/******************************************************//**
* @brief Start the step clock by using the given frequency
* @param[in] newFreq in Hz of the step clock
* @retval None
* @note The frequency is directly the current speed of the device
**********************************************************/
void BSP_MotorControlBoard_StartStepClock(uint16_t newFreq)
{
uint32_t sysFreq = HAL_RCC_GetSysClockFreq();
uint32_t period = (sysFreq/ (TIMER_PRESCALER * newFreq)) - 1;
__HAL_TIM_SetAutoreload(&hTimStepClock, period);
__HAL_TIM_SetCompare(&hTimStepClock, BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_STEP_CLOCK, period >> 1);
HAL_TIM_PWM_Start_IT(&hTimStepClock, BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_STEP_CLOCK);
}
void HAL_PWM_Set_Rate(int channel, uint32_t frequency_us, uint32_t duty_cycle_us)
{
#ifdef ENABLE_PWM_GENERATION
uint32_t frequency = frequency_us * TIMER_TICKS_PER_MICROSECOND;
uint32_t duty_cycle = duty_cycle_us * TIMER_TICKS_PER_MICROSECOND;
if ( channel < sizeof(pwm_timer_channels)/sizeof(pwm_timer_channels[0])) {
__HAL_TIM_SetAutoreload(pwm_timer_channels[channel].p_tim_handle, duty_cycle);
__HAL_TIM_SetCompare(pwm_timer_channels[channel].p_tim_handle,
pwm_timer_channels[channel].tim_channel_number, frequency);
}
#endif
}
void ultrasound_generator( uint32_t chanel ){
/* ##-1- Configure the TIM peripheral ****************************************************************************
TIM2 Configuration: generate 4 PWM signals with 4 different duty cycles.
In this example TIM2 input clock (TIM2CLK) is set to APB1 clock (PCLK1),
since APB1 prescaler is equal to 1.
TIM2CLK = PCLK1
PCLK1 = HCLK
=> TIM2CLK = HCLK = SystemCoreClock
To get TIM2 counter clock at 16 MHz, the prescaler is computed as follows:
Prescaler = (TIM2CLK / TIM2 counter clock) - 1
Prescaler = ((SystemCoreClock) /16 MHz) - 1
To get TIM2 output clock at 24 KHz, the period (ARR)) is computed as follows:
ARR = (TIM2 counter clock / TIM2 output clock) - 1
= 665
TIM2 Channel1 duty cycle = (TIM2_CCR1/ TIM2_ARR + 1)* 100 = 50%
**************************
20KHz-> Prescaler = ( (48MHz) / 20KHz) - 1=799
30KHz-> Prescaler = ( (48MHz) / 30KHz) - 1=399
*/
SystemClock_Config_48MHz();
MX_TIM3_Init();
HAL_TIM_PWM_Init(&htim3);
sConfigOC.Pulse=0;
HAL_GPIO_WritePin( DCDC_EN_GPIO_Port , DCDC_EN_Pin , 1 ); ///DCDC konverter engedélyezése (+15V)
HAL_TIM_PWM_ConfigChannel( &htim3 , &sConfigOC , TIM_CHANNEL_1);
HAL_TIM_PWM_ConfigChannel( &htim3 , &sConfigOC , TIM_CHANNEL_2);
HAL_TIM_PWM_ConfigChannel( &htim3 , &sConfigOC , TIM_CHANNEL_3);
HAL_TIM_PWM_ConfigChannel( &htim3 , &sConfigOC , TIM_CHANNEL_4);
HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_2);
HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_3);
HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_4);
for(int i=400; i < 700; i++){
//HAL_TIM_PWM_Stop(&htim3,chanel);
__HAL_TIM_SetAutoreload(&htim3,i*2);
__HAL_TIM_SetCompare(&htim3,chanel, i);
//HAL_TIM_OC_Init(&htim3);
//TIM_OC2_SetConfig( TIM3, &sConfigOC);
//HAL_TIM_PWM_Start( &htim3 , chanel );
HAL_Delay(30);
}
__HAL_TIM_SetCompare(&htim3,chanel, 0);
HAL_TIM_PWM_Stop( &htim3 , chanel );
HAL_TIM_PWM_DeInit( &htim3 );
HAL_TIM_Base_DeInit(&htim3);
GPIO_TIM3_OFF();
HAL_GPIO_WritePin( DCDC_EN_GPIO_Port , DCDC_EN_Pin , 0);
SystemClock_Config_8MHz();
}
void ultrasound (uint8_t bridge){ //ez a fv egyszerre csak egy hidat hajt meg!
