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openpilot1/body/board/setup.h

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// Define to prevent recursive inclusion
#ifndef SETUP_H
#define SETUP_H
#include "stm32f4xx_hal.h"
TIM_HandleTypeDef htim_right;
TIM_HandleTypeDef htim_left;
ADC_HandleTypeDef hadc;
I2C_HandleTypeDef hi2c1;
volatile adc_buf_t adc_buffer;
extern board_t board;
void MX_GPIO_Clocks_Init(void) {
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
__HAL_RCC_CAN1_CLK_ENABLE();
__HAL_RCC_CAN2_CLK_ENABLE();
}
void MX_GPIO_Common_Init(void) {
GPIO_InitTypeDef GPIO_InitStruct = { 0 };
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Pin = board.hall_left.hall_pinA;
HAL_GPIO_Init(board.hall_left.hall_portA, &GPIO_InitStruct);
GPIO_InitStruct.Pin = board.hall_left.hall_pinB;
HAL_GPIO_Init(board.hall_left.hall_portB, &GPIO_InitStruct);
GPIO_InitStruct.Pin = board.hall_left.hall_pinC;
HAL_GPIO_Init(board.hall_left.hall_portC, &GPIO_InitStruct);
GPIO_InitStruct.Pin = board.hall_right.hall_pinA;
HAL_GPIO_Init(board.hall_right.hall_portA, &GPIO_InitStruct);
GPIO_InitStruct.Pin = board.hall_right.hall_pinB;
HAL_GPIO_Init(board.hall_right.hall_portB, &GPIO_InitStruct);
GPIO_InitStruct.Pin = board.hall_right.hall_pinC;
HAL_GPIO_Init(board.hall_right.hall_portC, &GPIO_InitStruct);
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Pin = CHARGER_PIN;
HAL_GPIO_Init(CHARGER_PORT, &GPIO_InitStruct);
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Pin = BUTTON_PIN;
HAL_GPIO_Init(BUTTON_PORT, &GPIO_InitStruct);
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pin = board.led_pinR;
HAL_GPIO_Init(board.led_portR, &GPIO_InitStruct);
GPIO_InitStruct.Pin = board.led_pinG;
HAL_GPIO_Init(board.led_portG, &GPIO_InitStruct);
GPIO_InitStruct.Pin = board.led_pinB;
HAL_GPIO_Init(board.led_portB, &GPIO_InitStruct);
if (board.can_pinEN != 0) {
GPIO_InitStruct.Pin = board.can_pinEN;
HAL_GPIO_Init(board.can_portEN, &GPIO_InitStruct);
}
if (board.ignition_pin != 0) {
GPIO_InitStruct.Pin = board.ignition_pin;
HAL_GPIO_Init(board.ignition_port, &GPIO_InitStruct);
}
GPIO_InitStruct.Pin = BUZZER_PIN;
HAL_GPIO_Init(BUZZER_PORT, &GPIO_InitStruct);
GPIO_InitStruct.Pin = OFF_PIN;
HAL_GPIO_Init(OFF_PORT, &GPIO_InitStruct);
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
GPIO_InitStruct.Pin = LEFT_DC_CUR_PIN;
HAL_GPIO_Init(LEFT_DC_CUR_PORT, &GPIO_InitStruct);
GPIO_InitStruct.Pin = LEFT_U_CUR_PIN;
HAL_GPIO_Init(LEFT_U_CUR_PORT, &GPIO_InitStruct);
GPIO_InitStruct.Pin = LEFT_V_CUR_PIN;
HAL_GPIO_Init(LEFT_V_CUR_PORT, &GPIO_InitStruct);
GPIO_InitStruct.Pin = RIGHT_DC_CUR_PIN;
HAL_GPIO_Init(RIGHT_DC_CUR_PORT, &GPIO_InitStruct);
GPIO_InitStruct.Pin = RIGHT_U_CUR_PIN;
HAL_GPIO_Init(RIGHT_U_CUR_PORT, &GPIO_InitStruct);
GPIO_InitStruct.Pin = RIGHT_V_CUR_PIN;
