Merge branch 'dc_motor' into rf_input

keil_project/MyDrivers/MyUart.c

@@ -0,0 +1,67 @@
+#include "MyUart.h"
+#include "stm32f1xx_ll_bus.h"
+#include "stm32f1xx_ll_usart.h"
+#include "stm32f1xx_ll_gpio.h"
+
+void MyUart_Conf(USART_TypeDef * uart_port, int baudrate){
+
+	LL_USART_InitTypeDef My_LL_Usart_Init_Struct;
+	
+	if (uart_port==USART1) {
+		LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_USART1);
+		LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOA);
+		LL_GPIO_InitTypeDef tx;
+	  tx.Mode = LL_GPIO_MODE_ALTERNATE;
+	  tx.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
+	  tx.Speed = LL_GPIO_SPEED_FREQ_LOW;
+	  tx.Pin = LL_GPIO_PIN_9;
+	  LL_GPIO_Init(GPIOA, &tx);
+	}
+	if (uart_port==USART2){ 
+		LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_USART2);
+		LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOA);
+	  LL_GPIO_InitTypeDef tx;
+	  tx.Mode = LL_GPIO_MODE_ALTERNATE;
+	  tx.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
+		tx.Pull = LL_GPIO_PULL_UP;
+	  tx.Speed = LL_GPIO_SPEED_FREQ_LOW;
+	  tx.Pin = LL_GPIO_PIN_2;
+	  LL_GPIO_Init(GPIOA, &tx);
+	}
+	if (uart_port==USART3){
+		LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_USART3);
+		LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOC);
+		LL_GPIO_InitTypeDef tx;
+	  tx.Mode = LL_GPIO_MODE_ALTERNATE;
+	  tx.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
+		tx.Pull = LL_GPIO_PULL_UP;
+	  tx.Speed = LL_GPIO_SPEED_FREQ_LOW;
+	  tx.Pin = LL_GPIO_PIN_10;
+	  LL_GPIO_Init(GPIOC, &tx);
+	}
+
+	My_LL_Usart_Init_Struct.BaudRate = baudrate;
+	My_LL_Usart_Init_Struct.DataWidth = LL_USART_DATAWIDTH_8B ;
+	My_LL_Usart_Init_Struct.HardwareFlowControl = LL_USART_HWCONTROL_NONE;
+	My_LL_Usart_Init_Struct.OverSampling = LL_USART_OVERSAMPLING_16;
+	My_LL_Usart_Init_Struct.Parity = LL_USART_PARITY_NONE;
+	My_LL_Usart_Init_Struct.StopBits = LL_USART_STOPBITS_1;
+	My_LL_Usart_Init_Struct.TransferDirection = LL_USART_DIRECTION_TX_RX ;
+	
+	LL_USART_Init(uart_port,&My_LL_Usart_Init_Struct);
+	LL_USART_Enable(uart_port);
+	
+	/*int periph_speed;
+	if (uart_port==USART1) periph_speed = 36000000;
+	if (uart_port==USART2) periph_speed = 72000000;
+	if (uart_port==USART3) periph_speed = 72000000;
+
+	LL_USART_SetBaudRate(uart_port, periph_speed, baudrate);
+*/}
+
+void MyUart_send_bytes(USART_TypeDef * uart_port,char* buf, int len){
+	for(int i = 0; i < len; i++){
+		LL_USART_TransmitData8(uart_port, buf[i]);
+		while(!LL_USART_IsActiveFlag_TXE(uart_port));
+	}	
+}

keil_project/MyDrivers/MyUart.h

@@ -0,0 +1,10 @@
+#ifndef MYUART_H
+#define MYUART_H
+
+#include "stm32f1xx_ll_usart.h"
+
+void MyUart_Conf(USART_TypeDef * uart_port, int baudrate);
+
+void MyUart_send_bytes(USART_TypeDef * uart_port,char* buf, int len);
+
+#endif

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;
+	}
+}

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);

