EFeru/hoverboard-firmware-hack-SIN
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This commit is contained in:
Rene Hopf
2018-01-06 23:33:34 +01:00
parent cd5718e151
commit 61aff94a26
8 changed files with 399 additions and 400 deletions
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205
Src/setup.c
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@@ -18,6 +18,22 @@
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
tim1 master, enable -> trgo
tim8, gated slave mode, trgo by tim1 trgo. overflow -> trgo
adc1,adc2 triggered by tim8 trgo
adc 1,2 dual mode
ADC1 ADC2
R_Blau PC4 CH14 R_Gelb PC5 CH15
L_Grün PA0 CH01 L_Blau PC3 CH13
R_DC PC1 CH11 L_DC PC0 CH10
BAT PC2 CH12 L_TX PA2 CH02
BAT PC2 CH12 L_RX PA3 CH03
pb10 usart3 dma1 channel2/3
*/
#include "defines.h"
TIM_HandleTypeDef htim_right;
@@ -26,42 +42,39 @@ ADC_HandleTypeDef hadc1;
ADC_HandleTypeDef hadc2;
volatile adc_buf_t adc_buffer;
void UART_Init(){
void UART_Init() {
__HAL_RCC_USART3_CLK_ENABLE();
__HAL_RCC_DMA1_CLK_ENABLE();
UART_HandleTypeDef huart3;
huart3.Instance = USART3;
huart3.Init.BaudRate = 115200;
huart3.Init.WordLength = UART_WORDLENGTH_8B;
huart3.Init.StopBits = UART_STOPBITS_1;
huart3.Init.Parity = UART_PARITY_NONE;
huart3.Init.Mode = UART_MODE_TX;
huart3.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart3.Instance = USART3;
huart3.Init.BaudRate = 115200;
huart3.Init.WordLength = UART_WORDLENGTH_8B;
huart3.Init.StopBits = UART_STOPBITS_1;
huart3.Init.Parity = UART_PARITY_NONE;
huart3.Init.Mode = UART_MODE_TX;
huart3.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart3.Init.OverSampling = UART_OVERSAMPLING_16;
HAL_UART_Init(&huart3);
USART3->CR3 |= USART_CR3_DMAT;// | USART_CR3_DMAR | USART_CR3_OVRDIS;
USART3->CR3 |= USART_CR3_DMAT; // | USART_CR3_DMAR | USART_CR3_OVRDIS;
GPIO_InitTypeDef GPIO_InitStruct;
GPIO_InitStruct.Pin = GPIO_PIN_10;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pin = GPIO_PIN_10;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
DMA1_Channel2->CCR = 0;
DMA1_Channel2->CPAR = (uint32_t)&(USART3->DR);
DMA1_Channel2->CCR = 0;
DMA1_Channel2->CPAR = (uint32_t) & (USART3->DR);
DMA1_Channel2->CNDTR = 0;
DMA1_Channel2->CCR = DMA_CCR_MINC | DMA_CCR_DIR;
DMA1->IFCR = DMA_IFCR_CTCIF2 | DMA_IFCR_CHTIF2 | DMA_IFCR_CGIF2;
DMA1_Channel2->CCR = DMA_CCR_MINC | DMA_CCR_DIR;
DMA1->IFCR = DMA_IFCR_CTCIF2 | DMA_IFCR_CHTIF2 | DMA_IFCR_CGIF2;
}
void MX_GPIO_Init(void)
{
void MX_GPIO_Init(void) {
GPIO_InitTypeDef GPIO_InitStruct;
/* GPIO Ports Clock Enable */
@@ -69,9 +82,9 @@ void MX_GPIO_Init(void)
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Pin = LEFT_HALL_U_PIN;
HAL_GPIO_Init(LEFT_HALL_U_PORT, &GPIO_InitStruct);
@@ -108,7 +121,7 @@ void MX_GPIO_Init(void)
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
GPIO_InitStruct.Pin = LEFT_DC_CUR_PIN;
HAL_GPIO_Init(LEFT_DC_CUR_PORT, &GPIO_InitStruct);
@@ -131,7 +144,7 @@ void MX_GPIO_Init(void)
HAL_GPIO_Init(DCLINK_PORT, &GPIO_InitStruct);
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pin = LEFT_TIM_UH_PIN;
HAL_GPIO_Init(LEFT_TIM_UH_PORT, &GPIO_InitStruct);
@@ -169,83 +182,83 @@ void MX_GPIO_Init(void)
HAL_GPIO_Init(RIGHT_TIM_WL_PORT, &GPIO_InitStruct);
}
void MX_TIM_Init(void){
void MX_TIM_Init(void) {
__HAL_RCC_TIM1_CLK_ENABLE();
__HAL_RCC_TIM8_CLK_ENABLE();
TIM_MasterConfigTypeDef sMasterConfig;
TIM_OC_InitTypeDef sConfigOC;
TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig;
TIM_SlaveConfigTypeDef sTimConfig;
htim_right.Instance = RIGHT_TIM;
htim_right.Init.Prescaler = 0;
htim_right.Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED1;
htim_right.Init.Period = 64000000 / 2 / PWM_FREQ;
htim_right.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim_right.Instance = RIGHT_TIM;
htim_right.Init.Prescaler = 0;