uint16_t i,old_i,temp_i,f;
uint32_t CH1,CH2,CHx,CHy,tim,tim_now;
//bridge1=0,bridge2=1-> hogy melyik hidat hajtsa meg
if(bridge){ //bridge1
CH1=(uint32_t)TIM_CHANNEL_1;
CH2=(uint32_t)TIM_CHANNEL_2;
CHx=(uint32_t)TIM_CHANNEL_3;
CHy=(uint32_t)TIM_CHANNEL_4;
}else{ //bridge2
CH1=(uint32_t)TIM_CHANNEL_3;
CH2=(uint32_t)TIM_CHANNEL_4;
CHx=(uint32_t)TIM_CHANNEL_1;
CHy=(uint32_t)TIM_CHANNEL_2;
}
SystemClock_Config_48MHz();
HAL_Delay(20);
MX_TIM3_Init();
HAL_TIM_PWM_Init(&htim3);
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_LOW;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
HAL_TIM_PWM_ConfigChannel( &htim3 , &sConfigOC , CH1);
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
HAL_TIM_PWM_ConfigChannel( &htim3 , &sConfigOC , CH2);
HAL_TIM_PWM_ConfigChannel( &htim3 , &sConfigOC , CHx);
HAL_TIM_PWM_ConfigChannel( &htim3 , &sConfigOC , CHy);
HAL_TIM_PWM_Start(&htim3, CH1);
HAL_TIM_PWM_Start(&htim3, CH2);
HAL_TIM_PWM_Start(&htim3, CHx);
HAL_TIM_PWM_Start(&htim3, CHy);
//csattanás csökkentés, 19khz kiadás eloszor
HAL_GPIO_WritePin( DCDC_EN_GPIO_Port , DCDC_EN_Pin , 0 );
// HAL_GPIO_WritePin( DCDC_PWR_GPIO_Port , DCDC_PWR_Pin , 0 ); //open drain kimenet,pch fet,
//*****************************************
/*for( i=900 ; i >= 620 ; i-=3){
__HAL_TIM_SetAutoreload(&htim3,i*2);
__HAL_TIM_SetCompare(&htim3,CH1, i);
__HAL_TIM_SetCompare(&htim3,CH2, i);
HAL_Delay(1);
}*/
/***********************************
HAL_Delay(100);
__HAL_TIM_SetAutoreload(&htim3,i*2);
__HAL_TIM_SetCompare(&htim3,CH1, i);
__HAL_TIM_SetCompare(&htim3,CH2, i);
HAL_Delay(1000);*/
HAL_GPIO_WritePin( DCDC_EN_GPIO_Port , DCDC_EN_Pin , 1 );
HAL_Delay(100);
//19KHz-620 // 27KHz-440
old_i=i;
for(uint8_t x=0; x < soundNum; x++){
// a következo hanghoz kis lépésenként jutunk, ígty nincs csattanás
srand(HAL_GetTick());
i=(rand()%210)+440;
//i=210+440;
/*
if( old_i < i){
// ha az új hang kissebb frekvenciájó -> nagyobb i
for( temp_i=old_i ; i >= temp_i; temp_i++){
__HAL_TIM_SetAutoreload(&htim3,temp_i*2);
__HAL_TIM_SetCompare(&htim3,CH1, temp_i);
__HAL_TIM_SetCompare(&htim3,CH2, temp_i);
HAL_Delay(1);
}
}else{
//ha az uj hang nagypbb frekvenciáju-> kisebb i
for( temp_i=old_i ; i <= temp_i; temp_i--){
__HAL_TIM_SetAutoreload(&htim3,temp_i*2);
__HAL_TIM_SetCompare(&htim3,CH1, temp_i);
__HAL_TIM_SetCompare(&htim3,CH2, temp_i);
HAL_Delay(1);
}
}
*/
__HAL_TIM_SetAutoreload(&htim3,i*2);
__HAL_TIM_SetCompare(&htim3,CH1, i);
__HAL_TIM_SetCompare(&htim3,CH2, i);
old_i=i;
tim=HAL_GetTick(); //jelenlegi ido lekérdezés
tim_now=HAL_GetTick();
f=i%5;
while( sDelay >= (tim_now-tim) && tim <= tim_now ){ ///késleltetés
