void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
{
GPIO_InitTypeDef GPIO_InitStruct;
if(htim_base->Instance==TIM2)
{
/* USER CODE BEGIN TIM2_MspInit 0 */
/* USER CODE END TIM2_MspInit 0 */
/* Peripheral clock enable */
__TIM2_CLK_ENABLE();
/**TIM2 GPIO Configuration
PA0-WKUP ------> TIM2_CH1
*/
GPIO_InitStruct.Pin = GPIO_PIN_0;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USER CODE BEGIN TIM2_MspInit 1 */
/* USER CODE END TIM2_MspInit 1 */
}
else if(htim_base->Instance==TIM3)
{
/* USER CODE BEGIN TIM3_MspInit 0 */
/* USER CODE END TIM3_MspInit 0 */
/* Peripheral clock enable */
__TIM3_CLK_ENABLE();
/* USER CODE BEGIN TIM3_MspInit 1 */
/* USER CODE END TIM3_MspInit 1 */
}
else if(htim_base->Instance==TIM8)
{
/* USER CODE BEGIN TIM8_MspInit 0 */
/* USER CODE END TIM8_MspInit 0 */
/* Peripheral clock enable */
__TIM8_CLK_ENABLE();
/**TIM8 GPIO Configuration
PC6 ------> TIM8_CH1
*/
GPIO_InitStruct.Pin = GPIO_PIN_6;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/* USER CODE BEGIN TIM8_MspInit 1 */
/* USER CODE END TIM8_MspInit 1 */
}
}
void initTimers()
{
TIM_HandleTypeDef TIM_Handle;
// 10 kHz timer.
#if defined STM32F1
__TIM8_CLK_ENABLE();
TIM_Handle.Instance = TIM8;
TIM_Handle.Init.Prescaler = (uint16_t)(HAL_RCC_GetPCLK2Freq() / 10000) - 1;
#elif defined STM32F2
__TIM4_CLK_ENABLE();
TIM_Handle.Instance = TIM4;
TIM_Handle.Init.Prescaler = (uint16_t)(HAL_RCC_GetPCLK2Freq() / 100000) - 1;
#elif defined STM32F4
__TIM3_CLK_ENABLE();
TIM_Handle.Instance = TIM3;
// TIM3 Clocked from SYSCLK = 168 MHz
TIM_Handle.Init.Prescaler = (uint16_t)(HAL_RCC_GetSysClockFreq() / 10000) - 1;
#endif
// 1 Hz blinking
TIM_Handle.Init.Period = 10000;
TIM_Handle.Init.ClockDivision = 0;
TIM_Handle.Init.CounterMode = TIM_COUNTERMODE_UP;
HAL_TIM_Base_Init(&TIM_Handle);
HAL_TIM_PWM_Init(&TIM_Handle);
TIM_OC_InitTypeDef TIM_OCConfig;
TIM_OCConfig.OCMode = TIM_OCMODE_PWM1;
// 5000 / 10000 = 50% duty cycle.
