mirror of https://github.com/rusefi/bldc.git
127 lines
3.3 KiB
C
127 lines
3.3 KiB
C
/*
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Copyright 2024 Benjamin Vedder benjamin@vedder.se
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This file is part of the VESC firmware.
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The VESC firmware is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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The VESC firmware is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "pwm_servo.h"
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#include "ch.h"
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#include "hal.h"
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#include "conf_general.h"
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#include "utils.h"
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#pragma GCC push_options
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#pragma GCC optimize ("Os")
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// Settings
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#define TIM_CLOCK 2000000 // Hz
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// Private variables
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static volatile bool m_is_running = false;
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uint32_t pwm_servo_init(uint32_t freq_hz, float duty) {
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// Ensure that there is no overflow and that the resolution is reasonable
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utils_truncate_number_uint32(&freq_hz, TIM_CLOCK / 65000, TIM_CLOCK / 100);
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palSetPadMode(HW_ICU_GPIO, HW_ICU_PIN, PAL_MODE_ALTERNATE(HW_ICU_GPIO_AF) |
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PAL_STM32_OSPEED_HIGHEST | PAL_STM32_PUDR_FLOATING);
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HW_ICU_TIM_CLK_EN();
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HW_ICU_TIMER->CR1 = 0;
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HW_ICU_TIMER->ARR = (uint16_t)((uint32_t)TIM_CLOCK / (uint32_t)freq_hz);
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HW_ICU_TIMER->PSC = (uint16_t)((168000000 / 2) / TIM_CLOCK) - 1;
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HW_ICU_TIMER->EGR = TIM_PSCReloadMode_Immediate;
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utils_truncate_number(&duty, 0.0, 1.0);
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uint32_t output = (uint32_t)((float)HW_ICU_TIMER->ARR * duty);
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if (HW_ICU_CHANNEL == ICU_CHANNEL_1) {
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HW_ICU_TIMER->CCER = TIM_OutputState_Enable;
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HW_ICU_TIMER->CCMR1 = TIM_OCMode_PWM1 | TIM_OCPreload_Enable;
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HW_ICU_TIMER->CCR1 = output;
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} else if (HW_ICU_CHANNEL == ICU_CHANNEL_2) {
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HW_ICU_TIMER->CCER = (TIM_OutputState_Enable << 4);
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HW_ICU_TIMER->CCMR1 = (TIM_OCMode_PWM1 << 8) | (TIM_OCPreload_Enable << 8);
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HW_ICU_TIMER->CCR2 = output;
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}
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HW_ICU_TIMER->CR1 |= TIM_CR1_ARPE;
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pwm_servo_set_servo_out(0.5);
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HW_ICU_TIMER->CR1 |= TIM_CR1_CEN;
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m_is_running = true;
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return freq_hz;
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}
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void pwm_servo_init_servo(void) {
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pwm_servo_init(SERVO_OUT_RATE_HZ, 0.0);
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}
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void pwm_servo_stop(void) {
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if (m_is_running) {
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palSetPadMode(HW_ICU_GPIO, HW_ICU_PIN, PAL_MODE_INPUT);
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}
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TIM_DeInit(HW_ICU_TIMER);
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m_is_running = false;
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}
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float pwm_servo_set_duty(float duty) {
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if (!m_is_running) {
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return -1.0;
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}
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utils_truncate_number(&duty, 0.0, 1.0);
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uint32_t output = (uint32_t)((float)HW_ICU_TIMER->ARR * duty);
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if (HW_ICU_CHANNEL == ICU_CHANNEL_1) {
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HW_ICU_TIMER->CCR1 = output;
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} else if (HW_ICU_CHANNEL == ICU_CHANNEL_2) {
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HW_ICU_TIMER->CCR2 = output;
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}
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return (float)output / (float)HW_ICU_TIMER->ARR;
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}
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void pwm_servo_set_servo_out(float output) {
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if (!m_is_running) {
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return;
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}
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utils_truncate_number(&output, 0.0, 1.0);
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float us = (float)SERVO_OUT_PULSE_MIN_US + output *
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(float)(SERVO_OUT_PULSE_MAX_US - SERVO_OUT_PULSE_MIN_US);
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us *= (float)TIM_CLOCK / 1000000.0;
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if (HW_ICU_CHANNEL == ICU_CHANNEL_1) {
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HW_ICU_TIMER->CCR1 = (uint32_t)us;
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} else if (HW_ICU_CHANNEL == ICU_CHANNEL_2) {
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HW_ICU_TIMER->CCR2 = (uint32_t)us;
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}
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}
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bool pwm_servo_is_running(void) {
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return m_is_running;
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}
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#pragma GCC pop_options
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