mirror of
https://github.com/odriverobotics/ODrive.git
synced 2026-09-25 02:47:27 +08:00
add wetmelons board file split
This commit is contained in:
Oskar Weigl
@@ -49,13 +49,22 @@
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/* Includes ------------------------------------------------------------------*/
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#include "adc.h"
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#include "gpio.h"
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/* USER CODE BEGIN 0 */
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#include "boards.h"
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#include "configuration.h"
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#if MB(ODRIVE_V3_3)
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#include "adc_ODRIVE_V3_3.c"
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#elif MB(ODRIVE_V3_2)
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#include "adc_ODRIVE_V3_2.c"
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#elif MB(ODRIVE_V3_1)
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#include "adc_ODRIVE_V3_2.c"
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#else
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/* USER CODE END 0 */
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ADC_HandleTypeDef hadc1;
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ADC_HandleTypeDef hadc2;
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ADC_HandleTypeDef hadc3;
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@@ -436,6 +445,7 @@ void HAL_ADC_MspDeInit(ADC_HandleTypeDef* adcHandle)
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}
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/* USER CODE BEGIN 1 */
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#endif // END ADC Include
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float read_ADC_volts(ADC_HandleTypeDef* hadc, uint8_t injected_rank) {
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uint32_t ADCValue;
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@@ -0,0 +1,379 @@
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ADC_HandleTypeDef hadc1;
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ADC_HandleTypeDef hadc2;
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ADC_HandleTypeDef hadc3;
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/* ADC1 init function */
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void MX_ADC1_Init(void)
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{
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ADC_ChannelConfTypeDef sConfig;
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ADC_InjectionConfTypeDef sConfigInjected;
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/**Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion)
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*/
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hadc1.Instance = ADC1;
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hadc1.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV4;
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hadc1.Init.Resolution = ADC_RESOLUTION_12B;
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hadc1.Init.ScanConvMode = DISABLE;
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hadc1.Init.ContinuousConvMode = DISABLE;
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hadc1.Init.DiscontinuousConvMode = DISABLE;
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hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
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hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
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hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
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hadc1.Init.NbrOfConversion = 1;
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hadc1.Init.DMAContinuousRequests = DISABLE;
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hadc1.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
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if (HAL_ADC_Init(&hadc1) != HAL_OK)
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{
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_Error_Handler(__FILE__, __LINE__);
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}
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/**Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time.
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*/
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sConfig.Channel = ADC_CHANNEL_0;
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sConfig.Rank = 1;
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sConfig.SamplingTime = ADC_SAMPLETIME_3CYCLES;
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if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
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{
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_Error_Handler(__FILE__, __LINE__);
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}
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/**Configures for the selected ADC injected channel its corresponding rank in the sequencer and its sample time
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*/
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sConfigInjected.InjectedChannel = ADC_CHANNEL_0;
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sConfigInjected.InjectedRank = 1;
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sConfigInjected.InjectedNbrOfConversion = 1;
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sConfigInjected.InjectedSamplingTime = ADC_SAMPLETIME_3CYCLES;
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sConfigInjected.ExternalTrigInjecConvEdge = ADC_EXTERNALTRIGINJECCONVEDGE_RISING;
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sConfigInjected.ExternalTrigInjecConv = ADC_EXTERNALTRIGINJECCONV_T1_TRGO;
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sConfigInjected.AutoInjectedConv = DISABLE;
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sConfigInjected.InjectedDiscontinuousConvMode = DISABLE;
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sConfigInjected.InjectedOffset = 0;
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if (HAL_ADCEx_InjectedConfigChannel(&hadc1, &sConfigInjected) != HAL_OK)
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{
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_Error_Handler(__FILE__, __LINE__);
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}
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}
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/* ADC2 init function */
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void MX_ADC2_Init(void)
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{
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ADC_ChannelConfTypeDef sConfig;
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ADC_InjectionConfTypeDef sConfigInjected;
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/**Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion)
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*/
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hadc2.Instance = ADC2;
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hadc2.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV4;
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hadc2.Init.Resolution = ADC_RESOLUTION_12B;
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hadc2.Init.ScanConvMode = DISABLE;
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hadc2.Init.ContinuousConvMode = DISABLE;
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hadc2.Init.DiscontinuousConvMode = DISABLE;
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hadc2.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_RISING;
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hadc2.Init.ExternalTrigConv = ADC_EXTERNALTRIGCONV_T8_TRGO;
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hadc2.Init.DataAlign = ADC_DATAALIGN_RIGHT;
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hadc2.Init.NbrOfConversion = 1;
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hadc2.Init.DMAContinuousRequests = DISABLE;
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hadc2.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
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if (HAL_ADC_Init(&hadc2) != HAL_OK)
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{
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_Error_Handler(__FILE__, __LINE__);
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}
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/**Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time.