TIM_OCConfig.Pulse = 4999;
TIM_OCConfig.OCPolarity = TIM_OCPOLARITY_HIGH;
TIM_OCConfig.OCFastMode = TIM_OCFAST_DISABLE;
#if defined STM32F1
HAL_TIM_PWM_ConfigChannel(&TIM_Handle, &TIM_OCConfig, TIM_CHANNEL_3);
HAL_TIM_PWM_Start(&TIM_Handle, TIM_CHANNEL_3);
#elif defined STM32F2
HAL_TIM_PWM_ConfigChannel(&TIM_Handle, &TIM_OCConfig, TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&TIM_Handle, TIM_CHANNEL_1);
#elif defined STM32F4
HAL_TIM_PWM_ConfigChannel(&TIM_Handle, &TIM_OCConfig, TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&TIM_Handle, TIM_CHANNEL_1);
#endif
}
/**********************************************************
* @brief Encoder init timer 8
* @param None
* @retval None
**********************************************************/
static void encoder_iniTimer8(void)
{
TIM_HandleTypeDef timer8_initStruct;
TIM_Encoder_InitTypeDef t8Encod_initStruct;
// TIM8 Clock Enable
__TIM8_CLK_ENABLE();
// Timer 8 init structure
timer8_initStruct.Instance = TIM8;
timer8_initStruct.Init.Prescaler = 0;
timer8_initStruct.Init.CounterMode = TIM_COUNTERMODE_UP;
timer8_initStruct.Init.Period = 0xFFFF;
timer8_initStruct.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
t8Encod_initStruct.EncoderMode = TIM_ENCODERMODE_TI12;
t8Encod_initStruct.IC1Polarity = TIM_INPUTCHANNELPOLARITY_RISING;
t8Encod_initStruct.IC2Polarity = TIM_INPUTCHANNELPOLARITY_RISING;
t8Encod_initStruct.IC1Selection = TIM_ICSELECTION_DIRECTTI;
t8Encod_initStruct.IC2Selection = TIM_ICSELECTION_DIRECTTI;
t8Encod_initStruct.IC1Prescaler = TIM_ICPSC_DIV1;
t8Encod_initStruct.IC2Prescaler = TIM_ICPSC_DIV1;
t8Encod_initStruct.IC1Filter = 8;// digital filter
t8Encod_initStruct.IC2Filter = 8;// digital filter
// Init timer
HAL_TIM_Encoder_Init(&timer8_initStruct,&t8Encod_initStruct);
__HAL_TIM_SetCounter(&timer8_initStruct,0);
HAL_TIM_Encoder_Start(&timer8_initStruct, TIM_CHANNEL_1 | TIM_CHANNEL_2);
}
/**
* @brief TIM MSP Initialization
* This function configures the hardware resources used in this example:
* - Peripheral's clock enable
* - Peripheral's GPIO Configuration
* @param htim: TIM handle pointer
* @retval None
*/
void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef *htim)
{
GPIO_InitTypeDef GPIO_InitStruct;
/*##-1- Enable peripherals and GPIO Clocks #################################*/
/* TIMx Peripheral clock enable */
__TIM1_CLK_ENABLE();
__TIM8_CLK_ENABLE();
/* Enable GPIO Channels Clock */
__GPIOA_CLK_ENABLE();
__GPIOB_CLK_ENABLE();
__GPIOC_CLK_ENABLE();
/* Configure (PA.08, TIM1_CH1), (PB.06, TIM8_CH1) and (PC.07, TIM8_CH2)
in output, push-pull, alternate function mode */
/* Common configuration for all channels */
