void MOTOR_Initialize ( void )
{
motorData.sendCount = 0;
motorData.state = MOTOR_STATE_INIT;
//Create a queue capable of holding 250 system messages
motorData.motorQ_LR = xQueueCreate( 250, MSG_LENGTH+1 );
if( motorData.motorQ_LR == 0 ) {
dbgOutputVal(MOTOR_QUEUE_FAIL);
stopAll();
}
//Create a queue capable of holding 250 system messages
motorData.actuatorQ_LR = xQueueCreate( 250, MSG_LENGTH+1 );
if( motorData.actuatorQ_LR == 0 ) {
dbgOutputVal(MOTOR_QUEUE_FAIL);
stopAll();
}
//Create a timer
motorData.motorTimer_LR = xTimerCreate(
"MotorTimer", //Just a text name
( LR_MOTOR_TIMER_RATE / portTICK_PERIOD_MS ), //period in ms
pdTRUE, //auto-reload when expires
(void *) 25, //a unique id
motorTimerCallback ); //pointer to callback function
//Create a timer
motorData.actuatorTimer_LR = xTimerCreate(
"ActuatorTimer", //Just a text name
( LR_MOTOR_TIMER_RATE / portTICK_PERIOD_MS ), //period in ms
pdTRUE, //auto-reload when expires
(void *) 25, //a unique id
actuatorTimerCallback ); //pointer to callback function
//Start the timer
if( motorData.motorTimer_LR == NULL ) {
dbgOutputVal(MOTOR_TIMERINIT_FAIL);
stopAll();
}
else if( xTimerStart( motorData.motorTimer_LR, 0 ) != pdPASS ) {
dbgOutputVal(MOTOR_TIMERINIT_FAIL);
stopAll();
}
//Start the timer
if( motorData.actuatorTimer_LR == NULL ) {
dbgOutputVal(MOTOR_TIMERINIT_FAIL);
stopAll();
}
else if( xTimerStart( motorData.actuatorTimer_LR, 0 ) != pdPASS ) {
dbgOutputVal(MOTOR_TIMERINIT_FAIL);
stopAll();
}
pwm_Init();
}
/*******************************************************************************
* Function Name: pwm_Start
********************************************************************************
*
* Summary:
* The start function initializes the pwm with the default values, the
* enables the counter to begin counting. It does not enable interrupts,
* the EnableInt command should be called if interrupt generation is required.
*
* Parameters:
* None
*
* Return:
* None
*
* Global variables:
* pwm_initVar: Is modified when this function is called for the
* first time. Is used to ensure that initialization happens only once.
*
*******************************************************************************/
void pwm_Start(void)
{
/* If not Initialized then initialize all required hardware and software */
if(pwm_initVar == 0u)
{
pwm_Init();
pwm_initVar = 1u;
}
pwm_Enable();
}
//******************************************************************************
// Configure Stepper Motor
//
// Configure the stepp er motor we will be using:
// - Configure control pins: DIR,
// - Configure SPI uses to talk to EasySpin chip
// - Setup interrupt handlers to catch IRQ requests from EasySpin
//******************************************************************************
int configure_stepper_motor (void)
{
int rc;
TIM_HandleTypeDef *tim_handle; // CHEAP HACK - FIX
TIM_MasterConfigTypeDef sMasterConfig; // TEMP HACK
// --- begin --- The following is equivalent to Easyspin_Begin() code
//---------------------------------------------------------------------
// Configure easySPIN - DIR pin for device 1 - D7
//---------------------------------------------------------------------
pin_Config (L6474_DIR_1_PIN, GPIO_OUTPUT, 0);
pin_High (L6474_DIR_1_PIN); // set default direction = Forward
// 1 = forward, 0 = Backward
//---------------------------------------------------------------------
// Configure easySPIN - STBY/RESET pin - D8
//---------------------------------------------------------------------
pin_Config (L6474_RESET_PIN, GPIO_OUTPUT, 0);
pin_Low (L6474_RESET_PIN); // turn on RESET to L6474
//--------------------------------------------------------------------------
// Config easySPIN - Interrupt IRQ Flag pin and associated EXTI in NVIC - D2
//
// Note that this configures everything, but leaves the interrupt disabled.
// This is done in order to complete any other needed config operations,
// before turning on interrupts.
// A subsequent call to pin_Enable_IRQ() will enable the NVIC interrupt.
//--------------------------------------------------------------------------
pin_Config_IRQ_Pin (L6474_IRQ_PIN, GPIO_RUPT_MODE_FALLING, PIN_USE_PULLUP,
L6474_EXTI_IRQ_NUM, 5);
// BUG in above code not setting IRQn right ?
/* Set Priority of External Line Interrupt used for the Flag interrupt*/
HAL_NVIC_SetPriority (L6474_EXTI_IRQ_NUM, 5, 0); // EXTI15_10_IRQn
/* Enable the External Line Interrupt used for the Flag interrupt */
HAL_NVIC_EnableIRQ (L6474_EXTI_IRQ_NUM);
//-----------------------------------------------------------------------
// SPI Init
// Config easySPIN SPI interface and CS pin. CS pin is D10
// Uses SPI 1 (PA5 / PA6 / PA7) on most Nucleos.