if(f==3){
for(temp_i=0 ; temp_i < 10 ;temp_i++){ //itt nagyobb lesz a frekvencia
i+=1;
__HAL_TIM_SetAutoreload(&htim3,i*2);
__HAL_TIM_SetCompare(&htim3,CH1, i);
__HAL_TIM_SetCompare(&htim3,CH2, i);
HAL_Delay(1);
}
for(temp_i=0 ; temp_i < 10 ;temp_i++){ //itt kissebb lesz a frekvencia
i-=1;
__HAL_TIM_SetAutoreload(&htim3,i*2);
__HAL_TIM_SetCompare(&htim3,CH1, i);
__HAL_TIM_SetCompare(&htim3,CH2, i);
HAL_Delay(1);
}
}
tim_now=HAL_GetTick();
}
// HAL_Delay(sDelay);
randCount++;
}
//csattanás csökkentés, 19khz kiadás eloszor
HAL_GPIO_WritePin( DCDC_EN_GPIO_Port , DCDC_EN_Pin , 0);
for( i=i ; i <= 900 ; i+=3){
__HAL_TIM_SetAutoreload(&htim3,i*2);
__HAL_TIM_SetCompare(&htim3,CH1, i);
__HAL_TIM_SetCompare(&htim3,CH2, i);
HAL_Delay(1);
}
HAL_Delay(100);
HAL_TIM_PWM_Stop( &htim3 , CH1 );
HAL_TIM_PWM_Stop( &htim3 , CH2 );
HAL_TIM_PWM_Stop( &htim3 , CHx );
HAL_TIM_PWM_Stop( &htim3 , CHy );
HAL_TIM_PWM_DeInit( &htim3 );
// HAL_GPIO_WritePin( DCDC_PWR_GPIO_Port , DCDC_PWR_Pin , 1); //open drain kimenet,pch fet,
HAL_Delay(100);
SystemClock_Config_8MHz();
GPIO_TIM3_OFF();
HAL_Delay(100);
}
void beeps (uint8_t num,uint8_t bridge){
uint16_t temp1;
uint32_t CH1,CH2,CHx,CHy;
// HAL_GPIO_WritePin( DCDC_PWR_GPIO_Port , DCDC_PWR_Pin , 0 ); //open drain kimenet,pch fet,
HAL_Delay(100);
HAL_GPIO_WritePin( DCDC_EN_GPIO_Port , DCDC_EN_Pin , 1 ); //open drain kimenet,pch fet,
//bridge1=0,bridge2=1-> hogy melyik hidat hajtsa meg
if(bridge){ //bridge1
CH1=(uint32_t)TIM_CHANNEL_1;
CH2=(uint32_t)TIM_CHANNEL_2;
CHx=(uint32_t)TIM_CHANNEL_3;
CHy=(uint32_t)TIM_CHANNEL_4;
}else{ //bridge2
CH1=(uint32_t)TIM_CHANNEL_3;
CH2=(uint32_t)TIM_CHANNEL_4;
CHx=(uint32_t)TIM_CHANNEL_1;
CHy=(uint32_t)TIM_CHANNEL_2;
}
//SystemClock_Config_48MHz();
MX_TIM3_Init();
HAL_TIM_PWM_Init(&htim3);
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_LOW;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
HAL_TIM_PWM_ConfigChannel( &htim3 , &sConfigOC , CH1);
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
HAL_TIM_PWM_ConfigChannel( &htim3 , &sConfigOC , CH2);
HAL_TIM_PWM_ConfigChannel( &htim3 , &sConfigOC , CHx);
HAL_TIM_PWM_ConfigChannel( &htim3 , &sConfigOC , CHy);
HAL_TIM_PWM_Start(&htim3, CH1);
HAL_TIM_PWM_Start(&htim3, CH2);
HAL_TIM_PWM_Start(&htim3, CHx);
HAL_TIM_PWM_Start(&htim3, CHy);
__HAL_TIM_SetCompare(&htim3,CH2,0);
for( uint8_t i=0 ; i<num ; i++){
temp1=3500;
for(uint8_t ii=0; ii<10 ; ii++){
__HAL_TIM_SetAutoreload(&htim3,temp1*2);
__HAL_TIM_SetCompare(&htim3,CH1, temp1);
//__HAL_TIM_SetCompare(&htim3,CH2,temp1);
temp1 -=6;
HAL_Delay(18);
}/*