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
/* GPIO TIM1_Channel1 configuration : PA.08 in AF6 */
GPIO_InitStruct.Alternate = GPIO_AF6_TIM1;
GPIO_InitStruct.Pin = GPIO_PIN_8;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* GPIO TIM8_Channel1 configuration : PB.06 in AF5 */
GPIO_InitStruct.Alternate = GPIO_AF5_TIM8;
GPIO_InitStruct.Pin = GPIO_PIN_6;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* GPIO TIM8_Channel2 configuration : PC.07 in AF4 */
GPIO_InitStruct.Alternate = GPIO_AF4_TIM8;
GPIO_InitStruct.Pin = GPIO_PIN_7;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
}
void cHAL::Init(void) {
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_CAN2_CLK_ENABLE();
__HAL_RCC_CAN1_CLK_ENABLE();
__HAL_RCC_USART3_CLK_ENABLE();
__HAL_RCC_UART4_CLK_ENABLE();
GPIO_InitTypeDef gi;
HAL_StatusTypeDef status;
//Enable UART
gi.Pin = GPIO_PIN_10 | GPIO_PIN_11; //C10=TX, C11=RX
gi.Mode = GPIO_MODE_AF_PP;
gi.Pull = GPIO_PULLUP;
gi.Speed = GPIO_SPEED_LOW;
gi.Alternate = GPIO_AF7_USART3;
HAL_GPIO_Init(GPIOC, &gi);
InitAndTestUSART();
//Onboard LEDs
gi.Mode = GPIO_MODE_OUTPUT_PP;
gi.Alternate = 0;
gi.Pull = GPIO_NOPULL;
gi.Speed = GPIO_SPEED_LOW;
gi.Pin = GPIO_PIN_7;
HAL_GPIO_Init(GPIOB, &gi);
LOGI(BSP::SUCCESSFUL_STRING, "GPIO for LED");
if(InitDWTCounter())
{
LOGI(BSP::SUCCESSFUL_STRING, "DWTCounter");
}
else
{
LOGE(NOT_SUCCESSFUL_STRING, "DWTCounter");
}
//MP3-Player
gi.Pin = GPIO_PIN_0 | GPIO_PIN_1; //A0=USART4_TX, A1=USART4_RX, Kerbe nach oben; ansicht von Pinseite, rechts von oben
//VCC, RX, TX, DACR, DACL, SPK1, GND, SPK2
//Also: PA0 --> RX
gi.Mode = GPIO_MODE_AF_PP;
gi.Pull = GPIO_PULLUP;
gi.Speed = GPIO_SPEED_LOW;
gi.Alternate = GPIO_AF8_UART4;
HAL_GPIO_Init(GPIOA, &gi);
BELL.Instance = UART4;
BELL.Init.BaudRate = 9600;
BELL.Init.WordLength = UART_WORDLENGTH_8B;
BELL.Init.StopBits = UART_STOPBITS_1;
BELL.Init.Parity = UART_PARITY_NONE;
BELL.Init.Mode = UART_MODE_TX_RX;
BELL.Init.HwFlowCtl = UART_HWCONTROL_NONE;
BELL.Init.OverSampling = UART_OVERSAMPLING_16;
HAL_UART_Init(&BSP::BELL);
LOGI(SUCCESSFUL_STRING, "UART4 for MP3-Module");
__I2C1_CLK_ENABLE();
__I2C2_CLK_ENABLE();
/*
PB08 ------> I2C1_SCL
PB09 ------> I2C1_SDA
*/
gi.Pin = GPIO_PIN_8 | GPIO_PIN_9;
gi.Mode = GPIO_MODE_AF_OD;
gi.Pull = GPIO_PULLUP;
gi.Speed = GPIO_SPEED_MEDIUM;
gi.Alternate = GPIO_AF4_I2C1;
HAL_GPIO_Init(GPIOB, &gi);
/*
PB10 ------> I2C2_SCL
PB11 ------> I2C2_SDA
*/
gi.Pin = GPIO_PIN_10 | GPIO_PIN_11;
gi.Mode = GPIO_MODE_AF_OD;
gi.Pull = GPIO_PULLUP;
gi.Speed = GPIO_SPEED_MEDIUM;
gi.Alternate = GPIO_AF4_I2C2;
HAL_GPIO_Init(GPIOB, &gi);
i2cbus[0].Instance = I2C1;
i2cbus[0].Init.ClockSpeed = 100000;