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*/
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sConfig.Channel = ADC_CHANNEL_13;
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sConfig.Rank = 1;
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sConfig.SamplingTime = ADC_SAMPLETIME_3CYCLES;
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if (HAL_ADC_ConfigChannel(&hadc2, &sConfig) != HAL_OK)
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{
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_Error_Handler(__FILE__, __LINE__);
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}
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/**Configures for the selected ADC injected channel its corresponding rank in the sequencer and its sample time
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*/
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sConfigInjected.InjectedChannel = ADC_CHANNEL_10;
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sConfigInjected.InjectedRank = 1;
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sConfigInjected.InjectedNbrOfConversion = 1;
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sConfigInjected.InjectedSamplingTime = ADC_SAMPLETIME_3CYCLES;
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sConfigInjected.ExternalTrigInjecConvEdge = ADC_EXTERNALTRIGINJECCONVEDGE_RISING;
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sConfigInjected.ExternalTrigInjecConv = ADC_EXTERNALTRIGINJECCONV_T1_TRGO;
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sConfigInjected.AutoInjectedConv = DISABLE;
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sConfigInjected.InjectedDiscontinuousConvMode = DISABLE;
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sConfigInjected.InjectedOffset = 0;
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if (HAL_ADCEx_InjectedConfigChannel(&hadc2, &sConfigInjected) != HAL_OK)
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{
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_Error_Handler(__FILE__, __LINE__);
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}
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}
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/* ADC3 init function */
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void MX_ADC3_Init(void)
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{
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ADC_ChannelConfTypeDef sConfig;
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ADC_InjectionConfTypeDef sConfigInjected;
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/**Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion)
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*/
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hadc3.Instance = ADC3;
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hadc3.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV4;
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hadc3.Init.Resolution = ADC_RESOLUTION_12B;
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hadc3.Init.ScanConvMode = DISABLE;
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hadc3.Init.ContinuousConvMode = DISABLE;
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hadc3.Init.DiscontinuousConvMode = DISABLE;
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hadc3.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_RISING;
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hadc3.Init.ExternalTrigConv = ADC_EXTERNALTRIGCONV_T8_TRGO;
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hadc3.Init.DataAlign = ADC_DATAALIGN_RIGHT;
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hadc3.Init.NbrOfConversion = 1;
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hadc3.Init.DMAContinuousRequests = DISABLE;
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hadc3.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
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if (HAL_ADC_Init(&hadc3) != HAL_OK)
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{
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_Error_Handler(__FILE__, __LINE__);
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}
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/**Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time.
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*/
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sConfig.Channel = ADC_CHANNEL_12;
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sConfig.Rank = 1;
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sConfig.SamplingTime = ADC_SAMPLETIME_3CYCLES;
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if (HAL_ADC_ConfigChannel(&hadc3, &sConfig) != HAL_OK)
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{
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_Error_Handler(__FILE__, __LINE__);
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}
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/**Configures for the selected ADC injected channel its corresponding rank in the sequencer and its sample time
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*/
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sConfigInjected.InjectedChannel = ADC_CHANNEL_11;
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sConfigInjected.InjectedRank = 1;
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sConfigInjected.InjectedNbrOfConversion = 1;
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sConfigInjected.InjectedSamplingTime = ADC_SAMPLETIME_3CYCLES;
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sConfigInjected.ExternalTrigInjecConvEdge = ADC_EXTERNALTRIGINJECCONVEDGE_RISING;
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sConfigInjected.ExternalTrigInjecConv = ADC_EXTERNALTRIGINJECCONV_T1_TRGO;
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sConfigInjected.AutoInjectedConv = DISABLE;
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sConfigInjected.InjectedDiscontinuousConvMode = DISABLE;
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sConfigInjected.InjectedOffset = 0;
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if (HAL_ADCEx_InjectedConfigChannel(&hadc3, &sConfigInjected) != HAL_OK)
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{
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_Error_Handler(__FILE__, __LINE__);
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}
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}
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void HAL_ADC_MspInit(ADC_HandleTypeDef* adcHandle)
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{
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GPIO_InitTypeDef GPIO_InitStruct;
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if(adcHandle->Instance==ADC1)
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{
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/* USER CODE BEGIN ADC1_MspInit 0 */
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/* USER CODE END ADC1_MspInit 0 */
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/* ADC1 clock enable */
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__HAL_RCC_ADC1_CLK_ENABLE();
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/**ADC1 GPIO Configuration
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PC0 ------> ADC1_IN10