HAL_GPIO_Init(RIGHT_V_CUR_PORT, &GPIO_InitStruct);
GPIO_InitStruct.Pin = BATT_PIN;
HAL_GPIO_Init(BATT_PORT, &GPIO_InitStruct);
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Alternate = GPIO_AF3_TIM8;
GPIO_InitStruct.Pin = LEFT_TIM_UH_PIN;
HAL_GPIO_Init(LEFT_TIM_UH_PORT, &GPIO_InitStruct);
GPIO_InitStruct.Pin = LEFT_TIM_VH_PIN;
HAL_GPIO_Init(LEFT_TIM_VH_PORT, &GPIO_InitStruct);
GPIO_InitStruct.Pin = LEFT_TIM_WH_PIN;
HAL_GPIO_Init(LEFT_TIM_WH_PORT, &GPIO_InitStruct);
GPIO_InitStruct.Pin = LEFT_TIM_UL_PIN;
HAL_GPIO_Init(LEFT_TIM_UL_PORT, &GPIO_InitStruct);
GPIO_InitStruct.Pin = LEFT_TIM_VL_PIN;
HAL_GPIO_Init(LEFT_TIM_VL_PORT, &GPIO_InitStruct);
GPIO_InitStruct.Pin = LEFT_TIM_WL_PIN;
HAL_GPIO_Init(LEFT_TIM_WL_PORT, &GPIO_InitStruct);
GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
GPIO_InitStruct.Pin = RIGHT_TIM_UH_PIN;
HAL_GPIO_Init(RIGHT_TIM_UH_PORT, &GPIO_InitStruct);
GPIO_InitStruct.Pin = RIGHT_TIM_VH_PIN;
HAL_GPIO_Init(RIGHT_TIM_VH_PORT, &GPIO_InitStruct);
GPIO_InitStruct.Pin = RIGHT_TIM_WH_PIN;
HAL_GPIO_Init(RIGHT_TIM_WH_PORT, &GPIO_InitStruct);
GPIO_InitStruct.Pin = RIGHT_TIM_UL_PIN;
HAL_GPIO_Init(RIGHT_TIM_UL_PORT, &GPIO_InitStruct);
GPIO_InitStruct.Pin = RIGHT_TIM_VL_PIN;
HAL_GPIO_Init(RIGHT_TIM_VL_PORT, &GPIO_InitStruct);
GPIO_InitStruct.Pin = RIGHT_TIM_WL_PIN;
HAL_GPIO_Init(RIGHT_TIM_WL_PORT, &GPIO_InitStruct);
// CAN bus
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = board.can_alt_rx;
GPIO_InitStruct.Pin = board.can_pinRX;
HAL_GPIO_Init(board.can_portRX, &GPIO_InitStruct);
GPIO_InitStruct.Alternate = board.can_alt_tx;
GPIO_InitStruct.Pin = board.can_pinTX;
HAL_GPIO_Init(board.can_portTX, &GPIO_InitStruct);
}
void MX_I2C_Init(void) {
GPIO_InitTypeDef GPIO_InitStruct = { 0 };
GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_7;
GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF4_I2C1;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
__HAL_RCC_I2C1_CLK_ENABLE();
hi2c1.Instance = I2C1;
hi2c1.Init.ClockSpeed = (I2C_CLOCKSPEED * 1000);
hi2c1.Init.DutyCycle = I2C_DUTYCYCLE_2;
hi2c1.Init.OwnAddress1 = 0;
hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
hi2c1.Init.OwnAddress2 = 0;
hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
HAL_I2C_Init(&hi2c1);
}
void MX_TIM_Init(void) {
__HAL_RCC_TIM1_CLK_ENABLE();
__HAL_RCC_TIM8_CLK_ENABLE();
TIM_MasterConfigTypeDef sMasterConfig;
TIM_OC_InitTypeDef sConfigOC;
TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig;
TIM_SlaveConfigTypeDef sTimConfig;
htim_right.Instance = RIGHT_TIM;
htim_right.Init.Prescaler = 0;
htim_right.Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED1;
htim_right.Init.Period = CORE_FREQ / 2 / PWM_FREQ;
htim_right.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim_right.Init.RepetitionCounter = 0;
htim_right.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