i2cbus[0].Init.DutyCycle = I2C_DUTYCYCLE_2;
i2cbus[0].Init.OwnAddress1 = 0;
i2cbus[0].Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
i2cbus[0].Init.DualAddressMode = I2C_DUALADDRESS_DISABLED;
i2cbus[0].Init.OwnAddress2 = 0;
i2cbus[0].Init.GeneralCallMode = I2C_GENERALCALL_DISABLED;
i2cbus[0].Init.NoStretchMode = I2C_NOSTRETCH_DISABLED;
HAL_I2C_Init(&i2cbus[0]);
LOGI("I2C1 configured for onboard digital io");
i2cbus[1].Instance = I2C2;
i2cbus[1].Init.ClockSpeed = 100000;
i2cbus[1].Init.DutyCycle = I2C_DUTYCYCLE_2;
i2cbus[1].Init.OwnAddress1 = 0;
i2cbus[1].Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
i2cbus[1].Init.DualAddressMode = I2C_DUALADDRESS_DISABLED;
i2cbus[1].Init.OwnAddress2 = 0;
i2cbus[1].Init.GeneralCallMode = I2C_GENERALCALL_DISABLED;
i2cbus[1].Init.NoStretchMode = I2C_NOSTRETCH_DISABLED;
HAL_I2C_Init(&BSP::i2c2);
LOGI(BSP::SUCCESSFUL_STRING, "I2C2 for 1wire and external");
if(drivers::cPCA9685::SoftwareReset(&BSP::i2c1))
{
LOGI(SUCCESSFUL_STRING, "i2c1 reset");
}
else
{
LOGE(NOT_SUCCESSFUL_STRING, "i2c1 reset");
}
if(pca9685_U7.Setup())//next to CPU, all A-Pins @ GND b01
{
LOGI(SUCCESSFUL_STRING, "pca9685_U7");
}
else
{
LOGE(NOT_SUCCESSFUL_STRING, "pca9685_U7");
}
if(pca9685_U9.Setup())
{
LOGI(SUCCESSFUL_STRING, "pca9685_U9");
}
else
{
LOGE(NOT_SUCCESSFUL_STRING, "pca9685_U9");
}
//Interrupt-Pins for PCA9555
gi.Pin = GPIO_PIN_0|GPIO_PIN_1;
gi.Mode = GPIO_MODE_INPUT;
gi.Pull = GPIO_PULLUP;
HAL_GPIO_Init(GPIOC, &gi);
if(pca9555_U19.Setup())
{
LOGI(BSP::SUCCESSFUL_STRING, "pca9555_U19");
}
else
{
LOGE(BSP::NOT_SUCCESSFUL_STRING, "pca9555_U19");
}
if(pca9555_U18.Setup())
{
LOGI(BSP::SUCCESSFUL_STRING, "pca9555_U18");
}
else
{
LOGE(BSP::NOT_SUCCESSFUL_STRING, "pca9555_U18");
}
uint16_t tmp = pca9555_U18.GetInput();
inputState[WORD_I2C] = (inputState[WORD_I2C] & 0xFFFF0000) + tmp;
tmp = pca9555_U19.GetInput();
inputState[WORD_I2C] = (inputState[WORD_I2C] & 0x0000FFFF) + (tmp << 16);
rcSwitch.enableReceive();
if(drivers::cPCA9685::SoftwareReset(&BSP::i2c2))
{
LOGI(SUCCESSFUL_STRING, "i2c2 reset");
}
else
{
LOGE(NOT_SUCCESSFUL_STRING, "i2c2 reset");
}
SearchI2C("I2C2", &i2c2);
Init1wire();
//Enable Rotary Encoder Switch Input
gi.Mode = GPIO_MODE_INPUT;
gi.Alternate = 0;
gi.Pull = GPIO_PULLUP;
gi.Speed = GPIO_SPEED_LOW;
gi.Pin = GPIO_PIN_13;
HAL_GPIO_Init(GPIOC, &gi);
LOGI(SUCCESSFUL_STRING, "GPIO for Rotary Encoder");
#ifdef DCF77
//DCF77
gi.Mode = GPIO_MODE_INPUT;
gi.Alternate=0;
gi.Pull=GPIO_PULLUP;
gi.Speed=GPIO_SPEED_FREQ_LOW;
gi.Pin=DCF77_PIN;
HAL_GPIO_Init(DCF77_PORT, &gi);
#endif
#endif
//=====PWM-Timers
//===============
//Overall GPIO-Settings
//All gpios enabled!
