main_F401.c

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/**
 ******************************************************************************
 * @file    main_F401.c
 * @author  IPC
 * @version V0
 * @date    10/07/2016
 * @brief   This file provides a set of functions needed to configure STM32 MCU.
 ******************************************************************************
 * @attention
 *
 * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
 *
 * Redistribution and use in source and binary forms, with or without modification,
 * are permitted provided that the following conditions are met:
 *   1. Redistributions of source code must retain the above copyright notice,
 *      this list of conditions and the following disclaimer.
 *   2. Redistributions in binary form must reproduce the above copyright notice,
 *      this list of conditions and the following disclaimer in the documentation
 *      and/or other materials provided with the distribution.
 *   3. Neither the name of STMicroelectronics nor the names of its contributors
 *      may be used to endorse or promote products derived from this software
 *      without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 ******************************************************************************
 */

/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_hal.h"

/* USER CODE BEGIN Includes */
#include "6Step_Lib.h"
/* USER CODE END Includes */

/* Private variables ---------------------------------------------------------*/
ADC_HandleTypeDef hadc1;

TIM_HandleTypeDef htim1;
TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim3;
TIM_HandleTypeDef htim4;

UART_HandleTypeDef huart2;

/* USER CODE BEGIN PV */
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_ADC1_Init(void);
static void MX_TIM1_Init(void);
static void MX_TIM3_Init(void);
static void MX_TIM4_Init(void);
static void MX_USART2_UART_Init(void);

/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

int main(void)
{

  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration----------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* Configure the system clock */
  SystemClock_Config();

  /* Initialize all configured peripherals */
  MX_ADC1_Init();
  MX_TIM1_Init();
  MX_TIM3_Init();
  MX_TIM4_Init();
  MX_USART2_UART_Init();
  

  /* USER CODE BEGIN 2 */
 /* **************************************************************************** 
  ==============================================================================   
            ###### This function initializes 6-Step lib ######
  ============================================================================== 
  **************************************************************************** */
  MC_SixStep_INIT();
  /****************************************************************************/ 
  /* USER CODE END 2 */

  /* USER CODE BEGIN 3 */
  /* Infinite loop */
  while (1)
  {
/*! **************************************************************************
  ==============================================================================   
            ###### How to use the 6Step FW Example project ######
  ==============================================================================     
  This workspace contains the middleware layer with Motor Control library to drive 
  a motor connected on X-Nucleo board performing a 6-step control algorithm
  allowing the motor speed regulation through a potentiometer. The 6-step algorithm 
  is based on 1shunt current sensing mode and sensorless algorithm for bEmf detection.
  The workspace is provided for STM32Fxx-Nucleo in four different configurations, 
  normal, demo, comm mode, boot mode. The "normal" mode waits the blue button event 
  to start the motor, the "demo" mode starts and stop the motor automatically, the 
  "comm" mode enables the communication protocol with external PC terminal and the 
  "boot" mode enables the FW for external boot loader.
 
   A list of APIs is provided to send command to 6Step lib, for instance:
 
    (#)  MC_StartMotor() -> Start the motor
 
    (#)  MC_StoptMotor() -> Stop the motor
 
    (#)  MC_Set_Speed(...) -> Set the new motor speed
 
  The MC_SixStep_param.h contains the full list of MC parameters      
 
  ==============================================================================   
                       ###### USER SPACE ######
  ==============================================================================      
  *****************************************************************************/ 
      
   
  /****************************************************************************/ 
  }
  /* USER CODE END 3 */

}

/** System Clock Configuration
*/
void SystemClock_Config(void)
{

  RCC_OscInitTypeDef RCC_OscInitStruct;
  RCC_ClkInitTypeDef RCC_ClkInitStruct;

  __PWR_CLK_ENABLE();

  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE2);

  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = 6;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
  RCC_OscInitStruct.PLL.PLLM = 16;
  RCC_OscInitStruct.PLL.PLLN = 336;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV4;
  RCC_OscInitStruct.PLL.PLLQ = 7;
  HAL_RCC_OscConfig(&RCC_OscInitStruct);

  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_SYSCLK|RCC_CLOCKTYPE_PCLK1;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
  HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2);

}

/* ADC1 init function */
void MX_ADC1_Init(void)
{

  ADC_ChannelConfTypeDef sConfig;

    /**Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion) 
    */
  hadc1.Instance = ADC1;
  hadc1.Init.ClockPrescaler = ADC_CLOCKPRESCALER_PCLK_DIV2;
  hadc1.Init.Resolution = ADC_RESOLUTION12b;
  hadc1.Init.ScanConvMode = DISABLE;
  hadc1.Init.ContinuousConvMode = DISABLE;
  hadc1.Init.DiscontinuousConvMode = DISABLE;
  hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_RISING;
  hadc1.Init.ExternalTrigConv = ADC_EXTERNALTRIGCONV_T3_TRGO;
  hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
  hadc1.Init.NbrOfConversion = 1;
  hadc1.Init.DMAContinuousRequests = DISABLE;
  hadc1.Init.EOCSelection = EOC_SINGLE_CONV;
  HAL_ADC_Init(&hadc1);

