Added interrupt and event generation handling functions to timer. Updated pwm 6step example to use those and commutate on button press using PWM ON scheme.
This commit is contained in:
Piotr Esden-Tempski
parent
a0091f18c7
commit
dd0018ffdf
@ -21,11 +21,74 @@
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#include <libopencm3/stm32/nvic.h>
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#include <libopencm3/stm32/gpio.h>
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#include <libopencm3/stm32/timer.h>
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#include <libopencm3/stm32/exti.h>
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#define FALLING 0
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#define RISING 1
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u16 exti_direction = FALLING;
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void clock_setup(void)
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{
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rcc_clock_setup_in_hse_8mhz_out_72mhz();
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}
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void gpio_setup(void)
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{
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/* Enable GPIOC clock. */
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rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPCEN);
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/*
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* Set GPIO12 (PORTC) (led) to
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* 'output alternate function push-pull'.
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*/
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gpio_set_mode(GPIOC, GPIO_MODE_OUTPUT_50_MHZ,
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GPIO_CNF_OUTPUT_PUSHPULL, GPIO12);
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}
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void exti_setup(void)
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{
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/* Enable GPIOA clock. */
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rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN);
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/* Enable AFIO clock. */
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rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_AFIOEN);
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/* Enable EXTI0 interrupt */
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nvic_enable_irq(NVIC_EXTI0_IRQ);
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/* Set GPIO0 (in GPIO port A) to 'input open-drain'. */
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gpio_set_mode(GPIOA, GPIO_MODE_INPUT,
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GPIO_CNF_INPUT_FLOAT, GPIO0);
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/* configure EXTI subsystem */
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exti_select_source(EXTI0, GPIOA);
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exti_direction = FALLING;
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exti_set_trigger(EXTI0, EXTI_TRIGGER_FALLING);
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exti_enable_request(EXTI0);
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}
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void exti0_isr()
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{
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exti_reset_request(EXTI0);
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if (exti_direction == FALLING) {
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//gpio_toggle(GPIOA, GPIO12);
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exti_direction = RISING;
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exti_set_trigger(EXTI0, EXTI_TRIGGER_RISING);
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} else {
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//gpio_toggle(GPIOA, GPIO12);
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timer_generate_event(TIM1, TIM_EGR_COMG);
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exti_direction = FALLING;
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exti_set_trigger(EXTI0, EXTI_TRIGGER_FALLING);
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}
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}
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void tim_setup(void)
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{
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/* Enable TIM1 clock. */
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rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_TIM1EN);
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@ -34,16 +97,6 @@ void clock_setup(void)
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RCC_APB2ENR_IOPAEN |
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RCC_APB2ENR_IOPBEN |
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RCC_APB2ENR_AFIOEN);
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}
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void gpio_setup(void)
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{
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/*
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* Set GPIO12 (PORTC) (led) to
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* 'output alternate function push-pull'.
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*/
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gpio_set_mode(GPIOC, GPIO_MODE_OUTPUT_50_MHZ,
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GPIO_CNF_OUTPUT_PUSHPULL, GPIO12);
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/*
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* Set TIM1 chanel output pins to
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@ -65,11 +118,6 @@ void gpio_setup(void)
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GPIO_TIM1_CH2N |
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GPIO_TIM1_CH3N);
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}
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void tim_setup(void)
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{
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/* Enable TIM1 commutation interrupt. */
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nvic_enable_irq(NVIC_TIM1_TRG_COM_IRQ);
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@ -95,7 +143,7 @@ void tim_setup(void)
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timer_set_period(TIM1, 72000000 / 32000);
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/* Configure break and deadtime */
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timer_set_deadtime(TIM1, 0);
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timer_set_deadtime(TIM1, 10);
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timer_set_enabled_off_state_in_idle_mode(TIM1);
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timer_set_enabled_off_state_in_run_mode(TIM1);
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timer_disable_break(TIM1);
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@ -151,7 +199,7 @@ void tim_setup(void)
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timer_set_oc_idle_state_set(TIM1, TIM_OC2N);
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/* Set the capture compare value for OC1. */
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timer_set_oc_value(TIM1, TIM_OC2, 200);
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timer_set_oc_value(TIM1, TIM_OC2, 100);
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/* Reenable outputs. */
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timer_enable_oc_output(TIM1, TIM_OC2);
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@ -178,7 +226,7 @@ void tim_setup(void)
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timer_set_oc_idle_state_set(TIM1, TIM_OC3N);
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/* Set the capture compare value for OC3. */
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timer_set_oc_value(TIM1, TIM_OC3, 300);
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timer_set_oc_value(TIM1, TIM_OC3, 100);
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/* Reenable outputs. */
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timer_enable_oc_output(TIM1, TIM_OC3);
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@ -188,11 +236,155 @@ void tim_setup(void)
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/* ARR reload enable */
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timer_enable_preload(TIM1);
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/* Enable preload of complementary channel configurations and update on COM event */
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timer_enable_preload_complementry_enable_bits(TIM1);
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/* Enable outputs in the break subsystem */
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timer_enable_break_main_output(TIM1);
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/* Counter enable */
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timer_enable_counter(TIM1);
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/* Enable commutation interrupt */
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timer_enable_irq(TIM1, TIM_DIER_COMIE);
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}
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void tim1_trg_com_isr(void)
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{
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static int step = 0;
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TIM1_SR &= ~TIM_SR_COMIF;
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/* A simplified and inefficient implementation of PWM On
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* scheme. Look at the implementation in Open-BLDC on
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* http://open-bldc.org for the proper implementation. This
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* one only serves as an example.