gi.Mode = GPIO_MODE_AF_PP;
gi.Pull = GPIO_NOPULL;
gi.Speed = GPIO_SPEED_HIGH;
//Overall base timer settings
TIM_HandleTypeDef TimHandle;
TimHandle.Init.Prescaler = 0;
TimHandle.Init.Period = UINT16_MAX;
TimHandle.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
//Overall OC-settings
TIM_OC_InitTypeDef sConfig;
sConfig.OCMode = TIM_OCMODE_PWM1;
sConfig.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfig.OCNPolarity = TIM_OCNPOLARITY_HIGH;
sConfig.OCFastMode = TIM_OCFAST_DISABLE;
sConfig.OCIdleState = TIM_OCIDLESTATE_RESET;
sConfig.OCNIdleState = TIM_OCNIDLESTATE_RESET;
sConfig.Pulse = 0;
//===Slow Timers (84MHz) TIM4 and TIM12
//TIM1, TIM8 SystemCoreClock/1
//Others SystemCoreClock/2
//Prescaler (uint16_t) ((SystemCoreClock / 1 bzw 2) / TimerTickFrq) - 1;
//Einstellungen führen zu PWM-Frequenz von 116,5Hz (rechnerisch ermittelt, per LogicAnalyzer bestätigt)
#ifdef SENSACTHS07
TimHandle.Init.Prescaler = 10; //for 84MHz-Timers
__TIM12_CLK_ENABLE()
;
gi.Pin = GPIO_PIN_14 | GPIO_PIN_15;
gi.Alternate = GPIO_AF9_TIM12;
HAL_GPIO_Init(GPIOB, &gi);
TimHandle.Instance = TIM12;
HAL_TIM_PWM_Init(&TimHandle);
HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_1);
HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_2);
HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_1); //PB14 O1.1
HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_2); ///PB15 O1.2
CLEAR_BIT(TIM12->CCMR1, TIM_CCMR1_OC1PE);
CLEAR_BIT(TIM12->CCMR1, TIM_CCMR1_OC2PE);
LOGI(BSP::SUCCESSFUL_STRING, "TIM12");
//===Fast Timers (168MHz) TIM1 and TIM8
TimHandle.Init.Prescaler = 20;
__TIM8_CLK_ENABLE()
;
gi.Pin = GPIO_PIN_6 | GPIO_PIN_7 | GPIO_PIN_9;
gi.Alternate = GPIO_AF3_TIM8;
HAL_GPIO_Init(GPIOC, &gi);
TimHandle.Instance = TIM8;
HAL_TIM_PWM_Init(&TimHandle);
HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_1);
HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_2);
HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_4);
HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_1); //C6 O1.3
HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_2); //C7 O1.4
HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_4); //C9 O1.5
CLEAR_BIT(TIM8->CCMR1, TIM_CCMR1_OC1PE);
CLEAR_BIT(TIM8->CCMR1, TIM_CCMR1_OC2PE);
CLEAR_BIT(TIM8->CCMR2, TIM_CCMR2_OC4PE);
LOGI(SUCCESSFUL_STRING, "TIM8");
__TIM1_CLK_ENABLE()
;
gi.Pin = GPIO_PIN_8|GPIO_PIN_9|GPIO_PIN_10;
gi.Alternate = GPIO_AF1_TIM1;
HAL_GPIO_Init(GPIOA, &gi);
TimHandle.Instance = TIM1;
TIM_ClockConfigTypeDef sClockSourceConfig;
TIM_MasterConfigTypeDef sMasterConfig;
TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig;
HAL_TIM_Base_Init(&TimHandle);
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
HAL_TIM_ConfigClockSource(&TimHandle, &sClockSourceConfig);
HAL_TIM_PWM_Init(&TimHandle);
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
