void Motor_Init(motor_t* p_motor)
{
if (p_motor != NULL)
{
// Preparations
GPIO_InitTypeDef gpio_init;
GPIO_StructInit(&gpio_init);
// Enable clock
GPIO_EnableClock(p_motor->gpio_port);
// Initialize GPIO
gpio_init.GPIO_Mode = GPIO_Mode_OUT;
gpio_init.GPIO_OType = GPIO_OType_PP;
gpio_init.GPIO_Pin = (p_motor->gpio_direction_pin_1) | (p_motor->gpio_direction_pin_2);
gpio_init.GPIO_PuPd = GPIO_PuPd_UP;
gpio_init.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(p_motor->gpio_port, &gpio_init);
// Go into brake state
TM_PWM_SetChannelPercent(&(p_motor->tim_data), p_motor->pwm_channel, p_motor->speed);
Motor_Brake(p_motor);
}
}
/*
* Name: Motor_SetSpeedLevel
* Module: Motor
* Parameters: speedPercent: 0-100%
* Description: Set motor's speed level
* Return: void
*/
void Motor_SetSpeed(motor_t* p_motor, float speed)
{
if ((p_motor != NULL) && (speed >= MOTOR_MIN_SPEED) && (speed <= MOTOR_MAX_SPEED))
{
p_motor->speed = speed;
TM_PWM_SetChannelPercent(&(p_motor->tim_data), p_motor->pwm_channel, p_motor->speed);
}
}
int main(void) {
TM_PWM_TIM_t TIM4_Data, TIM2_Data;
/* Initialize system */
SystemInit();
/* STM32F4-Discovery LEDS start */
/* Leds on PD12, PD13, PD14, PD15 */
/* Set PWM to 1kHz frequency on timer TIM4 */
/* 1 kHz = 1ms = 1000us */
TM_PWM_InitTimer(TIM4, &TIM4_Data, 1000);
/* Initialize PWM on TIM4, Channel 1 and PinsPack 2 = PD12 */
TM_PWM_InitChannel(&TIM4_Data, TM_PWM_Channel_1, TM_PWM_PinsPack_2);
/* Initialize PWM on TIM4, Channel 2 and PinsPack 2 = PD13 */
TM_PWM_InitChannel(&TIM4_Data, TM_PWM_Channel_2, TM_PWM_PinsPack_2);
/* Initialize PWM on TIM4, Channel 3 and PinsPack 2 = PD14 */
TM_PWM_InitChannel(&TIM4_Data, TM_PWM_Channel_3, TM_PWM_PinsPack_2);
/* Initialize PWM on TIM4, Channel 4 and PinsPack 2 = PD15 */
TM_PWM_InitChannel(&TIM4_Data, TM_PWM_Channel_4, TM_PWM_PinsPack_2);
/* Set channel 1 value, 50% duty cycle */
TM_PWM_SetChannel(&TIM4_Data, TM_PWM_Channel_1, TIM4_Data.Period / 2);
/* Set channel 2 value, 33% duty cycle */
TM_PWM_SetChannel(&TIM4_Data, TM_PWM_Channel_2, TIM4_Data.Period / 3);
/* Set channel 3 value, 25% duty cycle */
TM_PWM_SetChannel(&TIM4_Data, TM_PWM_Channel_3, TIM4_Data.Period / 4);
/* Set channel 4 value, 5% duty cycle*/
TM_PWM_SetChannelPercent(&TIM4_Data, TM_PWM_Channel_4, 5);
/* STM32F4-Discovery LEDS stop */
/* Nucleo F4(0/1)1-RE LED start */
/* Led connected to PA5 */
/* Set PWM to 1kHz frequency on timer TIM2 */
/* 1 kHz = 1ms = 1000us */
TM_PWM_InitTimer(TIM2, &TIM2_Data, 1000);
/* Initialize PWM on TIM2, Channel 1 and PinsPack 2 = PA5 */
TM_PWM_InitChannel(&TIM2_Data, TM_PWM_Channel_1, TM_PWM_PinsPack_2);
/* Set channel 1 value, 500us pulse high = 500 / 1000 = 0.5 = 50% duty cycle */
TM_PWM_SetChannelMicros(&TIM2_Data, TM_PWM_Channel_1, 10);
/* Nucleo F4(0/1)1-RE LED stop */
while (1) {
}
}
/*
* Name: Motor_ChangeSpeed
* Module: Motor
* Parameters: increase: > 0 to increase speed, <= 0 to decrease speed
* Description: Change motor's speed up or down
* Return: void
*/
void Motor_ChangeSpeed(motor_t* p_motor, uint8_t increase)
{
if ((p_motor != NULL))
{
if (increase > 0)
{
p_motor->speed += MOTOR_SPEED_CHANGE_INTERVAL;
}
else
{
p_motor->speed -= MOTOR_SPEED_CHANGE_INTERVAL;
}
TM_PWM_SetChannelPercent(&(p_motor->tim_data), p_motor->pwm_channel, p_motor->speed);
}
}
int main(void) {
int accelData[3];
int analogData[BUFFER];