HAL_TIM_PWM_Init(&htim_right);
sMasterConfig.MasterOutputTrigger = TIM_TRGO_ENABLE;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
HAL_TIMEx_MasterConfigSynchronization(&htim_right, &sMasterConfig);
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCNPolarity = TIM_OCNPOLARITY_LOW;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_SET;
HAL_TIM_PWM_ConfigChannel(&htim_right, &sConfigOC, TIM_CHANNEL_1);
HAL_TIM_PWM_ConfigChannel(&htim_right, &sConfigOC, TIM_CHANNEL_2);
HAL_TIM_PWM_ConfigChannel(&htim_right, &sConfigOC, TIM_CHANNEL_3);
sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_ENABLE;
sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_ENABLE;
sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
sBreakDeadTimeConfig.DeadTime = DEAD_TIME;
sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_LOW;
sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
HAL_TIMEx_ConfigBreakDeadTime(&htim_right, &sBreakDeadTimeConfig);
htim_left.Instance = LEFT_TIM;
htim_left.Init.Prescaler = 0;
htim_left.Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED1;
htim_left.Init.Period = CORE_FREQ / 2 / PWM_FREQ;
htim_left.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim_left.Init.RepetitionCounter = 0;
htim_left.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
HAL_TIM_PWM_Init(&htim_left);
sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_ENABLE;
HAL_TIMEx_MasterConfigSynchronization(&htim_left, &sMasterConfig);
sTimConfig.InputTrigger = TIM_TS_ITR0;
sTimConfig.SlaveMode = TIM_SLAVEMODE_GATED;
HAL_TIM_SlaveConfigSynchronization(&htim_left, &sTimConfig);
// Start counting >0 to effectively offset timers by the time it takes for one ADC conversion to complete.
// This method allows that the Phase currents ADC measurements are properly aligned with LOW-FET ON region for both motors
LEFT_TIM->CNT = ADC_TOTAL_CONV_TIME;
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCNPolarity = TIM_OCNPOLARITY_LOW;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_SET;
HAL_TIM_PWM_ConfigChannel(&htim_left, &sConfigOC, TIM_CHANNEL_1);
HAL_TIM_PWM_ConfigChannel(&htim_left, &sConfigOC, TIM_CHANNEL_2);
HAL_TIM_PWM_ConfigChannel(&htim_left, &sConfigOC, TIM_CHANNEL_3);
sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_ENABLE;
sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_ENABLE;
sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
sBreakDeadTimeConfig.DeadTime = DEAD_TIME;
sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_LOW;
sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
HAL_TIMEx_ConfigBreakDeadTime(&htim_left, &sBreakDeadTimeConfig);
LEFT_TIM->BDTR &= ~TIM_BDTR_MOE;
RIGHT_TIM->BDTR &= ~TIM_BDTR_MOE;
HAL_TIM_PWM_Start(&htim_left, TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&htim_left, TIM_CHANNEL_2);
HAL_TIM_PWM_Start(&htim_left, TIM_CHANNEL_3);
