231 lines
8.5 KiB
C
231 lines
8.5 KiB
C
/**************************************************************************
|
|
* NAME: Johan Gärtner *
|
|
* PURPOSE: Driver for the motor signal to certain outputs *
|
|
* INFORMATION: *
|
|
* GLOBAL VARIABLES: *
|
|
* Variable Type Description *
|
|
* MotorPWMPeriode define The initializing periode of the pwm signal to each motor *
|
|
* MotorPWMInitPulse define The initializing pulse of the pwm signal to each motor
|
|
* **************************************************************************/
|
|
|
|
#include "stm32f4xx.h"
|
|
#include "stm32f4xx_revo.h"
|
|
#include "drivers/pwm.h"
|
|
#include "drivers/motors.h"
|
|
|
|
const int MotorPWMPeriode = 2000; //Micro seconds
|
|
const int MotorPWMInitPulse = 1000;
|
|
|
|
/* A struct of a pwm motor profile */
|
|
typedef struct
|
|
{
|
|
GPIO_TypeDef * port; //GPIOA/B/C
|
|
uint16_t pin; //GPIO_PIN_0/1/2/3/..
|
|
TIM_TypeDef * tim; //TIM1/2/3/..
|
|
uint32_t channel; //TIM_CHANNEL_1/TIM_CHANNEL_1/..
|
|
}motorProfile;
|
|
|
|
/**************************************************************************
|
|
* BRIEF: Returns the final pulse of a motor driver call
|
|
* INFORMATION: The pulse is not allowed to be higher then 94 % of the total periode of the pwm signal, otherwise the pwm won't perform correctly
|
|
* Example - pwmEnableMotor(MOTOR_1)
|
|
**************************************************************************/
|
|
uint16_t checkPulse(uint16_t pulse)
|
|
{
|
|
return ((pulse/MotorPWMPeriode)*100 < 94)? pulse: MotorPWMPeriode*0.94;
|
|
}
|
|
|
|
/**************************************************************************
|
|
* BRIEF: Returns a profile of a certain motor
|
|
* INFORMATION: Each Motor has a certain profile which includes a pin, port, timer and a timer channel
|
|
* Each motor configuration is changed in the "stm32f4xx_revo.h" file
|
|
* Example - getMotorProfile(MOTOR_1)
|
|
**************************************************************************/
|
|
motorProfile getMotorProfile(uint8_t motor)
|
|
{
|
|
motorProfile profile;
|
|
|
|
switch(motor)
|
|
{
|
|
case MOTOR_1:
|
|
profile.port = MOTOR_1_PORT;
|
|
profile.pin = MOTOR_1_PIN;
|
|
profile.tim = MOTOR_1_TIM;
|
|
profile.channel = MOTOR_1_CHANNEL;
|
|
break;
|
|
case MOTOR_2:
|
|
profile.port = MOTOR_2_PORT;
|
|
profile.pin = MOTOR_2_PIN;
|
|
profile.tim = MOTOR_2_TIM;
|
|
profile.channel = MOTOR_2_CHANNEL;
|
|
break;
|
|
case MOTOR_3:
|
|
profile.port = MOTOR_3_PORT;
|
|
profile.pin = MOTOR_3_PIN;
|
|
profile.tim = MOTOR_3_TIM;
|
|
profile.channel = MOTOR_3_CHANNEL;
|
|
break;
|
|
case MOTOR_4:
|
|
profile.port = MOTOR_4_PORT;
|
|
profile.pin = MOTOR_4_PIN;
|
|
profile.tim = MOTOR_4_TIM;
|
|
profile.channel = MOTOR_4_CHANNEL;
|
|
break;
|
|
case MOTOR_5:
|
|
profile.port = MOTOR_5_PORT;
|
|
profile.pin = MOTOR_5_PIN;
|
|
profile.tim = MOTOR_5_TIM;
|
|
profile.channel = MOTOR_5_CHANNEL;
|
|
break;
|
|
case MOTOR_6:
|
|
profile.port = MOTOR_6_PORT;
|
|
profile.pin = MOTOR_6_PIN;
|
|
profile.tim = MOTOR_6_TIM;
|
|
profile.channel = MOTOR_6_CHANNEL;
|
|
break;
|
|
case MOTOR_7:
|
|
profile.port = MOTOR_7_PORT;
|
|
profile.pin = MOTOR_7_PIN;
|
|
profile.tim = MOTOR_7_TIM;
|
|
profile.channel = MOTOR_7_CHANNEL;
|
|
break;
|
|
case MOTOR_8:
|
|
profile.port = MOTOR_8_PORT;
|
|
profile.pin = MOTOR_8_PIN;
|
|
profile.tim = MOTOR_8_TIM;
|
|
profile.channel = MOTOR_8_CHANNEL;
|
|
break;
|
|
case MOTOR_9:
|
|
profile.port = MOTOR_9_PORT;
|
|
profile.pin = MOTOR_9_PIN;
|
|
profile.tim = MOTOR_9_TIM;
|
|
profile.channel = MOTOR_9_CHANNEL;
|
|
break;
|
|
case MOTOR_10:
|
|
profile.port = MOTOR_10_PORT;
|
|
profile.pin = MOTOR_10_PIN;
|
|
profile.tim = MOTOR_10_TIM;
|
|
profile.channel = MOTOR_10_CHANNEL;;
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
|
|
return profile;
|
|
}
|
|
|
|
/**************************************************************************
|
|
* BRIEF: Sets the motor output protocol to be either oneshot125 or pwm
|
|
* INFORMATION:
|
|
* Example - uint32_t prescaler = setMotorOutput(Oneshot125)
|
|
*************************************************************************/
|
|
uint32_t setMotorOutput(motorOutput motorOutput)
|
|
{
|
|
uint32_t prescaler;
|
|
|
|
switch(motorOutput)
|