keil_project/Services/IncrEncoder.c

@@ -0,0 +1,98 @@
+#include "IncrEncoder.h"
+#include "stm32f1xx_ll_gpio.h" 
+#include "stm32f1xx_ll_bus.h"
+#include "stm32f1xx_ll_exti.h"
+#include "stm32f1xx_ll_tim.h"
+
+int index_passed = 0;
+int counts_per_revolution = 360;
+
+void INCR_ENCODER_Init(void){
+	
+	// GPIO initialization for channels a and b of the encoder
+	LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOA);
+	LL_GPIO_InitTypeDef  channel_a_pin_conf, channel_b_pin_conf;
+	
+	channel_a_pin_conf.Mode = LL_GPIO_MODE_FLOATING;
+	channel_a_pin_conf.Pin = LL_GPIO_PIN_6;
+	LL_GPIO_Init(GPIOA, &channel_a_pin_conf);
+	
+	channel_b_pin_conf.Mode = LL_GPIO_MODE_FLOATING;
+	channel_b_pin_conf.Pin = LL_GPIO_PIN_7;
+	LL_GPIO_Init(GPIOA, &channel_b_pin_conf);
+	
+	// timer init
+	LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_TIM3);
+	LL_TIM_InitTypeDef tim3_init_struct;
+	
+	tim3_init_struct.Autoreload= counts_per_revolution*4-1;
+	tim3_init_struct.Prescaler=0;
+	tim3_init_struct.ClockDivision=LL_TIM_CLOCKDIVISION_DIV1;
+	tim3_init_struct.CounterMode=LL_TIM_COUNTERMODE_UP;
+	tim3_init_struct.RepetitionCounter=0;
+	
+	LL_TIM_Init(TIM3, &tim3_init_struct);
+	
+	// timer as encoder init
+	LL_TIM_ENCODER_InitTypeDef encoder_init_struct;
+	encoder_init_struct.EncoderMode = LL_TIM_ENCODERMODE_X4_TI12;
+	encoder_init_struct.IC1Polarity =  LL_TIM_IC_POLARITY_RISING;
+	encoder_init_struct.IC2Polarity = LL_TIM_IC_POLARITY_RISING;
+	encoder_init_struct.IC1ActiveInput = LL_TIM_ACTIVEINPUT_DIRECTTI;
+	encoder_init_struct.IC2ActiveInput = LL_TIM_ACTIVEINPUT_DIRECTTI;
+	encoder_init_struct.IC1Prescaler = LL_TIM_ICPSC_DIV1;
+	encoder_init_struct.IC2Prescaler= LL_TIM_ICPSC_DIV1;
+	encoder_init_struct.IC1Filter = LL_TIM_IC_FILTER_FDIV1 ;
+	encoder_init_struct.IC2Filter = LL_TIM_IC_FILTER_FDIV1 ;
+	
+  LL_TIM_ENCODER_Init(TIM3, &encoder_init_struct);
+	
+  LL_TIM_EnableCounter(TIM3);
+	LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOA);
+	LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_AFIO);
+
+	
+	// gpio init for index (interrup) pin
+	LL_GPIO_InitTypeDef index_pin_conf;
+	
+	index_pin_conf.Pin = LL_GPIO_PIN_5;
+	index_pin_conf.Mode = LL_GPIO_MODE_FLOATING;
+	
+	LL_GPIO_Init(GPIOC, &index_pin_conf);
+	
+	// exti init (interrupt)
+	LL_EXTI_InitTypeDef exti;
+	
+	exti.Line_0_31 = LL_EXTI_LINE_5;
+	exti.LineCommand = ENABLE;
+	exti.Mode = LL_EXTI_MODE_IT;
+	exti.Trigger = LL_EXTI_TRIGGER_RISING;
+	
+	LL_EXTI_Init(&exti);
+	LL_GPIO_AF_SetEXTISource(LL_GPIO_AF_EXTI_PORTA, LL_GPIO_AF_EXTI_LINE5);
+  
+	// enable interrupt from exti in NVIC
+	NVIC_SetPriority(EXTI9_5_IRQn, 12); // prio??
+	NVIC_EnableIRQ(EXTI9_5_IRQn);
+	
+}
+
+void EXTI9_5_IRQHandler(void){
+	index_passed = 1;
+	// reset counter = encoder position to 0 position
+	LL_TIM_WriteReg(TIM3,CNT,0);
+	
+	// clear pending (EXTI necessary ?)
+	LL_EXTI_ClearFlag_0_31(LL_EXTI_LINE_5);
+	NVIC_ClearPendingIRQ(EXTI9_5_IRQn);
+}
+
+int INCR_ENCODER_IsAbsolute(void)
+{
+	return index_passed;
+};
+
+int INCR_ENCODER_GetAngle(void)
+{
+	return LL_TIM_ReadReg(TIM3,CNT);
+};

keil_project/Services/IncrEncoder.h

@@ -0,0 +1,11 @@
+#ifndef INCR_ENCODER
+
+/**
+  */
+void INCR_ENCODER_Init(void);
+
+int INCR_ENCODER_IsAbsolute(void);
+
+int INCR_ENCODER_GetAngle(void);
+
+#endif

keil_project/Src/main.c

@@ -20,8 +20,8 @@
 #include "stm32f1xx_ll_utils.h"   // utile dans la fonction SystemClock_Config
 #include "stm32f1xx_ll_system.h" // utile dans la fonction SystemClock_Config
 
-#include "Chrono.h"
 #include "RFInput.h"
+#include "IncrEncoder.h"
 
 void  SystemClock_Config(void);
 
@@ -40,23 +40,12 @@ int main(void)
   /* Configure the system clock to 72 MHz */
   SystemClock_Config();
 	
-	/*GPIOB->CRH &= ~GPIO_CRH_CNF8_1;
-	GPIOB->CRH |= GPIO_CRH_CNF8_0; // set cnf to 01 -> floating input
-	GPIOB->CRH &= ~GPIO_CRH_MODE8; // set mode to 00 -> input
-	
-	GPIOC->CRH &= ~GPIO_CRH_CNF10; // set cnf to 00 -> push-pull
-	GPIOC->CRH &= ~GPIO_CRH_MODE10;
-	GPIOC->CRH |= GPIO_CRH_MODE10_1; // set mode to 10 -> output at 2 mhz (recommended to use minimum speed)
-	*/
-	
-  /* Add your application code here */
-  // Configuration chronomètre
 	RF_INPUT_Init();
 
-  
   /* Infinite loop */
   while (1)
   {
+
   }
 }