HAL_TIMEx_MasterConfigSynchronization(&TimHandle, &sMasterConfig);
sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
sBreakDeadTimeConfig.DeadTime = 0;
sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
HAL_TIMEx_ConfigBreakDeadTime(&TimHandle, &sBreakDeadTimeConfig);
HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_1);
HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_2);
HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_3);
HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_1); //A8 O1.6
HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_2); //A9 O1.7
HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_3); //A10 O1.8
CLEAR_BIT(TIM1->CCMR1, TIM_CCMR1_OC1PE);
CLEAR_BIT(TIM1->CCMR1, TIM_CCMR1_OC2PE);
CLEAR_BIT(TIM1->CCMR2, TIM_CCMR2_OC3PE);
LOGI(SUCCESSFUL_STRING, "TIM1");
#endif
#ifdef SENSACTHS04
TimHandle.Init.Prescaler = 10; //for 84MHz-Timers
__TIM4_CLK_ENABLE();
gi.Pin = GPIO_PIN_6 | GPIO_PIN_7 | GPIO_PIN_8 | GPIO_PIN_9;
gi.Alternate = GPIO_AF2_TIM4;
HAL_GPIO_Init(GPIOB, &gi);
TimHandle.Instance = TIM4;
HAL_TIM_PWM_Init(&TimHandle);
HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_1);
HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_2);
HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_3);
HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_4);
HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_1); //PB6 o2.1
HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_2); //PB7 o2.2
HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_3); //PB8 o1.1
HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_4); //PB9 o1.2
TIM4->CCMR1 &= ~TIM_CCMR1_OC1PE;
TIM4->CCMR1 &= ~TIM_CCMR1_OC2PE;
TIM4->CCMR2 &= ~TIM_CCMR2_OC3PE;
TIM4->CCMR2 &= ~TIM_CCMR2_OC4PE;
LOGI(SUCCESSFUL_STRING, "TIM4");
__TIM12_CLK_ENABLE();
gi.Pin = GPIO_PIN_14 | GPIO_PIN_15;
gi.Alternate = GPIO_AF9_TIM12;
HAL_GPIO_Init(GPIOB, &gi);
TimHandle.Instance = TIM12;
HAL_TIM_PWM_Init(&TimHandle);
HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_1);
HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_2);
HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_1); //PB14 O7.2
HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_2); ///PB15 O4.1
TIM12->CCMR1 &= ~TIM_CCMR1_OC1PE;
TIM12->CCMR1 &= ~TIM_CCMR1_OC2PE;
LOGI(SUCCESSFUL_STRING, "TIM12");
//===Fast Timers (168MHz) TIM1 and TIM8
TimHandle.Init.Prescaler = 20;
__TIM1_CLK_ENABLE();
gi.Pin = GPIO_PIN_8;
gi.Alternate = GPIO_AF1_TIM1;
HAL_GPIO_Init(GPIOA, &gi);
TimHandle.Instance = TIM1;
HAL_TIM_PWM_Init(&TimHandle);
HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_1);
HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_3);
HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_3);
TIM1->CCMR1 &= ~TIM_CCMR1_OC1PE;
TIM1->CCMR2 &= ~TIM_CCMR2_OC3PE;
LOGI(SUCCESSFUL_STRING, "TIM1");
__TIM8_CLK_ENABLE();
gi.Pin = GPIO_PIN_6 | GPIO_PIN_7 | GPIO_PIN_9;