    /**Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. 
    */
  sConfig.Channel = ADC_CHANNEL_2;
  sConfig.Rank = 1;
  sConfig.SamplingTime = ADC_SAMPLETIME_3CYCLES;
  HAL_ADC_ConfigChannel(&hadc1, &sConfig);

}



/* TIM1 init function */
void MX_TIM1_Init(void)
{
  TIM_OC_InitTypeDef sConfig;
  TIM_SlaveConfigTypeDef sSlaveConfig;
  TIM_MasterConfigTypeDef sMasterConfig;
  /*##-1- Configure the TIM peripheral #######################################*/ 
  /* Initialize TIMx peripheral as follow:
       + Prescaler = 0
       + Period = uwPeriod  (to have an output frequency equal to 17.57 KHz)
       + ClockDivision = 0
       + Counter direction = Up
  */

  htim1.Instance = TIM1;
  
  htim1.Init.Period            = 839;
  htim1.Init.Prescaler         = 0;
  htim1.Init.ClockDivision     = TIM_CLOCKDIVISION_DIV1;
  htim1.Init.CounterMode       = TIM_COUNTERMODE_CENTERALIGNED1;
  htim1.Init.RepetitionCounter = 0; 
  
  HAL_TIM_PWM_Init(&htim1) ;
 

  sSlaveConfig.SlaveMode = TIM_SLAVEMODE_TRIGGER;
  sSlaveConfig.InputTrigger = TIM_TS_ITR3;
  HAL_TIM_SlaveConfigSynchronization(&htim1, &sSlaveConfig);
  
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig);

  /*##-2- Configure the PWM channels #########################################*/ 
  /* Common configuration for all channels */
  sConfig.OCMode      = TIM_OCMODE_PWM2;
  sConfig.OCFastMode  = TIM_OCFAST_DISABLE;
  sConfig.OCPolarity  = TIM_OCPOLARITY_LOW;
  sConfig.OCNPolarity = TIM_OCNPOLARITY_LOW;
  sConfig.OCIdleState = TIM_OCIDLESTATE_RESET;
  sConfig.OCNIdleState= TIM_OCNIDLESTATE_RESET;
  sConfig.Pulse = 100;  

  /* Set the pulse value for channel 1 */
  HAL_TIM_PWM_ConfigChannel(&htim1, &sConfig, TIM_CHANNEL_1) ;
  
  /* Set the pulse value for channel 2 */
  HAL_TIM_PWM_ConfigChannel(&htim1, &sConfig, TIM_CHANNEL_2) ;
  
  /* Set the pulse value for channel 3 */
  HAL_TIM_PWM_ConfigChannel(&htim1, &sConfig, TIM_CHANNEL_3) ;
}  






/* TIM3 init function */
void MX_TIM3_Init(void)
{

  TIM_SlaveConfigTypeDef sSlaveConfig;
  TIM_MasterConfigTypeDef sMasterConfig;
  TIM_OC_InitTypeDef sConfigOC;

  htim3.Instance = TIM3;
  htim3.Init.Prescaler = 0;
  htim3.Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED1;
  htim3.Init.Period = 839;
  htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  HAL_TIM_Base_Init(&htim3);

  HAL_TIM_PWM_Init(&htim3);

  sSlaveConfig.SlaveMode = TIM_SLAVEMODE_TRIGGER;
  sSlaveConfig.InputTrigger = TIM_TS_ITR3;
  HAL_TIM_SlaveConfigSynchronization(&htim3, &sSlaveConfig);

  sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_ENABLE;
  HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig);

  sConfigOC.OCMode = TIM_OCMODE_PWM1;
  sConfigOC.Pulse = 671;
  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
  sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
  HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_1);

}

/* TIM4 init function */
void MX_TIM4_Init(void)
{

  TIM_ClockConfigTypeDef sClockSourceConfig;
  TIM_MasterConfigTypeDef sMasterConfig;

  htim4.Instance = TIM4;
  htim4.Init.Prescaler = 0;
  htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim4.Init.Period = 24000;
  htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  HAL_TIM_Base_Init(&htim4);

  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
  HAL_TIM_ConfigClockSource(&htim4, &sClockSourceConfig);

  sMasterConfig.MasterOutputTrigger = TIM_TRGO_ENABLE;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_ENABLE;
  HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig);

}

/* USART2 init function */
void MX_USART2_UART_Init(void)
{

  huart2.Instance = USART2;
  huart2.Init.BaudRate = 19200;
  huart2.Init.WordLength = UART_WORDLENGTH_9B;
  huart2.Init.StopBits = UART_STOPBITS_1;
  huart2.Init.Parity = UART_PARITY_ODD;
  huart2.Init.Mode = UART_MODE_TX_RX;
  huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  huart2.Init.OverSampling = UART_OVERSAMPLING_16;
  HAL_UART_Init(&huart2);

}



/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

#ifdef USE_FULL_ASSERT

/**
   * @brief Reports the name of the source file and the source line number
   * where the assert_param error has occurred.
   * @param file: pointer to the source file name
   * @param line: assert_param error line source number
   * @retval None
   */
void assert_failed(uint8_t* file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
    ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */

}

#endif

/**
  * @}
  */ 

/**
  * @}
*/ 

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/