#include "DcMotor.h" #include "stm32f1xx_ll_gpio.h" #include "stm32f1xx_ll_bus.h" #include "stm32f1xx_ll_tim.h" #define ARR_DC_MOTOR 50000 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; } }