Diff: util.cpp

Revision:

2:b5c19d4eddcc

Parent:

1:70eed554399b

Child:

3:86ccde39f61b

--- a/util.cpp	Sat Feb 21 21:39:33 2015 +0000
+++ b/util.cpp	Mon Feb 23 19:42:50 2015 +0000
@@ -4,16 +4,48 @@
 #include <stdlib.h>
 
 void initTimers() {
+#ifdef __USE_THROTTLE
     dtc_upd_ticker.attach_us(&dtc_update, 200);
     throttle_upd_ticker.attach_us(&throttle_update, 100000);
-      
-    pha.period_us(200);
-    phb.period_us(200);
-    phc.period_us(200);
+#endif
+
+#ifndef __NATIVE
+    pha.period_us(100);
+    phb.period_us(100);
+    phc.period_us(100);
     pha = 0;
     phb = 1.0f;
     phc = 0;
+#endif
 
+    TIM2->CR1 &= ~(TIM_CR1_CEN);
+    TIM2->CR1 |= TIM_CR1_CMS;
+    
+#ifdef __NATIVE
+    TIM2->CCMR1 |= TIM_CCMR1_OC1M_2;
+    TIM2->CCMR1 |= TIM_CCMR1_OC1M_1;
+    TIM2->CCMR1 |= TIM_CCMR1_OC2M_2;
+    TIM2->CCMR1 |= TIM_CCMR1_OC2M_1;
+    TIM2->CCMR2 |= TIM_CCMR2_OC3M_2;
+    TIM2->CCMR2 |= TIM_CCMR2_OC3M_1;
+    
+    TIM2->CCER &= ~TIM_CCER_CC1P;
+    TIM2->CCER &= ~TIM_CCER_CC2P;
+    TIM2->CCER &= ~TIM_CCER_CC3P;
+    
+    TIM2->CCER |= TIM_CCER_CC1E;
+    TIM2->CCER |= TIM_CCER_CC2E;
+    TIM2->CCER |= TIM_CCER_CC3E;
+    
+    TIM2->PSC = 0;
+    
+    TIM2->ARR = 10000;
+    TIM2->CCR1 = 0;
+    TIM2->CCR2 = 0;
+    TIM2->CCR3 = 0;
+#endif
+
+    TIM2->CR1 |= TIM_CR1_CEN;
 }
 
 void initPins() {        
@@ -23,9 +55,10 @@
 void initData() {
     motor = (Motor*) malloc(sizeof(Motor));
     motor->sensor_phase = SENSOR_PHASE;
-    motor->halt = 1;
-    motor->angle =0;
+    motor->halt = 0;
+    motor->angle = 0;
 
+#ifdef __USE_THROTTLE
     float throttle_raw;
     do {
         throttle_raw = throttle;
@@ -39,4 +72,31 @@
     } else {
         motor->halt = 0;
     }
+#else
+    motor->throttle = 1.0f;
+#endif
+}
+
+void setDtcA(float f) {
+#ifdef __NATIVE
+    TIM2->CCR3 = (uint16_t) (f * 10000.0f);
+#else
+    pha = f;
+#endif
+}
+
+void setDtcB(float f) {
+#ifdef __NATIVE
+    TIM2->CCR1 = (uint16_t) (f * 10000.0f);
+#else
+    phb = f;
+#endif
+}
+
+void setDtcC(float f) {
+#ifdef __NATIVE
+    TIM2->CCR2 = (uint16_t) (f * 10000.0f);
+#else
+    phc = f;
+#endif
 }
\ No newline at end of file