HAL_TIMEx_PWMN_Start(&htim_left, TIM_CHANNEL_1);
HAL_TIMEx_PWMN_Start(&htim_left, TIM_CHANNEL_2);
HAL_TIMEx_PWMN_Start(&htim_left, TIM_CHANNEL_3);
HAL_TIM_PWM_Start(&htim_right, TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&htim_right, TIM_CHANNEL_2);
HAL_TIM_PWM_Start(&htim_right, TIM_CHANNEL_3);
HAL_TIMEx_PWMN_Start(&htim_right, TIM_CHANNEL_1);
HAL_TIMEx_PWMN_Start(&htim_right, TIM_CHANNEL_2);
HAL_TIMEx_PWMN_Start(&htim_right, TIM_CHANNEL_3);
htim_left.Instance->RCR = 1;
__HAL_TIM_ENABLE(&htim_right);
}
void MX_ADC_Init(void) {
ADC_MultiModeTypeDef multimode;
ADC_ChannelConfTypeDef sConfig;
__HAL_RCC_ADC1_CLK_ENABLE();
hadc.Instance = ADC1;
hadc.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV4;
hadc.Init.Resolution = ADC_RESOLUTION_12B;
hadc.Init.ScanConvMode = ENABLE;
hadc.Init.ContinuousConvMode = DISABLE;
hadc.Init.DiscontinuousConvMode = DISABLE;
hadc.Init.ExternalTrigConv = ADC_EXTERNALTRIGCONV_T8_TRGO;
hadc.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_RISING;
hadc.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc.Init.NbrOfConversion = 8;
HAL_ADC_Init(&hadc);
HAL_ADCEx_MultiModeConfigChannel(&hadc, &multimode);
sConfig.SamplingTime = ADC_SAMPLETIME_15CYCLES;
sConfig.Channel = ADC_CHANNEL_5; // pa5 left b -> right
sConfig.Rank = 1;
HAL_ADC_ConfigChannel(&hadc, &sConfig);
sConfig.Channel = ADC_CHANNEL_6; // pa6 left c -> right
sConfig.Rank = 2;
HAL_ADC_ConfigChannel(&hadc, &sConfig);
sConfig.Channel = ADC_CHANNEL_0; // pa0 right a -> left
sConfig.Rank = 3;
HAL_ADC_ConfigChannel(&hadc, &sConfig);
sConfig.Channel = ADC_CHANNEL_1; // pa1 right b -> left
sConfig.Rank = 4;
HAL_ADC_ConfigChannel(&hadc, &sConfig);
sConfig.Channel = ADC_CHANNEL_3; // pa3 left cur -> right
sConfig.Rank = 5;
HAL_ADC_ConfigChannel(&hadc, &sConfig);
sConfig.Channel = ADC_CHANNEL_2; // pa2 right cur -> left
sConfig.Rank = 6;
HAL_ADC_ConfigChannel(&hadc, &sConfig);
sConfig.Channel = ADC_CHANNEL_4; // pa4 vbat
sConfig.Rank = 7;
HAL_ADC_ConfigChannel(&hadc, &sConfig);
sConfig.SamplingTime = ADC_SAMPLETIME_144CYCLES;
sConfig.Channel = ADC_CHANNEL_TEMPSENSOR; // internal temp
sConfig.Rank = 8;
HAL_ADC_ConfigChannel(&hadc, &sConfig);
hadc.Instance->CR2 |= ADC_CR2_DMA | ADC_CR2_DDS | ADC_CCR_TSVREFE;
__HAL_ADC_ENABLE(&hadc);
__HAL_RCC_DMA2_CLK_ENABLE();
DMA2_Stream0->CR = 0;
DMA2_Stream0->NDTR = 8;
DMA2_Stream0->PAR = (uint32_t)&(ADC1->DR);
DMA2_Stream0->M0AR = (uint32_t)&adc_buffer;
DMA2_Stream0->CR = DMA_SxCR_MSIZE_1 | DMA_SxCR_PSIZE_1 | DMA_SxCR_MINC | DMA_SxCR_CIRC | DMA_SxCR_TCIE;
DMA2_Stream0->CR &= ~DMA_SxCR_CHSEL;
DMA2_Stream0->FCR &= ~DMA_SxFCR_DMDIS;
DMA2_Stream0->CR |= DMA_SxCR_EN;
HAL_NVIC_SetPriority(DMA2_Stream0_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(DMA2_Stream0_IRQn);
}
#endif
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