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Here are those changes... Worked in another repositiry hehe

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This commit is contained in:
Hakan Bastedt
2024-01-01 20:40:29 +01:00
parent 703bbfb03a
commit f99d9bab77
2 changed files with 31 additions and 273 deletions
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270
Firmware/src/Stepper.cpp
View File

@@ -1,270 +0,0 @@
#include <Arduino.h>
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2023 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "Stepper.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
TIM_HandleTypeDef htim1;
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_TIM1_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
if (htim->Instance == TIM1)
{
//__HAL_RCC_GPIOE_CLK_ENABLE();
/**TIM1 GPIO Configuration
PE9 ------> TIM1_CH1
PA8 ------< TIM1_CH1
*/
GPIO_InitStruct.Pin = GPIO_PIN_11; // 9;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
// HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
}
}
/**
* @brief The application entry point.
* @retval int
*/
void StepperSetup(void)
{
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
// HAL_Init();
// SystemClock_Config();
/* Initialize all configured peripherals */
// MX_GPIO_Init();
MX_TIM1_Init();
// htim1.Instance->ARR = 1;
// htim1.Instance->CCR1 = 1;
HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_4);
TIM_TypeDef *TIMM = TIM1;
#define CLOCK_FREQ (168000000-2000000)
// Best range on timer clock frequency/pulse length/65355 +1 => best resolution in the pulse range
TIM1->PSC = CLOCK_FREQ / 1000 / (1 << 16);
/* Infinite loop */
#if 0
while (1)
{
makePulses(1200, 15);
HAL_Delay(1000);
}
#endif
}
void makePulses(uint32_t totalLength /* µsec */, uint32_t nPulses)
{
uint64_t TickFreq = CLOCK_FREQ / (TIM1->PSC+1); // 56 MHz at PSC=2
uint64_t TicksTotal = TickFreq * totalLength / 1000000; // Total number of ticks during this time, ca 56000
uint32_t TicksPerPulse = TicksTotal / nPulses;
TIM1->ARR = TicksPerPulse - 1;
TIM1->CCR1 = TicksPerPulse / 2;
TIM1->RCR = nPulses - 1;
TIM1->EGR = TIM_EGR_UG;
TIM1->CR1 |= TIM_CR1_OPM;
TIM1->CR1 |= TIM_CR1_CEN;
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/** Configure the main internal regulator output voltage
*/
__HAL_RCC_PWR_CLK_ENABLE();
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
RCC_OscInitStruct.PLL.PLLM = 8;
RCC_OscInitStruct.PLL.PLLN = 168;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
RCC_OscInitStruct.PLL.PLLQ = 4;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
/** Initializes the CPU, AHB and APB buses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
{
Error_Handler();
}
}
/**
* @brief TIM1 Initialization Function
* @param None
* @retval None
*/
static void MX_TIM1_Init(void)
{
/* USER CODE BEGIN TIM1_Init 0 */
/* USER CODE END TIM1_Init 0 */
TIM_ClockConfigTypeDef sClockSourceConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
TIM_OC_InitTypeDef sConfigOC = {0};
TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
/* USER CODE BEGIN TIM1_Init 1 */
/* USER CODE END TIM1_Init 1 */
htim1.Instance = TIM1;
htim1.Init.Prescaler = 70;
htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
htim1.Init.Period = 65535;
htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim1.Init.RepetitionCounter = 10;
htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
if (HAL_TIM_Base_Init(&htim1) != HAL_OK)
{
Error_Handler();
}
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK)
{
Error_Handler();
}
if (HAL_TIM_PWM_Init(&htim1) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM2;
sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
{
Error_Handler();
}
sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
sBreakDeadTimeConfig.DeadTime = 0;
sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM1_Init 2 */
/* USER CODE END TIM1_Init 2 */
HAL_TIM_MspPostInit(&htim1);
}
/**
* @brief GPIO Initialization Function
* @param None
* @retval None
*/
static void MX_GPIO_Init(void)
{
/* USER CODE BEGIN MX_GPIO_Init_1 */
/* USER CODE END MX_GPIO_Init_1 */
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOH_CLK_ENABLE();
__HAL_RCC_GPIOE_CLK_ENABLE();
/* USER CODE BEGIN MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
}
/* USER CODE BEGIN 4 */
/* USER CODE END 4 */

34
Firmware/src/main.cpp
View File

@@ -1,4 +1,5 @@
#include <Arduino.h> #include <Arduino.h>
#include <HardwareTimer.h>
#include <stdio.h> #include <stdio.h>
extern "C" extern "C"
@@ -17,7 +18,6 @@ int64_t unwrap_encoder(uint16_t in, int64_t *prev);
Encoder EncoderInit; Encoder EncoderInit;
Encoder *encP = &EncoderInit; Encoder *encP = &EncoderInit;
#include "Stepper.h"
#define INDEX_PIN PA2 #define INDEX_PIN PA2
HardwareSerial Serial1(PA10, PA9); HardwareSerial Serial1(PA10, PA9);
_Objects Obj; _Objects Obj;
@@ -103,12 +103,40 @@ static esc_cfg_t config =
.esc_check_dc_handler = dc_checker, .esc_check_dc_handler = dc_checker,
}; };
#define STEPPER_DIR PA12 #define STEPPER_DIR PA12
#define STEPPER_STEP_PIN PA11
HardwareTimer *MyTim;
volatile uint32_t stepCount = 0;
void TimerStep_CB(void)
{
stepCount++;
digitalWrite(STEPPER_STEP_PIN, !digitalRead(STEPPER_STEP_PIN));
if (stepCount >= 10)
{
MyTim->pause();
}
}
void setup(void) void setup(void)
{ {
Serial1.begin(115200); Serial1.begin(115200);
rcc_config(); rcc_config();
StepperSetup(); TIM_TypeDef *Instance = TIM1;
MyTim = new HardwareTimer(Instance);
MyTim->setMode(4, TIMER_OUTPUT_COMPARE_PWM2, STEPPER_STEP_PIN);
MyTim->setOverflow(5000, HERTZ_FORMAT);
MyTim->setCaptureCompare(4, 50, PERCENT_COMPARE_FORMAT); // 50%
MyTim->attachInterrupt(TimerStep_CB);
MyTim->resume();
while (1)
{
HAL_Delay(5);
stepCount = 0;
MyTim->resume();
}
// Set starting count value // Set starting count value
EncoderInit.SetCount(Tim2, 0); EncoderInit.SetCount(Tim2, 0);
// EncoderInit.SetCount(Tim3, 0); // EncoderInit.SetCount(Tim3, 0);
@@ -185,7 +213,7 @@ void sync0Handler(void)
digitalWrite(STEPPER_DIR, forwardDirection); // I think one should really wait a bit when changed digitalWrite(STEPPER_DIR, forwardDirection); // I think one should really wait a bit when changed
Obj.DiffT = forwardDirection; Obj.DiffT = forwardDirection;
// Make the pulses using hardware timer // Make the pulses using hardware timer
makePulses(sync0CycleTime / 1000, pulsesToGo); // makePulses(sync0CycleTime / 1000, pulsesToGo);
} }
void ESC_interrupt_enable(uint32_t mask) void ESC_interrupt_enable(uint32_t mask)