|
{
|
|
case PWM:
|
|
prescaler = 88;
|
|
break;
|
|
case Oneshot125:
|
|
prescaler = 11;
|
|
break;
|
|
default:
|
|
prescaler = 11;
|
|
break;
|
|
}
|
|
|
|
return prescaler;
|
|
}
|
|
|
|
/**************************************************************************
|
|
* BRIEF: Initializing a motor (maps a pwm signal to a certain pin) *
|
|
* INFORMATION: The motor becomes active, Each motor configuration is changed in the "stm32f4xx_revo.h" file *
|
|
* Example - pwmEnableMotor(MOTOR_1) *
|
|
**************************************************************************/
|
|
void pwmEnableMotor(uint8_t motor, motorOutput motorOutput)
|
|
{
|
|
motorProfile profile = getMotorProfile(motor);
|
|
uint32_t prescaler = setMotorOutput(motorOutput);
|
|
|
|
pwmInit(profile.port, profile.pin, profile.tim, profile.channel, MotorPWMPeriode, MotorPWMInitPulse, prescaler);
|
|
}
|
|
|
|
/**************************************************************************
|
|
* BRIEF: Enables all motors (maps a pwm signal to all pins which will be connected to a motor) *
|
|
* INFORMATION: All motors become active
|
|
**************************************************************************/
|
|
void pwmEnableAllMotors(motorOutput motorOutput)
|
|
{
|
|
for (uint8_t i = 1; i < 11; i++ ) pwmEnableMotor(i, motorOutput);
|
|
}
|
|
|
|
/**************************************************************************
|
|
* 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) *
|
|
* INFORMATION:
|
|
* Example - pwmActivateMotor(MOTOR_1)
|
|
**************************************************************************/
|
|
void pwmActivateMotor(uint8_t motor)
|
|
{
|
|
motorProfile profile = getMotorProfile(motor);
|
|
|
|
startPwm(profile.channel, profile.tim);
|
|
}
|
|
|
|
/**************************************************************************
|
|
* BRIEF: Deactivates a motor (Disables the pwm signal for the motor pin )
|
|
* INFORMATION:
|
|
* Example - pwmDeactivateMotor(MOTOR_1)
|
|
**************************************************************************/
|
|
void pwmDeactivateMotor(uint8_t motor)
|
|
{
|
|
motorProfile profile = getMotorProfile(motor);
|
|
|
|
stopPwm(profile.channel, profile.tim);
|
|
}
|
|
|
|
/**************************************************************************
|
|
* BRIEF: Activates all motors (Activates a pwm signal to all motor pins to it's last state)* *
|
|
* INFORMATION: *
|
|
**************************************************************************/
|
|
void pwmActivateAllMotors(void)
|
|
{
|
|
for (uint8_t i = 1; i < 11; i++ ) pwmActivateMotor(i);
|
|
}
|
|
|
|
/**************************************************************************
|
|
* BRIEF: Deactivates all motors (Deactivate a pwm signal to all motor pins) *
|
|
* INFORMATION: *
|
|
* Example - pwmDeactivateAllMotors() *
|
|
**************************************************************************/
|
|
void pwmDeactivateAllMotors(void)
|
|
{
|
|
for (uint8_t i = 1; i < 11; i++ ) pwmDeactivateMotor(i);
|
|
}
|
|
|
|
/**************************************************************************
|
|
* BRIEF: Change the speed of a certain motor if it's active *
|
|
* INFORMATION: The speed is changes by switching the the pulse of a pwm signal *
|
|
* Example - pwmAdjustSpeedOfMotor(MOTOR_2, 200) *
|
|
**************************************************************************/
|
|
void pwmAdjustSpeedOfMotor(uint8_t motor, uint16_t pulse)
|
|
{
|
|
motorProfile profile = getMotorProfile(motor);
|
|
|
|
setPwmPulse(profile.channel, profile.tim, checkPulse(pulse));
|
|
}
|
|
|
|
/**************************************************************************
|
|
* BRIEF: Change the speed of a certain motor if it's active *
|
|
* 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 %) *
|
|
* Example - pwmAdjustSpeedOfMotor(MOTOR_2, 50); *
|
|
**************************************************************************/
|
|
void pwmAdjustSpeedOfMotorDutyCycle(uint8_t motor, uint16_t DutyCycle)
|
|
{
|
|
uint16_t pulse = (DutyCycle*MotorPWMPeriode)/100; /* Converts the DutyCycle to a pulse */
|
|
motorProfile profile = getMotorProfile(motor);
|
|
|
|
setPwmPulse(profile.channel, profile.tim, checkPulse(pulse));
|
|
}
|