Diff: io.cpp

Revision:

0:f899a5183b5e

Child:

1:2acd7dfc4b1b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/io.cpp	Mon Oct 03 04:56:06 2016 +0000
@@ -0,0 +1,167 @@
+#include "mbed.h"
+#include "config.h"
+#include "io.h"
+#include "foc.h"
+
+Serial pc_ser(USBTX, USBRX);
+Serial debug_ser(PC_10, PC_11);
+Serial panel_ser(PC_6, PC_7);
+
+volatile bool enabled = false;
+volatile bool error = false;
+
+bool getError()
+{
+    return error;
+}
+
+void setError()
+{
+    error = true;
+}
+
+bool getEnabled()
+{
+    return enabled;
+}
+
+void setEnabled(bool _enabled)
+{
+    enabled = _enabled;
+}
+void setup()
+{
+    getSerial(0)->baud(SERIAL_BAUD); //set serial baud
+    getSerial(1)->baud(SERIAL_BAUD); //set serial baud
+    getSerial(2)->baud(SERIAL_BAUD); //set serial baud
+    
+    getSerial(0)->printf("GEORGE\n");
+    getSerial(0)->printf("*******INITIALIZING**********\n");
+    
+    getSerial(0)->printf("Setting up clocks...\n");
+    /*************************************
+                   CLOCKS 
+    **************************************/
+    RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN; //gpio a
+    RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN; //gpio b
+    RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN; //gpio c
+    RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;  //tim1
+    RCC->APB2ENR |= RCC_APB2ENR_ADC1EN;  //adc1
+    RCC->APB2ENR |= RCC_APB2ENR_ADC2EN;  //adc2
+    RCC->APB1ENR |= RCC_APB1ENR_DACEN;   //dac
+    
+    getSerial(0)->printf("Setting up interrupts...\n");
+    /*************************************
+                   INTERRUPTS 
+    **************************************/
+    NVIC_EnableIRQ(TIM1_UP_TIM10_IRQn); //setup interrupt controller
+    TIM1->DIER |= TIM_DIER_UIE;         //enable timer interrupts
+
+    getSerial(0)->printf("Setting up PWM...\n");
+    /************************************
+               PWM CONFIGURATION
+    *************************************/
+    //set center aligned mode bits to 10 (might be 01 though).
+    TIM1->CR1  |= TIM_CR1_CMS_1; //counts up and down, but only interrupts when counting up.
+    TIM1->EGR  |= TIM_EGR_UG; //reference manual says I need to go this.
+    //enable and set polarity of output compares (using 1, 2, 3)
+    TIM1->CCER |= TIM_CCER_CC3E;
+    TIM1->CCER |= TIM_CCER_CC3P;
+    TIM1->CCER |= TIM_CCER_CC2E;
+    TIM1->CCER |= TIM_CCER_CC2P;
+    TIM1->CCER |= TIM_CCER_CC1E;
+    TIM1->CCER |= TIM_CCER_CC1P;
+    
+    getSerial(0)->printf("Setting up Timers...\n");
+    /************************************
+              TIMER CONFIGURATION
+    *************************************/
+    //buffer the auto reload register (ARR) to update only on update event
+    TIM1->CR1 |= TIM_CR1_ARPE;
+    TIM1->RCR |= 0x01; //repetition counter set for 2 repetitions
+    TIM1->PSC = 0x0; //no prescaler.
+    //set counter maximum to value for 10 kHz PWM
+    TIM1->ARR = 0x2328; //this is for 20 kHz, which is think is a needed correction.
+    //counter needs to do two cycles for 1 full pwm cycle I think.
+    //this is due to the center aligned mode.
+
+    getSerial(0)->printf("Setting up ADC...\n");
+    /************************************
+                  ADC CONFIG
+    *************************************/
+    ADC->CCR |= 0b110; //set adc 1, 2 to sample together.
+    ADC1->SQR3 |= 0x4; //on ADC1, sample ADC12_IN channel 4 (PA4)
+    ADC2->SQR3 |= 0x8; //on ADC2, sample ADC12_IN channel 8 (PB0)
+    
+    getSerial(0)->printf("Setting up GPIO...\n");
+    getSerial(0)->printf("PWM pins are set up as 'alternate function'...\n");
+    getSerial(0)->printf("May eventually need to set speed, pullup...\n");
+    /************************************
+                GPIO CONFIG
+    *************************************/
+    //pwm outs
+    //0x2A0000 = 0b 10 10 10 00 00 00 00 00 00 00 00
+    GPIOA->MODER |= 0x2A0000;
+    //                109876543210
+    GPIOA->MODER |= 0b001100000000; //PA4 as analog.
+    GPIOB->MODER |= 0b000000000011; //PB0 as analog.
+    GPIOA->MODER |= 0b110000000000; //PA5 as analog.
+    
+    getSerial(0)->printf("Turning on ADC/DAC...\n");
+    /************************************
+                ADC/DAC START
+    *************************************/
+    ADC1->CR2 |= ADC_CR2_ADON; //adc 1 on
+    ADC2->CR2 |= ADC_CR2_ADON; //adc 2 on
+    DAC->CR   |= DAC_CR_EN2;   //dac 2 (PA5) on
+    
+    getSerial(0)->printf("Turning on TIMER\n");
+    /************************************
+                 TIMER START
+    *************************************/
+    TIM1->CR1 |= TIM_CR1_CEN; //enable!
+    wait_us(100000);
+    
+    /************************************
+                 ZERO CURRENT
+    *************************************/
+    
+    /************************************
+                   ENCODER
+    *************************************/    
+    
+    /************************************
+               FRONT PANEL BOARD
+    *************************************/
+    
+}
+
+Serial *getSerial(int port)
+{
+    switch(port)
+    {
+        case 0:
+            return &pc_ser;
+        case 1:
+            return &debug_ser;
+        case 2:
+            return &panel_ser;
+    }
+    return &pc_ser;
+}
+
+extern "C" void TIM1_UP_TIM10_IRQHandler(void)
+{
+    if(TIM1->SR & TIM_SR_UIF) {
+        if(getEnabled() && !getError()) sampleCurrent();
+        //else go turn off enabled pin.
+    }
+    TIM1->SR = 0;
+}
+
+void set_inverter(*Inverter invt)
+{
+    TIM1->CCR1 = volts_to_ticks(invt->v_a);
+    TIM1->CCR2 = volts_to_ticks(invt->v_b);
+    TIM1->CCR3 = volts_to_ticks(invt->v_c);
+}
\ No newline at end of file