int i=0;
for(i=0;i<BUFFER;i++){ analogData[i]=0; }
int a = 0;
int analogIn = 0;
int analogMin, analogMax;
/* Initialize system */
SystemInit();
/* Initialize delay */
//TM_DELAY_Init();
/* Initialize PG13 (GREEN LED) and PG14 (RED LED) */
TM_GPIO_Init(GPIOG, GPIO_PIN_13 | GPIO_PIN_14, TM_GPIO_Mode_OUT, TM_GPIO_OType_PP, TM_GPIO_PuPd_NOPULL, TM_GPIO_Speed_Fast);
TM_GPIO_SetPinValue(GPIOG, GPIO_PIN_14, 1); // Red: ON
#ifdef ENABLE_USART
/* Initialize USART1 at 115200 baud, TX: PA10, RX: PA9 */
TM_USART_Init(USART1, TM_USART_PinsPack_1, 115200);
#endif
#ifdef ENABLE_VCP
/* Initialize USB Virtual Comm Port */
TM_USB_VCP_Result status = TM_USB_VCP_NOT_CONNECTED;
while (TM_USB_VCP_GetStatus() != TM_USB_VCP_CONNECTED) {
TM_USB_VCP_Init();
TM_GPIO_TogglePinValue(GPIOG, GPIO_PIN_14);
Delay(500000);
}
SendString("USB VCP initialized and connected\n");
TM_GPIO_TogglePinValue(GPIOG, GPIO_PIN_14 | GPIO_PIN_13); // Red: OFF, Gr: ON
#endif
#ifdef ENABLE_MMA
/* Initialize MMA845X */
uint8_t mma_status = MMA845X_Initialize(MMA_RANGE_4G);
if (mma_status == MMA_OK) {
SendString("MMA initialized\n");
} else {
SendString("MMA initialization failed, error code: ");
// Add 48 to the byte value to have character representation, (48 = '0')
SendChar('0'+mma_status);
SendChar('\n');
}
#endif
/* Initialize Display */
TM_ILI9341_Init();
TM_ILI9341_Rotate(TM_ILI9341_Orientation_Portrait_1);
TM_ILI9341_SetLayer1();
TM_ILI9341_Fill(ILI9341_COLOR_BLACK); /* Fill data on layer 1 */
/* Initialize ADC1 */
TM_ADC_Init(CURRENT_ADC, CURRENT_CH);
/* Initialize PE2 and PE3 for digital output (Motor direction) */
TM_GPIO_Init(GPIOE, GPIO_PIN_2 | GPIO_PIN_3, TM_GPIO_Mode_OUT, TM_GPIO_OType_PP, TM_GPIO_PuPd_NOPULL, TM_GPIO_Speed_Fast);
// Set them to HIGH/LOW
TM_GPIO_SetPinHigh(GPIOE, GPIO_PIN_3);
TM_GPIO_SetPinLow(GPIOE, GPIO_PIN_2);
#ifdef ENABLE_PWM
/* Set up PE5 (in front of PE4) for PWM (TIM9 CH1 PP2) (Motor speed control) */
TM_PWM_TIM_t TIM9_Data;
// Set PWM to 1kHz frequency on timer TIM4, 1 kHz = 1ms = 1000us
TM_PWM_InitTimer(TIM9, &TIM9_Data, 1000);
// Initialize PWM on TIM9, Channel 1 and PinsPack 2 = PE5
TM_PWM_InitChannel(&TIM9_Data, TM_PWM_Channel_1, TM_PWM_PinsPack_2);
// Set channel 1 value, 50% duty cycle
TM_PWM_SetChannelPercent(&TIM9_Data, TM_PWM_Channel_1, 50);
#endif
/* Initialize DAC channel 2, pin PA5 (Shaker control) */
//TM_DAC_Init(TM_DAC2);
/* Set 12bit analog value of 2047/4096 * 3.3V */
//TM_DAC_SetValue(TM_DAC2, 4096);
#ifdef ENABLE_DAC
// DAC PIN PA5
/* Initialize DAC1, use TIM4 for signal generation */
TM_DAC_SIGNAL_Init(TM_DAC2, TIM4);
/* Output predefined triangle signal with frequency of 5kHz */
TM_DAC_SIGNAL_SetSignal(TM_DAC2, TM_DAC_SIGNAL_Signal_Sinus, 50);
#endif
/* MAIN LOOP */
while (1) {
// Read acceleration data
#ifdef ENABLE_MMA
MMA845X_ReadAcceleration(accelData);
#endif
// Read analog input
analogData[a] = TM_ADC_Read(CURRENT_ADC, CURRENT_CH);
a++;
if(a==BUFFER) {a=0;}
// Analog average
analogIn=0;
analogMax=0;
analogMin=4096;
for(i=0;i<BUFFER;i++){
if(analogData[i] > analogMax) { analogMax = analogData[i]; }
if(analogData[i] < analogMin) { analogMin = analogData[i]; }
analogIn+=analogData[i];
}
analogIn/=BUFFER;
// Print graphs
printGraphsLCD(accelData, analogData[a], analogIn, analogMin, analogMax);
// Toggle Green led
TM_GPIO_TogglePinValue(GPIOG, GPIO_PIN_13);
}
}