for(uint8_t ii=0; ii<10 ; ii++){
__HAL_TIM_SetAutoreload(&htim3,temp1*2);
__HAL_TIM_SetCompare(&htim3,CH1, temp1);
// __HAL_TIM_SetCompare(&htim3,CH2,temp1);
temp1 +=15;
HAL_Delay(9);
}*/
__HAL_TIM_SetCompare(&htim3,CH1, 0);
// __HAL_TIM_SetCompare(&htim3,CH2,0);
HAL_Delay(340);
}
__HAL_TIM_SetCompare(&htim3,CH1, 0);
HAL_TIM_PWM_Stop( &htim3 , CH1 );
HAL_TIM_PWM_Stop( &htim3 , CH2 );
HAL_TIM_PWM_Stop( &htim3 , CHx );
HAL_TIM_PWM_Stop( &htim3 , CHy );
HAL_TIM_PWM_DeInit( &htim3 );
HAL_TIM_Base_DeInit(&htim3);
GPIO_TIM3_OFF();
HAL_GPIO_WritePin( DCDC_EN_GPIO_Port , DCDC_EN_Pin , 0 ); //open drain kimenet,pch fet,
HAL_Delay(100);
// HAL_GPIO_WritePin( DCDC_PWR_GPIO_Port , DCDC_PWR_Pin , 0 );
HAL_Delay(1000);
}
void uartTester(){
//UART fogadás, teszteléshez ---------------------------------------------------------
uint8_t pData;
PutString("S");
HAL_UART_Receive(&huart1,&pData,1,100);
if(pData=='O'){
HAL_GPIO_TogglePin(Kimenet_GPIO_Port,Kimenet_Pin);
PutString("R");
HAL_UART_Receive(&huart1,&pData,1,1000);
while(pData != 'A')
HAL_UART_Receive(&huart1,&pData,1,1000);
HAL_GPIO_WritePin( DCDC_EN_GPIO_Port , DCDC_EN_Pin , 1 );
PutString("R");
HAL_UART_Receive(&huart1,&pData,8,1000);
while(pData != 'B')
HAL_UART_Receive(&huart1,&pData,8,1000);
soundNum=1;
sounDelay=10;
SystemClock_Config_48MHz();
HAL_Delay(2);
MX_TIM3_Init();
HAL_TIM_PWM_Init(&htim3);
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_LOW;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
HAL_TIM_PWM_ConfigChannel( &htim3 , &sConfigOC , TIM_CHANNEL_1);
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
HAL_TIM_PWM_ConfigChannel( &htim3 , &sConfigOC , TIM_CHANNEL_2);
HAL_GPIO_TogglePin(Kimenet_GPIO_Port,Kimenet_Pin);
HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_2);
uint16_t i=630;
__HAL_TIM_SetAutoreload(&htim3,i*2);
__HAL_TIM_SetCompare(&htim3,TIM_CHANNEL_1, i);
__HAL_TIM_SetCompare(&htim3,TIM_CHANNEL_2, i);
HAL_Delay(500);
PutString("R");
HAL_UART_Receive(&huart1,&pData,8,1000);
while(pData != 'C')
HAL_UART_Receive(&huart1,&pData,8,1000);
HAL_GPIO_WritePin( DCDC_EN_GPIO_Port , DCDC_EN_Pin , 0);
HAL_TIM_PWM_Stop( &htim3 , TIM_CHANNEL_1 );
HAL_TIM_PWM_Stop( &htim3 , TIM_CHANNEL_2 );
HAL_TIM_PWM_DeInit( &htim3 );
SystemClock_Config_8MHz();
HAL_ADC_MspDeInit(&hadc);
HAL_UART_MspDeInit(&huart1);
HAL_TIM_Base_DeInit(&htim3);
while(1){
HAL_GPIO_TogglePin(Kimenet_GPIO_Port,Kimenet_Pin);
HAL_Delay(200);
}
}
}
int timer_set_period(hacs_timer_t tim, uint32_t us)
{
__HAL_TIM_SetAutoreload(&tim_handles[tim], us);
return HACS_NO_ERROR;
}
/**
* @brief SYSTICK callback.
