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dc motor working in simulation in both directions

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Jasper Güldenstein 2020-11-11 15:07:33 +01:00
parent 974f5e966b
commit 2afa1b1e33
2 changed files with 71 additions and 0 deletions
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67
keil_project/Services/DcMotor.c Normal file
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#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;
}
}

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keil_project/Services/DcMotor.h Normal file
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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);