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*
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* Table of the pwm scheme zone configurations when driving:
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* @verbatim
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* | 1| 2| 3| 4| 5| 6|
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* -+--+--+--+--+--+--+
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* A|p+|++| |p-|--| |
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* -+--+--+--+--+--+--+
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* B| |p-|--| |p+|++|
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* -+--+--+--+--+--+--+
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* C|--| |p+|++| |p-|
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* -+--+--+--+--+--+--+
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* | | | | | | '- 360 Deg
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* | | | | | '---- 300 Deg
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* | | | | '------- 240 Deg
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* | | | '---------- 180 Deg
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* | | '------------- 120 Deg
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* | '---------------- 60 Deg
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* '------------------- 0 Deg
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*
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* Legend:
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* p+: PWM on the high side
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* p-: PWM on the low side
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* --: Low side on
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* ++: High side on
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* : Floating/NC
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* @endverbatim
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*/
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switch (step) {
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case 0: /* A PWM HIGH, B OFF, C LOW */
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timer_set_oc_mode(TIM1, TIM_OC1, TIM_OCM_PWM1);
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timer_set_oc_mode(TIM1, TIM_OC2, TIM_OCM_FROZEN);
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timer_set_oc_mode(TIM1, TIM_OC3, TIM_OCM_FORCE_LOW);
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timer_enable_oc_output(TIM1, TIM_OC1);
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timer_disable_oc_output(TIM1, TIM_OC1N);
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timer_disable_oc_output(TIM1, TIM_OC2);
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timer_disable_oc_output(TIM1, TIM_OC2N);
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timer_enable_oc_output(TIM1, TIM_OC3);
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timer_enable_oc_output(TIM1, TIM_OC3N);
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step++;
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break;
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case 1: /* A HIGH, B PWM LOW, C OFF */
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timer_set_oc_mode(TIM1, TIM_OC1, TIM_OCM_FORCE_HIGH);
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timer_set_oc_mode(TIM1, TIM_OC2, TIM_OCM_PWM1);
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timer_set_oc_mode(TIM1, TIM_OC3, TIM_OCM_FROZEN);
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timer_enable_oc_output(TIM1, TIM_OC1);
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timer_enable_oc_output(TIM1, TIM_OC1N);
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timer_disable_oc_output(TIM1, TIM_OC2);
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timer_enable_oc_output(TIM1, TIM_OC2N);
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timer_disable_oc_output(TIM1, TIM_OC3);
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timer_disable_oc_output(TIM1, TIM_OC3N);
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step++;
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break;
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case 2: /* A OFF, B LOW, C PWM HIGH */
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timer_set_oc_mode(TIM1, TIM_OC1, TIM_OCM_FROZEN);
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timer_set_oc_mode(TIM1, TIM_OC2, TIM_OCM_FORCE_LOW);
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timer_set_oc_mode(TIM1, TIM_OC3, TIM_OCM_PWM1);
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timer_disable_oc_output(TIM1, TIM_OC1);
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timer_disable_oc_output(TIM1, TIM_OC1N);
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timer_enable_oc_output(TIM1, TIM_OC2);
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timer_enable_oc_output(TIM1, TIM_OC2N);
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timer_enable_oc_output(TIM1, TIM_OC3);
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timer_disable_oc_output(TIM1, TIM_OC3N);
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step++;
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break;
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case 3: /* A PWM LOW, B OFF, C HIGH */
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timer_set_oc_mode(TIM1, TIM_OC1, TIM_OCM_PWM1);
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timer_set_oc_mode(TIM1, TIM_OC2, TIM_OCM_FROZEN);
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timer_set_oc_mode(TIM1, TIM_OC3, TIM_OCM_FORCE_HIGH);
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timer_disable_oc_output(TIM1, TIM_OC1);
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timer_enable_oc_output(TIM1, TIM_OC1N);
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timer_disable_oc_output(TIM1, TIM_OC2);
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timer_disable_oc_output(TIM1, TIM_OC2N);
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timer_enable_oc_output(TIM1, TIM_OC3);
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timer_enable_oc_output(TIM1, TIM_OC3N);