//-----------------------------------------------------------------------
// easyspin uses: SPI_BAUDRATEPRESCALER_32 - FIX THIS
pin_Config (L6474_CS_PIN, GPIO_OUTPUT, 0); // configure Chip Select
pin_High (L6474_CS_PIN); // and DE-Assert CS
rc = spi_Init (L6474_SPI_MODULE, SPI_MASTER, L6474_SPI_MODE,
L6474_SPI_BAUD, 0);
//-----------------------------------------------------------------
// PWM Init
// Configure the PWM module to be used to drive the Stepper motor
//
// Uses PC7 (Arduino D9) = TIM3_CH2
// PC7 has Timer3 Ch2 for _all_ chips _except_ F3-02 and L0-53
//-----------------------------------------------------------------
// SystemCoreClock variable holds HCLK frequency and is defined in system_stm32f4xx.c file.
// easy_spin uses Init.ClockDivision = TIM_CLOCKDIVISION_DIV1 !!! ??? FIX THIS !!! ??? WVD
/// uwPeriod = (SystemCoreClock / 20000 ) - 1; // set period = 20 K Hz - WVD LOGIC
uwPeriod = 0; // at startup, period is set to 0
if (rc == HAL_OK)
rc = pwm_Init (L6474_PWM_1_MODULE, uwPeriod,
0); // actual rate on scope = 40 KHz !
timer_Set_Prescalar(L6474_PWM_1_MODULE, (TIMER_PRESCALER - 1), 0); // ensure pwm_Init turned on clocks
//pHTim->Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
//-------------------------------------
// Configure PWM channel to be used
//-------------------------------------
if (rc == HAL_OK)
rc = pwm_Config_Channel (L6474_PWM_1_MODULE, L6474_PWM_1_CHANNEL,
0, TIMER_PIN_POLARITY_HIGH); // 0 % duty cycle
// sConfigOC.OCMode = TIM_OCMODE_PWM1;
// sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
// sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
// ??? !!! WVD ??? !!! RESOLVE THIS
tim_handle = (TIM_HandleTypeDef*) board_timerpwm_get_handle (L6474_PWM_1_MODULE); // !!! CHEAP HACK - WVD FIX THIS !!! ???
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
HAL_TIMEx_MasterConfigSynchronization (tim_handle, &sMasterConfig);
//---------------------------------------------------------
// Setup the callback handler for the PWM/Timer Interrupt
//---------------------------------------------------------
tim_handle = (TIM_HandleTypeDef*) board_timerpwm_get_handle (L6474_PWM_1_MODULE); // !!! CHEAP HACK - WVD FIX THIS !!! ???
timer_Set_Callback (L6474_PWM_1_MODULE,
timer_period_completed_callback,
tim_handle); // !!! CHEAP HACK - WVD FIX THIS !!! ???
//-------------------------------------------------------------------
// Enable the PWM module and its associated channels, and
// have it issue a PWM/Timer Interrupt at end of each period rollover.
//--------------------------------------------------------------------
if (rc == HAL_OK)
rc = pwm_Enable (L6474_PWM_1_MODULE, TIMER_PERIOD_INTERRUPT_ENABLED);
// rc = HAL_TIM_PWM_Start_IT (&hTimPwm1, easySPIN_CHAN_TIMER_PWM1); --> see easyspin.c EasySpin_Pwm1SetFreq()
//---------------------------------------------------
// Enable the NVIC for EXTI interrupts from the L6474
//---------------------------------------------------
pin_Enable_IRQ (L6474_IRQ_PIN, L6474_EXTI_IRQ_NUM, 1);
//-------------------------------------------------------------
// Take L6474 out of reset, so it can start up
//-------------------------------------------------------------
pin_High (L6474_RESET_PIN);
//---------------------------------------------------------------
// Attach the function MyFlagInterruptHandler (defined below) to
// EasySpin's IRQ flag interrupt
//---------------------------------------------------------------
EasySpin_AttachFlagInterrupt (MyFlagInterruptHandler);
//---------------------------------------------------------------
// Attach the function Error_Handler (defined below) to
// the error Handler for EasySpin
//---------------------------------------------------------------
EasySpin_AttachErrorHandler (Error_Handler);
//-------------------------------------------------------------
// Take L6474 out of reset, so it can start up
//-------------------------------------------------------------
pin_High (L6474_RESET_PIN);
/* Let a delay after reset */
HAL_Delay(1);
//--------------------------------------------------------------------
// Set all registers and context variables to the predefined values
// from the easyspin_target_config.h file.
// The easySPin registers are set with the predefined values from
// file ~\motion_cube\Libraries\Easyspin\Inc\easyspin_target_config.h
//--------------------------------------------------------------------
//while (debug_test) // WVD loop for SPI debug testing
EasySpin_SetDeviceParamsToPredefinedValues();
/* Disable easySPIN powerstage */
for (uint32_t i = 0; i < 1; i++)
{
EasySpin_CmdDisable (i);
/* Get Status, which will clear flags after start up */
EasySpin_CmdGetStatus (i);
}
// --- end --- The above is equivalent to Easyspin_Begin() code
return (ret_code);
}
