Jaesung Oh / Mbed 2 deprecated HydraulicControlBoard_SW

HCB with MPC

Dependencies:   mbed Eigen FastPWM

INIT_HW/INIT_HW.cpp@23:59218d4a256d, 2019-09-10 (annotated)

Committer:
Lightvalve
Date:
Tue Sep 10 09:38:26 2019 +0000
Revision:
23:59218d4a256d
Parent:
21:e5f1a43ea6f9 
190910

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
jobuuu 2:a1c0a37df760 24 ADC1->SMPR1 |= 0x00001000; // 15 cycles on CH_14, 0b0001000000000000
jobuuu 2:a1c0a37df760 25 ADC2->SMPR2 |= 0x01000000; // 15 cycles on CH_8, 0b0000000100000000<<16
jobuuu 2:a1c0a37df760 26 ADC3->SMPR1 |= 0x00000008; // 15 cycles on CH_11, 0b0000000000001000
GiJeongKim 0:51c43836c1d7 27
GiJeongKim 0:51c43836c1d7 28 }
GiJeongKim 0:51c43836c1d7 29
GiJeongKim 0:51c43836c1d7 30 void Init_PWM(){
GiJeongKim 0:51c43836c1d7 31
GiJeongKim 0:51c43836c1d7 32 RCC->APB1ENR |= RCC_APB1ENR_TIM4EN; // enable TIM4 clock
GiJeongKim 0:51c43836c1d7 33 FastPWM pwm_v(PIN_V);
GiJeongKim 0:51c43836c1d7 34 FastPWM pwm_w(PIN_W);
GiJeongKim 0:51c43836c1d7 35
GiJeongKim 0:51c43836c1d7 36 //ISR Setup
GiJeongKim 0:51c43836c1d7 37
GiJeongKim 0:51c43836c1d7 38 NVIC_EnableIRQ(TIM4_IRQn); //Enable TIM4 IRQ
GiJeongKim 0:51c43836c1d7 39
GiJeongKim 0:51c43836c1d7 40 TIM4->DIER |= TIM_DIER_UIE; // enable update interrupt
GiJeongKim 0:51c43836c1d7 41 TIM4->CR1 = 0x40; // CMS = 10, interrupt only when counting up // Center-aligned mode
GiJeongKim 0:51c43836c1d7 42 TIM4->CR1 |= TIM_CR1_UDIS;
GiJeongKim 0:51c43836c1d7 43 TIM4->CR1 |= TIM_CR1_ARPE; // autoreload on,
GiJeongKim 0:51c43836c1d7 44 TIM4->RCR |= 0x001; // update event once per up/down count of TIM4
GiJeongKim 0:51c43836c1d7 45 TIM4->EGR |= TIM_EGR_UG;
GiJeongKim 0:51c43836c1d7 46
GiJeongKim 0:51c43836c1d7 47 //PWM Setup
GiJeongKim 0:51c43836c1d7 48
GiJeongKim 0:51c43836c1d7 49 TIM4->PSC = 0x0; // no prescaler, timer counts up in sync with the peripheral clock
Lightvalve 23:59218d4a256d 50 TIM4->ARR = PWM_ARR; // set auto reload
GiJeongKim 0:51c43836c1d7 51 TIM4->CCER |= ~(TIM_CCER_CC1NP); // Interupt when low side is on.
GiJeongKim 0:51c43836c1d7 52 TIM4->CR1 |= TIM_CR1_CEN; // enable TIM4
GiJeongKim 0:51c43836c1d7 53
GiJeongKim 0:51c43836c1d7 54 }
Lightvalve 11:82d8768d7351 55
Lightvalve 11:82d8768d7351 56 void Init_TMR3(){
Lightvalve 11:82d8768d7351 57 RCC->APB1ENR |= RCC_APB1ENR_TIM3EN; // enable TIM3 clock
Lightvalve 11:82d8768d7351 58
Lightvalve 11:82d8768d7351 59 //ISR Setup
Lightvalve 11:82d8768d7351 60
Lightvalve 11:82d8768d7351 61 NVIC_EnableIRQ(TIM3_IRQn); //Enable TIM3 IRQ
Lightvalve 11:82d8768d7351 62
Lightvalve 11:82d8768d7351 63 TIM3->DIER |= TIM_DIER_UIE; // enable update interrupt
Lightvalve 11:82d8768d7351 64 TIM3->CR1 = 0x40; // CMS = 10, interrupt only when counting up // Center-aligned mode
Lightvalve 11:82d8768d7351 65 TIM3->CR1 |= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 66 TIM3->CR1 |= TIM_CR1_ARPE; // autoreload on,
Lightvalve 11:82d8768d7351 67 TIM3->RCR |= 0x001; // update event once per up/down count of TIM3
Lightvalve 11:82d8768d7351 68 TIM3->EGR |= TIM_EGR_UG;
Lightvalve 11:82d8768d7351 69
Lightvalve 23:59218d4a256d 70 TIM3->PSC = 0x00; // no prescaler, timer counts up in sync with the peripheral clock
Lightvalve 15:bd0d12728506 71 TIM3->ARR = TMR3_COUNT; // set auto reload, 5 khz
Lightvalve 11:82d8768d7351 72 TIM3->CCER |= ~(TIM_CCER_CC1NP); // Interupt when low side is on.
Lightvalve 11:82d8768d7351 73 TIM3->CR1 |= TIM_CR1_CEN; // enable TIM4
Lightvalve 20:806196fda269 74 }
Lightvalve 20:806196fda269 75
Lightvalve 23:59218d4a256d 76 void Init_TMR2(){
Lightvalve 23:59218d4a256d 77 RCC->APB1ENR |= RCC_APB1ENR_TIM2EN; // enable TIM5 clock
Lightvalve 20:806196fda269 78
Lightvalve 20:806196fda269 79 //ISR Setup
Lightvalve 20:806196fda269 80
Lightvalve 23:59218d4a256d 81 NVIC_EnableIRQ(TIM2_IRQn); //Enable TIM5 IRQ
Lightvalve 20:806196fda269 82
Lightvalve 23:59218d4a256d 83 TIM2->DIER |= TIM_DIER_UIE; // enable update interrupt
Lightvalve 23:59218d4a256d 84 TIM2->CR1 = 0x40; // CMS = 10, interrupt only when counting up // Center-aligned mode
Lightvalve 23:59218d4a256d 85 TIM2->CR1 |= TIM_CR1_UDIS;
Lightvalve 23:59218d4a256d 86 TIM2->CR1 |= TIM_CR1_ARPE; // autoreload on,
Lightvalve 23:59218d4a256d 87 TIM2->RCR |= 0x001; // update event once per up/down count of TIM5
Lightvalve 23:59218d4a256d 88 TIM2->EGR |= TIM_EGR_UG;
Lightvalve 20:806196fda269 89
Lightvalve 23:59218d4a256d 90 TIM2->PSC = 0x12; // no prescaler, timer counts up in sync with the peripheral clock
Lightvalve 23:59218d4a256d 91 TIM2->ARR = TMR2_COUNT; // set auto reload, 5 khz
Lightvalve 23:59218d4a256d 92 TIM2->CCER |= ~(TIM_CCER_CC1NP); // Interupt when low side is on.
Lightvalve 23:59218d4a256d 93 TIM2->CR1 |= TIM_CR1_CEN; // enable TIM5
Lightvalve 11:82d8768d7351 94 }