Drivers PWM and motors
Added comment to drivers and a clk prescaler to the pwm signal
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johan9107
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b589ff8f1b
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ca351f536b
@ -8,20 +8,59 @@
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#ifndef DRIVERS_MOTORS_H_
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#define DRIVERS_MOTORS_H_
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/**************************************************************************
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* BRIEF: Initializing a motor (maps a pwm signal to a certain pin) *
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* INFORMATION: The motor becomes active, Each motor configuration is changed in the "stm32f4xx_revo.h" file *
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* Example - pwmEnableMotor(MOTOR_1) *
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**************************************************************************/
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void pwmEnableMotor(uint8_t motor);
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/**************************************************************************
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* BRIEF: Enables all motors (maps a pwm signal to all pins which will be connected to a motor) *
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* INFORMATION: All motors become active
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**************************************************************************/
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void pwmEnableAllMotors(void);
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/**************************************************************************
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* BRIEF: Deactivates a motor (Disables the pwm signal for the motor pin )
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* INFORMATION:
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* Example - pwmDeactivateMotor(MOTOR_1)
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**************************************************************************/
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void pwmDeactivateMotor(uint8_t motor);
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/**************************************************************************
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* BRIEF: If a motor is Deactivated (no pwm signal), this function will activate the motor to it's last state (the pwm signal will go back to is's last state) *
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* INFORMATION:
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* Example - pwmActivateMotor(MOTOR_1)
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**************************************************************************/
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void pwmActivateMotor(uint8_t motor);
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/**************************************************************************
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* BRIEF: Deactivates all motors (Deactivate a pwm signal to all motor pins) *
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* INFORMATION: *
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* Example - pwmDeactivateAllMotors() *
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**************************************************************************/
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void pwmDeactivateAllMotors(void);
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/**************************************************************************
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* BRIEF: Activates all motors (Activates a pwm signal to all motor pins to it's last state)* *
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* INFORMATION: *
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* Example - pwmActivateAllMotors() *
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**************************************************************************/
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void pwmActivateAllMotors(void);
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/**************************************************************************
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* BRIEF: Change the speed of a certain motor if it's active *
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* INFORMATION: The speed is changes by switching the the pulse of a pwm signal *
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* Example - pwmAdjustSpeedOfMotor(MOTOR_2, 200) *
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**************************************************************************/
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void pwmAdjustSpeedOfMotor(uint8_t motor, uint16_t pulse);
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/**************************************************************************
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* BRIEF: Change the speed of a certain motor if it's active *
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* INFORMATION: The speed is change by switching the the Duty Cycle of a pwm signal (The Duty Cycle may only take values between 0 - 100 %) *
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* Example - pwmAdjustSpeedOfMotor(MOTOR_2, 50); *
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**************************************************************************/
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void pwmAdjustSpeedOfMotorDutyCycle(uint8_t motor, uint16_t DutyCycle);
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@ -31,8 +31,18 @@ void pwmInit(GPIO_TypeDef * GPIO, uint16_t pin, TIM_TypeDef * tim, uint32_t Chan
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**************************************************************************/
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void setPwmPulse(uint32_t Channel, TIM_TypeDef * tim, uint16_t newPulse);
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/**************************************************************************
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* BRIEF: startPwm Activates a pwm signal for a certain timer on a certain channel
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* INFORMATION:
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* Example - startPwm(TIM_CHANNEL_4, TIM3);
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**************************************************************************/
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void startPwm(uint32_t Channel, TIM_TypeDef * tim);
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/**************************************************************************
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* BRIEF: stopPwm Deactivates a pwm signal for a certain timer on a certain channel