gi.Alternate = GPIO_AF3_TIM8;
HAL_GPIO_Init(GPIOC, &gi);
TimHandle.Instance = TIM8;
HAL_TIM_PWM_Init(&TimHandle);
HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_1);
HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_2);
HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_4);
HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_2);
HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_4);
TIM8->CCMR1 &= ~TIM_CCMR1_OC1PE;
TIM8->CCMR1 &= ~TIM_CCMR1_OC2PE;
TIM8->CCMR2 &= ~TIM_CCMR2_OC4PE;
LOGI(SUCCESSFUL_STRING, "TIM8");
#endif
//===SPI for Relais
//PA15=LATCH,PB3=CLK PB4=MISO, PB5=MOSI
//DRV8066 DIN=2, CLK(low@inak)=3, Latch@pos edge=4
__SPI3_CLK_ENABLE()
;
gi.Pin = GPIO_PIN_3 | GPIO_PIN_4 | GPIO_PIN_5;
gi.Mode = GPIO_MODE_AF_PP;
gi.Pull = GPIO_NOPULL;
gi.Speed = GPIO_SPEED_HIGH;
gi.Alternate = GPIO_AF6_SPI3;
HAL_GPIO_Init(GPIOB, &gi);
#ifdef SENSACTHS07
BSP::spi.Init.DataSize = SPI_DATASIZE_8BIT;
HAL_GPIO_WritePin(GPIOC, GPIO_PIN_14, GPIO_PIN_SET);
gi.Pin = GPIO_PIN_14;
gi.Mode = GPIO_MODE_OUTPUT_PP;
gi.Pull = GPIO_NOPULL;
gi.Speed = GPIO_SPEED_MEDIUM;
HAL_GPIO_Init(GPIOC, &gi);
#endif
#ifdef SENSACTHS04
BSP::spi.Init.DataSize = SPI_DATASIZE_16BIT;
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_15, GPIO_PIN_SET);
gi.Pin = GPIO_PIN_15;
gi.Mode = GPIO_MODE_OUTPUT_PP;
gi.Pull = GPIO_NOPULL;
gi.Speed = GPIO_SPEED_MEDIUM;
HAL_GPIO_Init(GPIOA, &gi);
#endif
BSP::spi.Instance = SPI3;
BSP::spi.Init.Mode = SPI_MODE_MASTER;
BSP::spi.Init.Direction = SPI_DIRECTION_2LINES;
BSP::spi.Init.CLKPolarity = SPI_POLARITY_LOW;
BSP::spi.Init.CLKPhase = SPI_PHASE_1EDGE;
BSP::spi.Init.NSS = SPI_NSS_SOFT;
BSP::spi.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_128;
BSP::spi.Init.FirstBit = SPI_FIRSTBIT_MSB;
BSP::spi.Init.TIMode = SPI_TIMODE_DISABLED;
BSP::spi.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLED;
BSP::spi.Init.CRCPolynomial = 1;
status = HAL_SPI_Init(&BSP::spi);
if (status != HAL_OK) {
LOGE("Unable to configure SPI for Relays");
while(1) {};
}
uint8_t tx[] = {0, 0, 0};
#ifdef SENSACTHS07
HAL_GPIO_WritePin(GPIOC, GPIO_PIN_14, GPIO_PIN_RESET);
HAL_SPI_Transmit(&BSP::spi, tx, 3, 100);
HAL_GPIO_WritePin(GPIOC, GPIO_PIN_14, GPIO_PIN_SET);
LOGI(SUCCESSFUL_STRING, "SPI for DRV8860");
#endif
#ifdef SENSACTHS04
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_15, GPIO_PIN_RESET);
if (HAL_SPI_Transmit(&BSP::spi, tx, 1, 100) == HAL_OK) {
LOGI(SUCCESSFUL_STRING, "SPI for DRV8860");
}
else
{
LOGE(NOT_SUCCESSFUL_STRING, "SPI for DRV8860");
}
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_15, GPIO_PIN_SET);
#endif
/**CAN2 GPIO Configuration
PB12 ------> CAN2_RX
PB13 ------> CAN2_TX
*/
gi.Pin = GPIO_PIN_12 | GPIO_PIN_13;
gi.Mode = GPIO_MODE_AF_PP;
gi.Pull = GPIO_NOPULL;
gi.Speed = GPIO_SPEED_LOW;
gi.Alternate = GPIO_AF9_CAN2;
HAL_GPIO_Init(GPIOB, &gi);
InitCAN();
return;
}