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step++;
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break;
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case 4: /* A LOW, B PWM HIGH, C OFF */
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timer_set_oc_mode(TIM1, TIM_OC1, TIM_OCM_FORCE_LOW);
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timer_set_oc_mode(TIM1, TIM_OC2, TIM_OCM_PWM1);
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timer_set_oc_mode(TIM1, TIM_OC3, TIM_OCM_FROZEN);
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timer_enable_oc_output(TIM1, TIM_OC1);
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timer_enable_oc_output(TIM1, TIM_OC1N);
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timer_enable_oc_output(TIM1, TIM_OC2);
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timer_disable_oc_output(TIM1, TIM_OC2N);
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timer_disable_oc_output(TIM1, TIM_OC3);
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timer_disable_oc_output(TIM1, TIM_OC3N);
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step++;
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break;
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case 5: /* A OFF, B HIGH, C PWM LOW */
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timer_set_oc_mode(TIM1, TIM_OC1, TIM_OCM_FROZEN);
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timer_set_oc_mode(TIM1, TIM_OC2, TIM_OCM_FORCE_HIGH);
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timer_set_oc_mode(TIM1, TIM_OC3, TIM_OCM_PWM1);
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timer_disable_oc_output(TIM1, TIM_OC1);
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timer_disable_oc_output(TIM1, TIM_OC1N);
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timer_enable_oc_output(TIM1, TIM_OC2);
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timer_enable_oc_output(TIM1, TIM_OC2N);
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timer_disable_oc_output(TIM1, TIM_OC3);
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timer_enable_oc_output(TIM1, TIM_OC3N);
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step=0;
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break;
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}
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gpio_toggle(GPIOC, GPIO12);
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}
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int main(void)
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@ -200,6 +392,7 @@ int main(void)
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clock_setup();
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gpio_setup();
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tim_setup();
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exti_setup();
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while (1) {
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__asm("nop");
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@ -852,6 +852,8 @@ enum tim_oc_mode {
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};
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/* --- TIM functions ------------------------------------------------------- */
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void timer_enable_irq(u32 timer_peripheral, u32 irq);
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void timer_disable_irq(u32 timer_peripheral, u32 irq);
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void timer_set_mode(u32 timer_peripheral, u8 clock_div,
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u8 alignment, u8 direction);
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void timer_set_clock_division(u32 timer_peripheral, u32 clock_div);
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@ -908,5 +910,6 @@ void timer_set_enabled_off_state_in_idle_mode(u32 timer_peripheral);
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void timer_set_disabled_off_state_in_idle_mode(u32 timer_peripheral);
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void timer_set_break_lock(u32 timer_peripheral, u32 lock);
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void timer_set_deadtime(u32 timer_peripheral, u32 deadtime);
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void timer_generate_event(u32 timer_peripheral, u32 event);
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#endif
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@ -27,6 +27,16 @@
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#include <libopencm3/stm32/timer.h>
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void timer_enable_irq(u32 timer_peripheral, u32 irq)
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{
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TIM_DIER(timer_peripheral) |= irq;
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}
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void timer_disable_irq(u32 timer_peripheral, u32 irq)
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{
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TIM_DIER(timer_peripheral) &= ~irq;
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}
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void timer_set_mode(u32 timer_peripheral, u8 clock_div,
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u8 alignment, u8 direction)
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{
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@ -829,3 +839,8 @@ void timer_set_deadtime(u32 timer_peripheral, u32 deadtime)
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TIM_BDTR(timer_peripheral) |= deadtime;
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}
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}
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void timer_generate_event(u32 timer_peripheral, u32 event)
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{
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TIM_EGR(timer_peripheral) |= event;
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}
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