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add pre-pre-pre-alpha code (just for fun)

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Edward Emelianov
2024-02-13 20:27:10 +03:00
parent 44f0f18e9f
commit 021c0bdf6b
29 changed files with 2244 additions and 1 deletions
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149
F1:F103/CAR_CANbus/WindShield/hardware.c Normal file
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/*
* This file is part of the windshield project.
* Copyright 2024 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "hardware.h"
/* pinout:
| **Pin #** | **Pin name ** | **function** | **settings** | **comment ** |
| --------- | ------------- | ------------ | ---------------------- | --------------------------------------- |
| 10 | PA0 | Vsen | Ain | motors current |
| 11 | PA1 | Power_EN | slow PP (1) | enable 5V power DC-DC |
| 12 | PA2 | L_UP | slow PP (0) | turn on left up semibridge |
| 13 | PA3 | R_UP | slow PP (0) | turn on right up semibridge |
| 16 | PA6 | R_DOWN | TIM3_ch1 PWM out | PWM of right down semibridge |
| 17 | PA7 | L_DOWN | TIM3_ch2 PWM out | PWM of left up semibridge |
| 30 | PA9 | USART Tx | AFPP | USART commands | +
| 31 | PA10 | USART Rx | AF floating in | (test and so on) | +
| 32 | PA11 | DOWN_SW | in pullup | down Hall switch |
| 33 | PA12 | UP_SW | in pullup | upper Hall switch |
| 45 | PB8 | CAN Rx | in floating or AF flin | CAN bus | +
| 46 | PB9 | CAN Tx | AFPP | -//- | +
| 25 | PB12 | UP_DIR | in pulldown | high when got command to move window up |
| 26 | PB13 | DOWN_DIR | in pulldown | -//- down (when connected to old wires) |
| 27 | PB14 | UP_BTN | in pullup | button control - move up |
| 28 | PB15 | DOWN_BTN | in pullup | -//- down |
*/
// last incr/decr time and minimal time between incr/decr CCRx
static uint32_t PWM_lasttime = 0, PWM_deltat = 1;
static int direction = 0, accel = 0; // rotation direction and acceleration/deceleration
void gpio_setup(void){
// PB8 & PB9 (CAN) setup in can.c; PA9 & PA10 (USART) in usart.c; PA6 & PA7 will be configured later
RCC->APB2ENR |= RCC_APB2ENR_IOPAEN | RCC_APB2ENR_IOPBEN | RCC_APB2ENR_IOPCEN | RCC_APB2ENR_AFIOEN;
// pullups & initial values
GPIOA->ODR = (1<<11) | (1<<11) | (1<<12);
GPIOB->ODR = (1<<14) | (1<<15);
GPIOA->CRL = CRL(0, CNF_ANALOG) | CRL(1, CNF_PPOUTPUT|MODE_SLOW) | CRL(2, CNF_PPOUTPUT|MODE_SLOW) |
CRL(3, CNF_PPOUTPUT|MODE_SLOW);
GPIOA->CRH = CRH(11, CNF_PUDINPUT) | CRH(12, CNF_PUDINPUT);
GPIOB->CRH = CRH(12, CNF_PUDINPUT) | CRH(13, CNF_PUDINPUT) | CRH(14, CNF_PUDINPUT) | CRH(15, CNF_PUDINPUT);
// setup timer: 100 ticks per full PWM range, 2kHz -> 200kHz timer frequency
RCC->APB1ENR |= RCC_APB1ENR_TIM3EN; // enable TIM3 clocking
TIM3->CR1 = 0;
TIM3->PSC = (TIM3FREQ/PWMFREQ) - 1; // 359 ticks for 200kHz
TIM3->ARR = PWMMAX - 1;
TIM3->CCR1 = 0; // inactive
TIM3->CCR2 = 0;
// PWM mode 1 (active->inactive)
TIM3->CCMR1 = TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC1M_1 | TIM_CCMR1_OC1PE |
TIM_CCMR1_OC2M_2 | TIM_CCMR1_OC2M_1 | TIM_CCMR1_OC2PE;
// main PWM output
TIM3->CCER = TIM_CCER_CC1E | TIM_CCER_CC2E;
}
// set minimal pause between successive CCRx increments or decrements; return TRUE if OK
int set_dT(uint32_t d){
if(d > 1000) return FALSE;
PWM_deltat = d;
return TRUE;
}
// stop or start rotation in given direction (only if motor stops); return TRUE if OK
// dir == 0 to stop; > 0 to rotate CW (L_UP, R_DOWN), < 0 to rotate CCW (L_DOWN, R_UP)
int motor_ctl(int32_t dir){
if(TIM3->CR1 & TIM_CR1_CEN){
if(direction && dir) return FALSE; // motor is moving while trying to move it
if(direction == 0 && dir == 0) return TRUE; // already stopped
}
if(dir == 0){ // stop motor -> deceleration
accel = -1;
PWM_lasttime = Tms;
return TRUE;
}
accel = 1;
if(dir > 0){ // start in positive direction
direction = 1;
set_up(UP_LEFT);
set_pwm(PWM_RIGHT, 1);
}else{ // negative
direction = -1;
set_up(UP_RIGHT);
set_pwm(PWM_LEFT, 1);
}
PWM_lasttime = Tms;
start_pwm();
return TRUE;
}
// extremal stop
void motor_break(){
up_off();
direction = 0; accel = 0;
stop_pwm();
}
// simplest state machine of motor control
void motor_process(){
if(!direction) return; // motor isn't moving
if(Tms - PWM_lasttime < PWM_deltat) return;
volatile uint16_t *CCRx = (direction > 0) ? &TIM3->CCR1 : &TIM3->CCR2; // current CCRx
if(accel < 0){ // decrement
if(*CCRx == 0){ // stopped
up_off();
direction = 0;
accel = 0;
stop_pwm();
return;
}
// TODO: here we should check currents and if failure turn off immediatelly
--*CCRx;
}else{
// TODO: here we should check currents and increment only if all OK; decrement and change to accel if fail
if(accel){ // acceleration
if(*CCRx == PWMMAX) accel = 0;
else ++*CCRx;
} // else do nothing - moving with constant speed
}
PWM_lasttime = Tms;
}
void iwdg_setup(){
uint32_t tmout = 16000000;
RCC->CSR |= RCC_CSR_LSION;
while((RCC->CSR & RCC_CSR_LSIRDY) != RCC_CSR_LSIRDY){if(--tmout == 0) break;}
IWDG->KR = IWDG_START;
IWDG->KR = IWDG_WRITE_ACCESS;
IWDG->PR = IWDG_PR_PR_1;
IWDG->RLR = 1250;
tmout = 16000000;
while(IWDG->SR){if(--tmout == 0) break;}
IWDG->KR = IWDG_REFRESH;
}