Jaesung Oh / Mbed 2 deprecated HydraulicControlBoard_SW

HCB with MPC

Dependencies:   mbed Eigen FastPWM

INIT_HW/INIT_HW.cpp@0:51c43836c1d7, 2019-08-14 (annotated)

Committer:
GiJeongKim
Date:
Wed Aug 14 08:13:36 2019 +0000
Revision:
0:51c43836c1d7
Child:
2:a1c0a37df760
cocoa;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
GiJeongKim 0:51c43836c1d7 1 #include "mbed.h"
GiJeongKim 0:51c43836c1d7 2 #include "FastPWM.h"
GiJeongKim 0:51c43836c1d7 3 #include "setting.h"
GiJeongKim 0:51c43836c1d7 4
GiJeongKim 0:51c43836c1d7 5 void Init_ADC(void){
GiJeongKim 0:51c43836c1d7 6 // ADC Setup
GiJeongKim 0:51c43836c1d7 7 RCC->APB2ENR |= RCC_APB2ENR_ADC3EN; // clock for ADC3
GiJeongKim 0:51c43836c1d7 8 RCC->APB2ENR |= RCC_APB2ENR_ADC2EN; // clock for ADC2
GiJeongKim 0:51c43836c1d7 9 RCC->APB2ENR |= RCC_APB2ENR_ADC1EN; // clock for ADC1
GiJeongKim 0:51c43836c1d7 10
GiJeongKim 0:51c43836c1d7 11 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN; // Enable clock for GPIOC
GiJeongKim 0:51c43836c1d7 12 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN; // Enable clock for GPIOA
GiJeongKim 0:51c43836c1d7 13
GiJeongKim 0:51c43836c1d7 14 ADC->CCR = 0x00000016; // Regular simultaneous mode only
GiJeongKim 0:51c43836c1d7 15 ADC1->CR2 |= ADC_CR2_ADON;//0x00000001; // ADC1 ON
GiJeongKim 0:51c43836c1d7 16 ADC1->SQR3 = 0x0000000E; //channel // use PC_4 as input- ADC1_IN14
GiJeongKim 0:51c43836c1d7 17 ADC2->CR2 |= ADC_CR2_ADON;//0x00000001; // ADC2 ON
GiJeongKim 0:51c43836c1d7 18 ADC2->SQR3 = 0x00000008; // use PB_0 as input - ADC2_IN8
GiJeongKim 0:51c43836c1d7 19 ADC3->CR2 |= ADC_CR2_ADON; // ADC3 ON
GiJeongKim 0:51c43836c1d7 20 ADC3->SQR3 = 0x0000000B; // use PC_1, - ADC3_IN11
GiJeongKim 0:51c43836c1d7 21 GPIOC->MODER |= 0b1100001100; //each channel // PC_4, PC_1 are analog inputs
GiJeongKim 0:51c43836c1d7 22 GPIOB->MODER |= 0x3; // PB_0 as analog input
GiJeongKim 0:51c43836c1d7 23
GiJeongKim 0:51c43836c1d7 24 ADC1->SMPR1 |= 0x1000; // 15 cycles on CH_14, 0b 001000000000000
GiJeongKim 0:51c43836c1d7 25 ADC2->SMPR1 |= 0x1000000; // 15 cycles on CH_8, 2^24 = 16^6
GiJeongKim 0:51c43836c1d7 26 ADC3->SMPR2 |= 0b1000; // 15 cycles on CH_11, 0b 001000;
GiJeongKim 0:51c43836c1d7 27
GiJeongKim 0:51c43836c1d7 28 }
GiJeongKim 0:51c43836c1d7 29
GiJeongKim 0:51c43836c1d7 30
GiJeongKim 0:51c43836c1d7 31
GiJeongKim 0:51c43836c1d7 32 void Init_PWM(){
GiJeongKim 0:51c43836c1d7 33
GiJeongKim 0:51c43836c1d7 34 RCC->APB1ENR |= RCC_APB1ENR_TIM4EN; // enable TIM4 clock
GiJeongKim 0:51c43836c1d7 35 FastPWM pwm_v(PIN_V);
GiJeongKim 0:51c43836c1d7 36 FastPWM pwm_w(PIN_W);
GiJeongKim 0:51c43836c1d7 37
GiJeongKim 0:51c43836c1d7 38 //ISR Setup
GiJeongKim 0:51c43836c1d7 39
GiJeongKim 0:51c43836c1d7 40 NVIC_EnableIRQ(TIM4_IRQn); //Enable TIM4 IRQ
GiJeongKim 0:51c43836c1d7 41
GiJeongKim 0:51c43836c1d7 42 TIM4->DIER |= TIM_DIER_UIE; // enable update interrupt
GiJeongKim 0:51c43836c1d7 43 TIM4->CR1 = 0x40; // CMS = 10, interrupt only when counting up // Center-aligned mode
GiJeongKim 0:51c43836c1d7 44 TIM4->CR1 |= TIM_CR1_UDIS;
GiJeongKim 0:51c43836c1d7 45 TIM4->CR1 |= TIM_CR1_ARPE; // autoreload on,
GiJeongKim 0:51c43836c1d7 46 TIM4->RCR |= 0x001; // update event once per up/down count of TIM4
GiJeongKim 0:51c43836c1d7 47 TIM4->EGR |= TIM_EGR_UG;
GiJeongKim 0:51c43836c1d7 48
GiJeongKim 0:51c43836c1d7 49 //PWM Setup
GiJeongKim 0:51c43836c1d7 50
GiJeongKim 0:51c43836c1d7 51 TIM4->PSC = 0x0; // no prescaler, timer counts up in sync with the peripheral clock
GiJeongKim 0:51c43836c1d7 52 TIM4->ARR = PWM_ARR; // set auto reload, 40 khz
GiJeongKim 0:51c43836c1d7 53 TIM4->CCER |= ~(TIM_CCER_CC1NP); // Interupt when low side is on.
GiJeongKim 0:51c43836c1d7 54 TIM4->CR1 |= TIM_CR1_CEN; // enable TIM4
GiJeongKim 0:51c43836c1d7 55
GiJeongKim 0:51c43836c1d7 56 }