void Pwm_stm32::write_channel(void)
{
//select the output period
if (TIM_ARR(timer_) > period_)
{
print_util_dbg_print("should keep slower period.\r\n");
}
else
{
TIM_ARR(timer_) = period_;
}
if(channel_id_ == PWM_STM32_CHANNEL_1)
{
//select duty cycle
TIM_CCR1(timer_) = duty_cyle_;
}
else if(channel_id_ == PWM_STM32_CHANNEL_2)
{
//select duty cycle
TIM_CCR2(timer_) = duty_cyle_;
}
else if(channel_id_ == PWM_STM32_CHANNEL_3)
{
//select duty cycle
TIM_CCR3(timer_) = duty_cyle_;
}
else if(channel_id_ == PWM_STM32_CHANNEL_4)
{
//select duty cycle
TIM_CCR4(timer_) = duty_cyle_;
}
}
void setLEDColor(uint8_t red, uint8_t green, uint8_t blue)
{
if (false == g_isRedBlinking)
{
int cnt = TIM_CNT(RGB_TIMER);
TIM_CCR1(RGB_TIMER) = TIM_ARR(RGB_TIMER) - green;
TIM_CCR2(RGB_TIMER) = TIM_ARR(RGB_TIMER) - red;
int tim_ccr1 = TIM_CCR1(RGB_TIMER);
int tim_ccr2 = TIM_CCR2(RGB_TIMER);
UNUSED(tim_ccr1);
UNUSED(tim_ccr2);
UNUSED(cnt);
if (0 == blue) {
gpio_set(LED_PORT, LED_B_PIN);
} else {
gpio_clear(LED_PORT, LED_B_PIN);
}
}
}
void DBG_testActuators(S_robot*r, uint32_t reps)
{
uint32_t period = 10;
uint32_t prStart = _tic();
uint8_t q=0;
//uint32_t ocval = 0;
S_robot_dcmotors* ds = 0;
ds = &(r->dcs);
S_actuator_dcmotor* m = 0;
m = ds->m[q];
float dcadd = 0.00001;
mswait(1000);
while(1)
{
CLOCK_digiPrint(r);
if(m->dutyCycle >= 1.0) m->dutyCycle = 0.0;
DCMOT_SET_dutyCycle(m, m->dutyCycle+dcadd);
}
while(reps>1)
{
CLOCK_digiPrint(r);
if( _tocFrom(prStart) > period )
{
// cycle dutyCycle
if(m->dutyCycle >= 1.0) m->dutyCycle = 0.0;
DCMOT_SET_dutyCycle(m, m->dutyCycle+0.02);
TIM_CCR1(m->TIMX) = m->OCval;
//ocval += 10;
//model_timer_SET_outputCompare(TIM2,TIM_OC2,ocval);
// printit
LCD_gotoxy(r->lcd,0,0);
fprintf(r->flcd, "%.0f%%", ds->m[q]->dutyCycle*100);
LCD_gotoxy(r->lcd,0,1);
//fprintf(r->flcd, "");
//for(q=0;q<ROB_MOTOR_COUNT;q++)
fprintf(r->flcd, "%lu/%lu|", ds->m[q]->OCval, ds->m[q]->tim_s->period );
//fprintf(r->flcd, "oc=%lu=%lu", ocval, m->OCval );
prStart = _tic();
}
reps--;
}
gpio_toggle(PLED,LEDORANGE1);
void timer_set_oc_value(u32 timer_peripheral, enum tim_oc_id oc_id, u32 value)
{
switch (oc_id) {
case TIM_OC1:
TIM_CCR1(timer_peripheral) = value;
break;
case TIM_OC2:
TIM_CCR2(timer_peripheral) = value;
break;
case TIM_OC3:
TIM_CCR3(timer_peripheral) = value;
break;
case TIM_OC4:
TIM_CCR4(timer_peripheral) = value;
break;
case TIM_OC1N:
case TIM_OC2N:
case TIM_OC3N:
/* Ignoring as this option applies to the whole channel. */
break;
}
}
bool Pwm_stm32::init(void)
{
bool success = true;
/* Enable peripheral port & TIM clock. */
//rcc_periph_clock_enable(RCC_GPIOx);
rcc_periph_clock_enable(pwm_config_.rcc_timer_config);
gpio_mode_setup(pwm_config_.gpio_config.port, GPIO_MODE_AF, GPIO_PUPD_NONE, pwm_config_.gpio_config.pin);
gpio_set_af(pwm_config_.gpio_config.port, pwm_config_.gpio_config.alt_fct, pwm_config_.gpio_config.pin);
gpio_set_output_options(pwm_config_.gpio_config.port, GPIO_OTYPE_PP, GPIO_OSPEED_100MHZ, pwm_config_.gpio_config.port);
//WARNING Common to all channels of that TIMER
//select prescaler
TIM_PSC(pwm_config_.timer_config) = prescaler_;
//select the output period
TIM_ARR(pwm_config_.timer_config) = period_;
//enable the autoreload
TIM_CR1(pwm_config_.timer_config) |= TIM_CR1_ARPE;
//select counting mode (edge-aligned)
TIM_CR1(pwm_config_.timer_config) |= TIM_CR1_CMS_EDGE;