htim_right.Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED1;
htim_right.Init.Period = 64000000 / 2 / PWM_FREQ;
htim_right.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim_right.Init.RepetitionCounter = 0;
htim_right.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
HAL_TIM_PWM_Init(&htim_right);
sMasterConfig.MasterOutputTrigger = TIM_TRGO_ENABLE;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
HAL_TIMEx_MasterConfigSynchronization(&htim_right, &sMasterConfig);
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCNPolarity = TIM_OCNPOLARITY_LOW;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCNPolarity = TIM_OCNPOLARITY_LOW;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_SET;
HAL_TIM_PWM_ConfigChannel(&htim_right, &sConfigOC, TIM_CHANNEL_1);
HAL_TIM_PWM_ConfigChannel(&htim_right, &sConfigOC, TIM_CHANNEL_2);
HAL_TIM_PWM_ConfigChannel(&htim_right, &sConfigOC, TIM_CHANNEL_3);
sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_ENABLE;
sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_ENABLE;
sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_ENABLE;
sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
sBreakDeadTimeConfig.DeadTime = DEAD_TIME;
sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_LOW;
sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
sBreakDeadTimeConfig.DeadTime = DEAD_TIME;
sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_LOW;
sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
HAL_TIMEx_ConfigBreakDeadTime(&htim_right, &sBreakDeadTimeConfig);
htim_left.Instance = LEFT_TIM;
htim_left.Init.Prescaler = 0;
htim_left.Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED1;
htim_left.Init.Period = 64000000 / 2 / PWM_FREQ;
htim_left.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim_left.Instance = LEFT_TIM;
htim_left.Init.Prescaler = 0;
htim_left.Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED1;
htim_left.Init.Period = 64000000 / 2 / PWM_FREQ;
htim_left.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim_left.Init.RepetitionCounter = 0;
htim_left.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
HAL_TIM_PWM_Init(&htim_left);
sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_ENABLE;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_ENABLE;
HAL_TIMEx_MasterConfigSynchronization(&htim_left, &sMasterConfig);
sTimConfig.InputTrigger = TIM_TS_ITR0;
sTimConfig.SlaveMode = TIM_SLAVEMODE_GATED;
sTimConfig.SlaveMode = TIM_SLAVEMODE_GATED;
HAL_TIM_SlaveConfigSynchronization(&htim_left, &sTimConfig);
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCNPolarity = TIM_OCNPOLARITY_LOW;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCNPolarity = TIM_OCNPOLARITY_LOW;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_SET;
HAL_TIM_PWM_ConfigChannel(&htim_left, &sConfigOC, TIM_CHANNEL_1);
HAL_TIM_PWM_ConfigChannel(&htim_left, &sConfigOC, TIM_CHANNEL_2);
HAL_TIM_PWM_ConfigChannel(&htim_left, &sConfigOC, TIM_CHANNEL_3);
sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_ENABLE;
sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_ENABLE;
sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_ENABLE;
sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
sBreakDeadTimeConfig.DeadTime = DEAD_TIME;
sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_LOW;
sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
sBreakDeadTimeConfig.DeadTime = DEAD_TIME;
sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_LOW;
sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
HAL_TIMEx_ConfigBreakDeadTime(&htim_left, &sBreakDeadTimeConfig);
HAL_TIM_PWM_Start(&htim_left, TIM_CHANNEL_1);
@@ -267,27 +280,26 @@ void MX_TIM_Init(void){
__HAL_TIM_ENABLE(&htim_right);
}
void MX_ADC1_Init(void)
{
void MX_ADC1_Init(void) {
ADC_MultiModeTypeDef multimode;
ADC_ChannelConfTypeDef sConfig;
