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93 lines
3.1 KiB
C
93 lines
3.1 KiB
C
/*
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* geany_encoding=koi8-r
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* hardware.c
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*
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* Copyright 2018 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
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* MA 02110-1301, USA.
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*
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*/
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#include "hardware.h"
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volatile unsigned long Global_time = 0L; // global time in ms
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U8 MCU_no = 0; // unit number read from onboard jumpers
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void hw_init(){
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CFG_GCR |= 1; // disable SWIM
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// Configure clocking
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CLK_CKDIVR = 0; // F_HSI = 16MHz, f_CPU = 16MHz
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// Timer 4 (8 bit) used as system tick timer
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// prescaler == 128 (2^7), Tfreq = 125kHz
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// period = 1ms, so ARR = 125
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TIM4_PSCR = 7;
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TIM4_ARR = 125;
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// interrupts: update
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TIM4_IER = TIM_IER_UIE;
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// auto-reload + interrupt on overflow + enable
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TIM4_CR1 = TIM_CR1_APRE | TIM_CR1_URS | TIM_CR1_CEN;
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// GPIO; ODR-write, IDR-read, DDR-direction, CR1-pullup/pushpull, CR2-exti/speed
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PB_DDR = 0x0f; // motor0
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PB_CR1 = 0x0f;
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PC_DDR = LED_PIN | PWM_PINS; // LED, PWM
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PC_CR1 = LED_PIN | PWM_PINS;
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PC_CR2 = PWM_PINS;
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PD_DDR = 0x0f; // motor 1
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PD_CR1 = 0x0f;
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// end-switches
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PORT(M0E1_PORT, CR1) |= M0E1_PIN;
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PORT(M0E2_PORT, CR1) |= M0E2_PIN;
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PORT(M1E1_PORT, CR1) |= M1E1_PIN;
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PORT(M1E2_PORT, CR1) |= M1E2_PIN;
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// default state setters
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LED_OFF();
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// Setup watchdog
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IWDG_KR = KEY_ENABLE; // start watchdog
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IWDG_KR = KEY_ACCESS; // enable access to protected registers
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IWDG_PR = 6; // /256
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IWDG_RLR = 0xff; // max time for watchdog (1.02s)
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IWDG_KR = KEY_REFRESH;
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// get board address
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MCU_no = GET_ADDR();
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// Configure timer 1 - PWM outputs
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// prescaler = f_{in}/f_{tim1} - 1
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// set Timer1 to 0.2MHz: 16/.2 - 1 = 79 (p-channel mosfet is too slow!)
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TIM1_PSCRH = 0;
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TIM1_PSCRL = 79; // LSB should be written last as it updates prescaler
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// auto-reload each 256ticks:
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TIM1_ARRH = 0x0;
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TIM1_ARRL = 0xFF;
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// P-channel opendrain mosfets are closed
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TIM1_CCR1H = 0;
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TIM1_CCR1L = 0;
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TIM1_CCR2H = 0;
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TIM1_CCR2L = 0;
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TIM1_CCR3H = 0;
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TIM1_CCR3L = 0;
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// interrupts: none
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// PWM mode 2 - OC1M = 111
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TIM1_CCMR1 = 0x70; TIM1_CCMR2 = 0x70; TIM1_CCMR3 = 0x70;
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TIM1_CCER1 = 0x11; // CC1E, CC2E
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TIM1_CCER2 = 0x01; // CC3E
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// auto-reload
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TIM1_CR1 = TIM_CR1_APRE | TIM_CR1_CEN;
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TIM1_BKR |= 1<<7; // MOE - enable main output
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}
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