM2 as Encoder input
benkatz 3:2e9713c61c2d 347 TIM2->DIER = 0x00;
benkatz 3:2e9713c61c2d 348 TIM2->EGR = 0x0;
benkatz 3:2e9713c61c2d 349 NVIC_DisableIRQ(TIM2_IRQn);
benkatz 3:2e9713c61c2d 350
benkatz 1:27b535673eed 351 RCC->APB1ENR |= 0x00000001; // Enable clock for TIM2
benkatz 1:27b535673eed 352 TIM2->CR1 = 0x0001; // CEN(Counter Enable)='1'
benkatz 1:27b535673eed 353 TIM2->SMCR = 0x0003; // SMS='011' (Encoder mode 3)
benkatz 1:27b535673eed 354 TIM2->CCMR1 = 0x5151; // CC1S='01' CC2S='01'
benkatz 1:27b535673eed 355 TIM2->CCMR2 = 0x0000;
benkatz 1:27b535673eed 356 TIM2->CCER = 0x0011; // CC1P CC2P
benkatz 1:27b535673eed 357 TIM2->PSC = 0x0000; // Prescaler = (0+1)
benkatz 1:27b535673eed 358 TIM2->CNT = 0x0000; //reset the counter before we use it
benkatz 3:2e9713c61c2d 359
benkatz 3:2e9713c61c2d 360 TIM2->CR2 = 0x030; //MMS = 101
benkatz 3:2e9713c61c2d 361 __TIM15_CLK_ENABLE();
benkatz 3:2e9713c61c2d 362 TIM15->PSC = 0x03;
benkatz 3:2e9713c61c2d 363 TIM15->SMCR = 0x4; //TS = 010 for ITR2, SMS = 100
benkatz 3:2e9713c61c2d 364 TIM15->CCMR1 = 0x3;// CC1S = 11, IC1 mapped on TRC
benkatz 3:2e9713c61c2d 365 TIM15->CCER |= TIM_CCER_CC1P;
benkatz 3:2e9713c61c2d 366 TIM15->CCER |= TIM_CCER_CC1E;
benkatz 3:2e9713c61c2d 367 TIM15->CR1 = 0x1;
benkatz 3:2e9713c61c2d 368
benkatz 0:92d18e011d98 369 }
benkatz 0:92d18e011d98 370
benkatz 3:2e9713c61c2d 371
benkatz 1:27b535673eed 372 /* Initialize PWM */
benkatz 0:92d18e011d98 373 void InitPWM(void){
benkatz 1:27b535673eed 374 RCC->AHBENR |= RCC_AHBENR_GPIOAEN; // enable the clock to GPIOA
benkatz 1:27b535673eed 375 RCC->AHBENR |= RCC_AHBENR_GPIOBEN; // enable the clock to GPIOB
benkatz 1:27b535673eed 376 RCC->APB2ENR |= RCC_APB2ENR_TIM1EN; // enable TIM1 clock
benkatz 0:92d18e011d98 377
benkatz 0:92d18e011d98 378 GPIOA->MODER |= GPIO_MODER_MODER7_1 | GPIO_MODER_MODER8_1 | GPIO_MODER_MODER9_1 ; //PA_7, PA_8, PA_9 to alternate funtion mode
benkatz 0:92d18e011d98 379 GPIOB->MODER |= GPIO_MODER_MODER0_1; // PB_0 to alternate function mode
benkatz 0:92d18e011d98 380 GPIOA->AFR[0] |= 0x60000000; // PA_7 to alternate function 6
benkatz 0:92d18e011d98 381 GPIOA->AFR[1] |= 0x00000066; // PA_8, PA_9 to alternate function 6
benkatz 0:92d18e011d98 382 GPIOB->AFR[0] |= 0x00000006; // PB_0 to alternate function 6
benkatz 0:92d18e011d98 383
benkatz 0:92d18e011d98 384 //PWM Setup
benkatz 0:92d18e011d98 385 TIM1->CCMR1 |= 0x6060; // Enable output compare 1 and 2
benkatz 0:92d18e011d98 386 TIM1->CCER |= TIM_CCER_CC1E | TIM_CCER_CC1NE | TIM_CCER_CC2NE | TIM_CCER_CC2E; // enable outputs 1, 2, and complementary outputs
benkatz 1:27b535673eed 387 TIM1->BDTR |= TIM_BDTR_MOE | 0xF; // MOE = 1 | set dead-time
benkatz 1:27b535673eed 388 TIM1->PSC = 0x0; // no prescaler, timer counts up in sync with the peripheral clock
benkatz 1:27b535673eed 389 TIM1->ARR = PWM_ARR; // set auto reload
benkatz 1:27b535673eed 390 TIM1->CR1 |= TIM_CR1_ARPE; // autoreload on,
benkatz 1:27b535673eed 391 TIM1->CR1 |= TIM_CR1_CEN; // enable TIM1
benkatz 0:92d18e011d98 392
benkatz 3:2e9713c61c2d 393
benkatz 1:27b535673eed 394 NVIC_EnableIRQ(TIM1_UP_TIM16_IRQn); //Enable TIM1 IRQ
benkatz 1:27b535673eed 395 TIM1->DIER |= TIM_DIER_UIE; // enable update interrupt
benkatz 1:27b535673eed 396 TIM1->CR1 |= 0x40; //CMS = 10, interrupt only when counting up
benkatz 1:27b535673eed 397 TIM1->RCR |= 0x001; // update event once per up/down count of tim1
benkatz 3:2e9713c61c2d 398 TIM1->EGR |= TIM_EGR_UG;
benkatz 3:2e9713c61c2d 399
benkatz 3:2e9713c61c2d 400 }
benkatz 3:2e9713c61c2d 401