mirror of https://github.com/rusefi/bldc.git
105 lines
3.0 KiB
C
105 lines
3.0 KiB
C
/*
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Copyright 2016 - 2021 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 "servo_simple.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 "stm32f4xx_conf.h"
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#include "utils_math.h"
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/**
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* TODO: Use the chibios driver instead of the ST-driver.
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*/
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// Settings
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#define TIM_CLOCK 1000000 // Hz
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// Private variables
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static volatile bool m_is_running = false;
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void servo_simple_init(void) {
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TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
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TIM_OCInitTypeDef TIM_OCInitStructure;
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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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TIM_TimeBaseStructure.TIM_Period = (uint16_t)((uint32_t)TIM_CLOCK / (uint32_t)SERVO_OUT_RATE_HZ);
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TIM_TimeBaseStructure.TIM_Prescaler = (uint16_t)((168000000 / 2) / TIM_CLOCK) - 1;
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TIM_TimeBaseStructure.TIM_ClockDivision = 0;
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TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
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TIM_TimeBaseInit(HW_ICU_TIMER, &TIM_TimeBaseStructure);
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TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
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TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
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TIM_OCInitStructure.TIM_Pulse = 0;
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TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
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if (HW_ICU_CHANNEL == ICU_CHANNEL_1) {
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TIM_OC1Init(HW_ICU_TIMER, &TIM_OCInitStructure);
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TIM_OC1PreloadConfig(HW_ICU_TIMER, TIM_OCPreload_Enable);
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} else if (HW_ICU_CHANNEL == ICU_CHANNEL_2) {
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TIM_OC2Init(HW_ICU_TIMER, &TIM_OCInitStructure);
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TIM_OC2PreloadConfig(HW_ICU_TIMER, TIM_OCPreload_Enable);
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}
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TIM_ARRPreloadConfig(HW_ICU_TIMER, ENABLE);
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servo_simple_set_output(0.5);
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TIM_Cmd(HW_ICU_TIMER, ENABLE);
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m_is_running = true;
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}
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void servo_simple_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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TIM_Cmd(HW_ICU_TIMER, DISABLE);
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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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}
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bool servo_simple_is_running(void) {
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return m_is_running;
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}
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void servo_simple_set_output(float out) {
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if (!m_is_running) {
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return;
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}
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utils_truncate_number(&out, 0.0, 1.0);
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float us = (float)SERVO_OUT_PULSE_MIN_US + out *
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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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