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* INFORMATION:
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* Example - stopPwm(TIM_CHANNEL_4, TIM3);
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**************************************************************************/
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void stopPwm(uint32_t Channel, TIM_TypeDef * tim);
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#endif /* DRIVERS_PWM_H_ */
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@ -13,8 +13,8 @@
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#include "drivers/pwm.h"
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#include "drivers/motors.h"
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#define MOTOR_PWM_INIT_PERIODE 2000
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#define MOTOR_PWM_INIT_PULSE 100
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#define MOTOR_PWM_INIT_PERIODE 65535
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#define MOTOR_PWM_INIT_PULSE MOTOR_PWM_INIT_PERIODE/2
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/* A struct of a pwm motor profile */
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typedef struct
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@ -150,7 +150,7 @@ void pwmDeactivateMotor(uint8_t motor)
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}
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/**************************************************************************
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* BRIEF: Activates all motors (Activates a pwm signal to all motor pins to it's last state) * *
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* BRIEF: Activates all motors (Activates a pwm signal to all motor pins to it's last state)* *
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* INFORMATION: *
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* Example - pwmActivateAllMotors() *
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**************************************************************************/
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@ -82,7 +82,7 @@ void pwmInit(GPIO_TypeDef * GPIO, uint16_t pin, TIM_TypeDef * tim, uint32_t Chan
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TIM_HandleTypeDef TimHandle;
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uint32_t uwPrescalerValue =0;
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uint32_t uwPrescalerValue =2;
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TimHandle.Instance = profile.tim; /* Sets timer */
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TimHandle.Init.Period = period; /* Sets period of pwm */
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TimHandle.Init.Prescaler = uwPrescalerValue;
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@ -91,6 +91,7 @@ void pwmInit(GPIO_TypeDef * GPIO, uint16_t pin, TIM_TypeDef * tim, uint32_t Chan
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TIM_OC_InitTypeDef PWMConfig;
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//PWMConfig.Pulse = 840;
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PWMConfig.Pulse = 840;
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PWMConfig.OCMode = TIM_OCMODE_PWM1;
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PWMConfig.OCPolarity = TIM_OCPOLARITY_HIGH;
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@ -141,10 +142,11 @@ void pwmInit(GPIO_TypeDef * GPIO, uint16_t pin, TIM_TypeDef * tim, uint32_t Chan
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}
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/**************************************************************************
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* BRIEF: setPwmPulse changes a certain pulse for an initialized pwm signal *
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* BRIEF: setPwmPulse changes a certain pulse for an initialized pwm signal
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* INFORMATION: It's only possible to change the pwm output for a certain timer
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* on a certain channel, not a pin output
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* Example - setPwmPulse(TIM_CHANNEL_4, TIM3, 500); *
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* on a certain channel, not a pin output. This function will only run is a pwm is active.
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* The pwm is activated and deactivated at startPwm/stopPwm
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* Example - setPwmPulse(TIM_CHANNEL_4, TIM3, 500);
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**************************************************************************/
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void setPwmPulse(uint32_t Channel, TIM_TypeDef * tim, uint16_t newPulse)
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{
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@ -175,6 +177,11 @@ void setPwmPulse(uint32_t Channel, TIM_TypeDef * tim, uint16_t newPulse)
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}
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}
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/**************************************************************************
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* BRIEF: startPwm Activates a pwm signal for a certain timer on a certain channel
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* INFORMATION:
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* Example - startPwm(TIM_CHANNEL_4, TIM3);
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**************************************************************************/
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void startPwm(uint32_t Channel, TIM_TypeDef * tim)
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{
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pwmOk = true;
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@ -184,6 +191,11 @@ void startPwm(uint32_t Channel, TIM_TypeDef * tim)
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HAL_TIM_PWM_Start(&TimHandle, Channel);
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}
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/**************************************************************************
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* BRIEF: stopPwm Deactivates a pwm signal for a certain timer on a certain channel
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* INFORMATION:
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* Example - stopPwm(TIM_CHANNEL_4, TIM3);
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**************************************************************************/
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void stopPwm(uint32_t Channel, TIM_TypeDef * tim)
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{
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pwmOk = false;
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