From 2afa1b1e33a1eb5529dbbba9a409a6bdab00a638 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jasper=20G=C3=BCldenstein?= <me@jgueldenstein.de>
Date: Wed, 11 Nov 2020 15:07:33 +0100
Subject: [PATCH] dc motor working in simulation in both directions

---
 keil_project/Services/DcMotor.c | 67 +++++++++++++++++++++++++++++++++
 keil_project/Services/DcMotor.h |  4 ++
 2 files changed, 71 insertions(+)
 create mode 100644 keil_project/Services/DcMotor.c
 create mode 100644 keil_project/Services/DcMotor.h

diff --git a/keil_project/Services/DcMotor.c b/keil_project/Services/DcMotor.c
new file mode 100644
index 0000000..da755eb
--- /dev/null
+++ b/keil_project/Services/DcMotor.c
@@ -0,0 +1,67 @@
+#include "DcMotor.h"
+#include "stm32f1xx_ll_gpio.h" 
+#include "stm32f1xx_ll_bus.h"
+#include "stm32f1xx_ll_tim.h" 
+
+#define ARR_DC_MOTOR 20000
+void DC_MOTOR_Init(void) {
+	// use TIM2 since it has pa1 at channel 2 output
+	// setup timer 2
+	LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_TIM2);
+	LL_TIM_InitTypeDef tim_init;
+	// todo check switching behavior of the mosfet to determine period of switching 
+	tim_init.Prescaler = 71;
+	tim_init.Autoreload = ARR_DC_MOTOR - 1;
+	tim_init.ClockDivision=LL_TIM_CLOCKDIVISION_DIV1;
+	tim_init.CounterMode=LL_TIM_COUNTERMODE_UP;
+	tim_init.RepetitionCounter=0;
+	LL_TIM_Init(TIM2, &tim_init);
+	
+	// setup gpio
+	LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOA);
+	LL_GPIO_InitTypeDef servo_gpio_init;
+	servo_gpio_init.Pin = LL_GPIO_PIN_1;
+  servo_gpio_init.Mode = LL_GPIO_MODE_ALTERNATE;
+  servo_gpio_init.Speed = LL_GPIO_SPEED_FREQ_LOW;
+  servo_gpio_init.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
+	LL_GPIO_Init(GPIOA, &servo_gpio_init);
+	
+	// setup output compare
+	LL_TIM_OC_InitTypeDef oc_init;
+	oc_init.OCMode = LL_TIM_OCMODE_PWM1;
+	oc_init.OCState = LL_TIM_OCSTATE_ENABLE;
+	oc_init.OCNState = LL_TIM_OCSTATE_ENABLE;
+	oc_init.CompareValue = 0; // off at start
+	oc_init.OCPolarity = LL_TIM_OCPOLARITY_HIGH;
+	oc_init.OCNPolarity = LL_TIM_OCPOLARITY_LOW;
+	oc_init.OCIdleState = LL_TIM_OCIDLESTATE_LOW;
+	oc_init.OCNIdleState = LL_TIM_OCIDLESTATE_HIGH;
+	LL_TIM_OC_Init(TIM2, LL_TIM_CHANNEL_CH2, &oc_init);
+	LL_TIM_EnableCounter(TIM2);
+	
+	// init gpio for direction (sense) pin
+	LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOA);
+
+	
+	LL_GPIO_InitTypeDef pa2_init_conf;
+	pa2_init_conf.Mode = LL_GPIO_MODE_OUTPUT;
+	pa2_init_conf.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
+	pa2_init_conf.Speed = LL_GPIO_SPEED_FREQ_LOW;
+	pa2_init_conf.Pin = LL_GPIO_PIN_2;
+	LL_GPIO_Init(GPIOA, &pa2_init_conf);
+
+}
+
+void DC_MOTOR_SetSpeed(int speed){
+	if(speed <= 100 && speed >= 0){
+		LL_GPIO_SetOutputPin(GPIOA,LL_GPIO_PIN_2);
+		int converted_speed = speed * (ARR_DC_MOTOR / 100);
+		TIM2->CCR2 = converted_speed;		
+	} else if (speed >= -100 && speed <= 0) {
+		LL_GPIO_ResetOutputPin(GPIOA,LL_GPIO_PIN_2); // TODO maybe switch around set and reset, depending on direction of turning
+		int converted_speed = (-1) * speed * (ARR_DC_MOTOR / 100);
+		TIM2->CCR2 = converted_speed;	
+	} else {
+		TIM2->CCR2 = 0;
+	}
+}
diff --git a/keil_project/Services/DcMotor.h b/keil_project/Services/DcMotor.h
new file mode 100644
index 0000000..178164f
--- /dev/null
+++ b/keil_project/Services/DcMotor.h
@@ -0,0 +1,4 @@
+void DC_MOTOR_Init(void);
+
+// set a speed between -100 (full throttle clockwise) 0 (stop) and 100 (full throttle counterclockwise)
+void DC_MOTOR_SetSpeed(int speed);