* @param None
* @retval None
*/
void HAL_SYSTICK_Callback(void)
{
uint8_t *buf;
uint16_t Temp_X, Temp_Y = 0x00;
uint16_t NewARR_X, NewARR_Y = 0x00;
if (DemoEnterCondition != 0x00)
{
buf = USBD_HID_GetPos();
if((buf[1] != 0) ||(buf[2] != 0))
{
USBD_HID_SendReport (&hUSBDDevice,
buf,
4);
}
Counter ++;
if (Counter == 10)
{
/* Reset Buffer used to get accelerometer values */
Buffer[0] = 0;
Buffer[1] = 0;
/* Disable All TIM4 Capture Compare Channels */
HAL_TIM_PWM_Stop(&htim4, TIM_CHANNEL_1);
HAL_TIM_PWM_Stop(&htim4, TIM_CHANNEL_2);
HAL_TIM_PWM_Stop(&htim4, TIM_CHANNEL_3);
HAL_TIM_PWM_Stop(&htim4, TIM_CHANNEL_4);
/* Read Acceleration*/
BSP_ACCELERO_GetXYZ(Buffer);
/* Set X and Y positions */
X_Offset = Buffer[0];
Y_Offset = Buffer[1];
/* Update New autoreload value in case of X or Y acceleration*/
/* Basic accelration X_Offset and Y_Offset are divide by 40 to fir with ARR range */
NewARR_X = TIM_ARR - ABS(X_Offset/3);
NewARR_Y = TIM_ARR - ABS(Y_Offset/3);
/* Calculation of Max acceleration detected on X or Y axis */
Temp_X = ABS(X_Offset/3);
Temp_Y = ABS(Y_Offset/3);
MaxAcceleration = MAX_AB(Temp_X, Temp_Y);
if(MaxAcceleration != 0)
{
/* Reset CNT to a lowest value (equal to min CCRx of all Channels) */
__HAL_TIM_SetCounter(&htim4,(TIM_ARR-MaxAcceleration)/2);
if (X_Offset < ThreadholdAcceleroLow)
{
/* Sets the TIM4 Capture Compare for Channel1 Register value */
/* Equal to NewARR_X/2 to have duty cycle equal to 50% */
__HAL_TIM_SetCompare(&htim4, TIM_CHANNEL_1, NewARR_X/2);
/* Time base configuration */
__HAL_TIM_SetAutoreload(&htim4, NewARR_X);
/* Enable TIM4 Capture Compare Channel1 */
HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_1);
}
else if (X_Offset > ThreadholdAcceleroHigh)
{
/* Sets the TIM4 Capture Compare for Channel3 Register value */
/* Equal to NewARR_X/2 to have duty cycle equal to 50% */
__HAL_TIM_SetCompare(&htim4, TIM_CHANNEL_3, NewARR_X/2);
/* Time base configuration */
__HAL_TIM_SetAutoreload(&htim4, NewARR_X);
/* Enable TIM4 Capture Compare Channel3 */
HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_3);
}
if (Y_Offset > ThreadholdAcceleroHigh)
{
/* Sets the TIM4 Capture Compare for Channel2 Register value */
/* Equal to NewARR_Y/2 to have duty cycle equal to 50% */
__HAL_TIM_SetCompare(&htim4, TIM_CHANNEL_2,NewARR_Y/2);
/* Time base configuration */
__HAL_TIM_SetAutoreload(&htim4, NewARR_Y);
/* Enable TIM4 Capture Compare Channel2 */
HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_2);
}
else if (Y_Offset < ThreadholdAcceleroLow)
{
/* Sets the TIM4 Capture Compare for Channel4 Register value */
/* Equal to NewARR_Y/2 to have duty cycle equal to 50% */
__HAL_TIM_SetCompare(&htim4, TIM_CHANNEL_4, NewARR_Y/2);
/* Time base configuration */
__HAL_TIM_SetAutoreload(&htim4, NewARR_Y);
/* Enable TIM4 Capture Compare Channel4 */
HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_4);
}
}
Counter = 0x00;
}
}
}