__HAL_RCC_ADC1_CLK_ENABLE();
hadc1.Instance = ADC1;
hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE;
hadc1.Init.ContinuousConvMode = DISABLE;
hadc1.Instance = ADC1;
hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE;
hadc1.Init.ContinuousConvMode = DISABLE;
hadc1.Init.DiscontinuousConvMode = DISABLE;
hadc1.Init.ExternalTrigConv = ADC_EXTERNALTRIGCONV_T8_TRGO;
hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc1.Init.NbrOfConversion = 5;
hadc1.Init.ExternalTrigConv = ADC_EXTERNALTRIGCONV_T8_TRGO;
hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc1.Init.NbrOfConversion = 5;
HAL_ADC_Init(&hadc1);
/**Enable or disable the remapping of ADC1_ETRGREG:
/**Enable or disable the remapping of ADC1_ETRGREG:
* ADC1 External Event regular conversion is connected to TIM8 TRG0
*/
__HAL_AFIO_REMAP_ADC1_ETRGREG_ENABLE();
/**Configure the ADC multi-mode
/**Configure the ADC multi-mode
*/
multimode.Mode = ADC_DUALMODE_REGSIMULT;
HAL_ADCEx_MultiModeConfigChannel(&hadc1, &multimode);
@@ -295,23 +307,23 @@ void MX_ADC1_Init(void)
sConfig.SamplingTime = ADC_SAMPLETIME_13CYCLES_5;
sConfig.Channel = ADC_CHANNEL_14;
sConfig.Rank = 1;
sConfig.Rank = 1;
HAL_ADC_ConfigChannel(&hadc1, &sConfig);
sConfig.Channel = ADC_CHANNEL_1;
sConfig.Rank = 2;
sConfig.Rank = 2;
HAL_ADC_ConfigChannel(&hadc1, &sConfig);
sConfig.Channel = ADC_CHANNEL_11;
sConfig.Rank = 3;
sConfig.Rank = 3;
HAL_ADC_ConfigChannel(&hadc1, &sConfig);
sConfig.Channel = ADC_CHANNEL_12;
sConfig.Rank = 4;
sConfig.Rank = 4;
HAL_ADC_ConfigChannel(&hadc1, &sConfig);
sConfig.Channel = ADC_CHANNEL_12;
sConfig.Rank = 5;
sConfig.Rank = 5;
HAL_ADC_ConfigChannel(&hadc1, &sConfig);
hadc1.Instance->CR2 |= ADC_CR2_DMA;
@@ -320,11 +332,11 @@ void MX_ADC1_Init(void)
__HAL_RCC_DMA1_CLK_ENABLE();
DMA1_Channel1->CCR = 0;
DMA1_Channel1->CCR = 0;
DMA1_Channel1->CNDTR = 5;
DMA1_Channel1->CPAR = (uint32_t)&(ADC1->DR);
DMA1_Channel1->CMAR = (uint32_t)&adc_buffer;
DMA1_Channel1->CCR = DMA_CCR_MSIZE_1 | DMA_CCR_PSIZE_1 | DMA_CCR_MINC | DMA_CCR_CIRC | DMA_CCR_TCIE;
DMA1_Channel1->CPAR = (uint32_t) & (ADC1->DR);
DMA1_Channel1->CMAR = (uint32_t)&adc_buffer;
DMA1_Channel1->CCR = DMA_CCR_MSIZE_1 | DMA_CCR_PSIZE_1 | DMA_CCR_MINC | DMA_CCR_CIRC | DMA_CCR_TCIE;
DMA1_Channel1->CCR |= DMA_CCR_EN;
HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 0, 0);
@@ -332,45 +344,44 @@ void MX_ADC1_Init(void)
}
/* ADC2 init function */
void MX_ADC2_Init(void)
{
void MX_ADC2_Init(void) {
ADC_ChannelConfTypeDef sConfig;
__HAL_RCC_ADC2_CLK_ENABLE();
// HAL_ADC_DeInit(&hadc2);
// hadc2.Instance->CR2 = 0;
/**Common config
/**Common config
*/
hadc2.Instance = ADC2;
hadc2.Init.ScanConvMode = ADC_SCAN_ENABLE;
hadc2.Init.ContinuousConvMode = DISABLE;
hadc2.Instance = ADC2;
hadc2.Init.ScanConvMode = ADC_SCAN_ENABLE;
hadc2.Init.ContinuousConvMode = DISABLE;
hadc2.Init.DiscontinuousConvMode = DISABLE;
hadc2.Init.ExternalTrigConv = ADC_SOFTWARE_START;
hadc2.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc2.Init.NbrOfConversion = 5;
hadc2.Init.ExternalTrigConv = ADC_SOFTWARE_START;
hadc2.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc2.Init.NbrOfConversion = 5;
HAL_ADC_Init(&hadc2);
sConfig.SamplingTime = ADC_SAMPLETIME_13CYCLES_5;
sConfig.Channel = ADC_CHANNEL_15;
sConfig.Rank = 1;
sConfig.Rank = 1;
HAL_ADC_ConfigChannel(&hadc2, &sConfig);
sConfig.Channel = ADC_CHANNEL_13;
sConfig.Rank = 2;
sConfig.Rank = 2;
HAL_ADC_ConfigChannel(&hadc2, &sConfig);
sConfig.Channel = ADC_CHANNEL_10;
sConfig.Rank = 3;
sConfig.Rank = 3;
HAL_ADC_ConfigChannel(&hadc2, &sConfig);
sConfig.Channel = ADC_CHANNEL_2;
sConfig.Rank = 4;
sConfig.Rank = 4;
HAL_ADC_ConfigChannel(&hadc2, &sConfig);
sConfig.Channel = ADC_CHANNEL_3;
sConfig.Rank = 5;
sConfig.Rank = 5;
HAL_ADC_ConfigChannel(&hadc2, &sConfig);
hadc2.Instance->CR2 |= ADC_CR2_DMA;