//counting up
TIM_CR1(pwm_config_.timer_config) |= TIM_CR1_DIR_UP;
//enable counter
TIM_CR1(pwm_config_.timer_config) |= TIM_CR1_CEN;
//CHANNEL SPECIFIC
if (pwm_config_.channel_config == PWM_STM32_CHANNEL_1)
{
//Disable channel1
TIM_CCER(pwm_config_.timer_config) &= (uint16_t)~TIM_CCER_CC1E;
//Reset output compare
TIM_CCMR1(pwm_config_.timer_config) &= (uint16_t)~TIM_CCMR1_OC1M_MASK;
TIM_CCMR1(pwm_config_.timer_config) &= (uint16_t)~TIM_CCMR1_CC1S_MASK;
//Select output mode
TIM_CCMR1(pwm_config_.timer_config) |= TIM_CCMR1_CC1S_OUT;
//select polarity low
TIM_CCER(pwm_config_.timer_config) |= TIM_CCER_CC1NP;
//select PWM mode 1
TIM_CCMR1(pwm_config_.timer_config) |= TIM_CCMR1_OC1M_PWM1;
//select duty cycle
TIM_CCR1(pwm_config_.timer_config) = duty_cyle_;
//set the preload bit
TIM_CCMR1(pwm_config_.timer_config) |= TIM_CCMR1_OC1PE;
//enable capture/compare
TIM_CCER(pwm_config_.timer_config) |= TIM_CCER_CC1E;
}
else if (pwm_config_.channel_config == PWM_STM32_CHANNEL_2)
{
//Disable channel2
TIM_CCER(pwm_config_.timer_config) &= (uint16_t)~TIM_CCER_CC2E;
//Reset output compare
TIM_CCMR1(pwm_config_.timer_config) &= (uint16_t)~TIM_CCMR1_OC2M_MASK;
TIM_CCMR1(pwm_config_.timer_config) &= (uint16_t)~TIM_CCMR1_CC2S_MASK;
//Select output mode
TIM_CCMR1(pwm_config_.timer_config) |= TIM_CCMR1_CC2S_OUT;
//select polarity low
TIM_CCER(pwm_config_.timer_config) |= TIM_CCER_CC2NP;
//select PWM mode 1
TIM_CCMR1(pwm_config_.timer_config) |= TIM_CCMR1_OC2M_PWM1;
//select duty cycle
TIM_CCR2(pwm_config_.timer_config) = duty_cyle_;
//set the preload bit
TIM_CCMR1(pwm_config_.timer_config) |= TIM_CCMR1_OC2PE;
//enable capture/compare
TIM_CCER(pwm_config_.timer_config) |= TIM_CCER_CC2E;
}
else if (pwm_config_.channel_config == PWM_STM32_CHANNEL_3)
{
//Disable channel3
TIM_CCER(pwm_config_.timer_config) &= (uint16_t)~TIM_CCER_CC3E;
//Reset output compare
TIM_CCMR2(pwm_config_.timer_config) &= (uint16_t)~TIM_CCMR2_OC3M_MASK;
TIM_CCMR2(pwm_config_.timer_config) &= (uint16_t)~TIM_CCMR2_CC3S_MASK;
//Select output mode
TIM_CCMR2(pwm_config_.timer_config) |= TIM_CCMR2_CC3S_OUT;
//select polarity low
TIM_CCER(pwm_config_.timer_config) |= TIM_CCER_CC3NP;
//select PWM mode 1
TIM_CCMR2(pwm_config_.timer_config) |= TIM_CCMR2_OC3M_PWM1;
//select duty cycle
TIM_CCR3(pwm_config_.timer_config) = duty_cyle_;
//set the preload bit
TIM_CCMR2(pwm_config_.timer_config) |= TIM_CCMR2_OC3PE;
//enable capture/compare
TIM_CCER(pwm_config_.timer_config) |= TIM_CCER_CC3E;
}
else if (pwm_config_.channel_config == PWM_STM32_CHANNEL_4)
{
//Disable channel4
TIM_CCER(pwm_config_.timer_config) &= (uint16_t)~TIM_CCER_CC4E;
//Reset output compare
TIM_CCMR2(pwm_config_.timer_config) &= (uint16_t)~TIM_CCMR2_OC4M_MASK;
TIM_CCMR2(pwm_config_.timer_config) &= (uint16_t)~TIM_CCMR2_CC4S_MASK;
//Select output mode
TIM_CCMR2(pwm_config_.timer_config) |= TIM_CCMR2_CC4S_OUT;
//select polarity low
TIM_CCER(pwm_config_.timer_config) |= (1 << 15); //TODO TIM_CCER_CC4NP does not exist in libopencm3 library
//select PWM mode 1
TIM_CCMR2(pwm_config_.timer_config) |= TIM_CCMR2_OC4M_PWM1;
//select duty cycle
TIM_CCR4(pwm_config_.timer_config) = duty_cyle_;
//set the preload bit
TIM_CCMR2(pwm_config_.timer_config) |= TIM_CCMR2_OC4PE;
//enable capture/compare
TIM_CCER(pwm_config_.timer_config) |= TIM_CCER_CC4E;
}
return success;
}