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PC1 ------> ADC1_IN11
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PC2 ------> ADC1_IN12
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PC3 ------> ADC1_IN13
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PA0-WKUP ------> ADC1_IN0
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PA1 ------> ADC1_IN1
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PA2 ------> ADC1_IN2
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PA6 ------> ADC1_IN6
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PC4 ------> ADC1_IN14
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PC5 ------> ADC1_IN15
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*/
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GPIO_InitStruct.Pin = M0_IB_Pin|M0_IC_Pin|M1_IC_Pin|M1_IB_Pin
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|AUX_TEMP_Pin|M0_TEMP_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
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GPIO_InitStruct.Pin = VBUS_S_Pin|M1_TEMP_Pin|AUX_I_Pin|AUX_V_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
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/* ADC1 interrupt Init */
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HAL_NVIC_SetPriority(ADC_IRQn, 5, 0);
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HAL_NVIC_EnableIRQ(ADC_IRQn);
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/* USER CODE BEGIN ADC1_MspInit 1 */
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/* USER CODE END ADC1_MspInit 1 */
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}
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else if(adcHandle->Instance==ADC2)
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{
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/* USER CODE BEGIN ADC2_MspInit 0 */
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/* USER CODE END ADC2_MspInit 0 */
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/* ADC2 clock enable */
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__HAL_RCC_ADC2_CLK_ENABLE();
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/**ADC2 GPIO Configuration
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PC0 ------> ADC2_IN10
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PC1 ------> ADC2_IN11
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PC2 ------> ADC2_IN12
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PC3 ------> ADC2_IN13
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PA0-WKUP ------> ADC2_IN0
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PA1 ------> ADC2_IN1
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PA2 ------> ADC2_IN2
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PA6 ------> ADC2_IN6
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PC4 ------> ADC2_IN14
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PC5 ------> ADC2_IN15
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*/
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GPIO_InitStruct.Pin = M0_IB_Pin|M0_IC_Pin|M1_IC_Pin|M1_IB_Pin
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|AUX_TEMP_Pin|M0_TEMP_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
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GPIO_InitStruct.Pin = VBUS_S_Pin|M1_TEMP_Pin|AUX_I_Pin|AUX_V_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
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/* ADC2 interrupt Init */
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HAL_NVIC_SetPriority(ADC_IRQn, 5, 0);
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HAL_NVIC_EnableIRQ(ADC_IRQn);
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/* USER CODE BEGIN ADC2_MspInit 1 */
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/* USER CODE END ADC2_MspInit 1 */
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}
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else if(adcHandle->Instance==ADC3)
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{
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/* USER CODE BEGIN ADC3_MspInit 0 */
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/* USER CODE END ADC3_MspInit 0 */
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/* ADC3 clock enable */
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__HAL_RCC_ADC3_CLK_ENABLE();
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/**ADC3 GPIO Configuration
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PC0 ------> ADC3_IN10
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PC1 ------> ADC3_IN11
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PC2 ------> ADC3_IN12
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PC3 ------> ADC3_IN13
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*/
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GPIO_InitStruct.Pin = M0_IB_Pin|M0_IC_Pin|M1_IC_Pin|M1_IB_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
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/* ADC3 interrupt Init */
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HAL_NVIC_SetPriority(ADC_IRQn, 5, 0);
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HAL_NVIC_EnableIRQ(ADC_IRQn);
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/* USER CODE BEGIN ADC3_MspInit 1 */
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/* USER CODE END ADC3_MspInit 1 */
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}
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}
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void HAL_ADC_MspDeInit(ADC_HandleTypeDef* adcHandle)
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{
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if(adcHandle->Instance==ADC1)
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{
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/* USER CODE BEGIN ADC1_MspDeInit 0 */
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/* USER CODE END ADC1_MspDeInit 0 */
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/* Peripheral clock disable */
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__HAL_RCC_ADC1_CLK_DISABLE();
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/**ADC1 GPIO Configuration
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PC0 ------> ADC1_IN10
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PC1 ------> ADC1_IN11
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PC2 ------> ADC1_IN12
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PC3 ------> ADC1_IN13
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PA0-WKUP ------> ADC1_IN0
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PA1 ------> ADC1_IN1
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PA2 ------> ADC1_IN2
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PA6 ------> ADC1_IN6
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PC4 ------> ADC1_IN14
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PC5 ------> ADC1_IN15
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*/
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HAL_GPIO_DeInit(GPIOC, M0_IB_Pin|M0_IC_Pin|M1_IC_Pin|M1_IB_Pin
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|AUX_TEMP_Pin|M0_TEMP_Pin);
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HAL_GPIO_DeInit(GPIOA, VBUS_S_Pin|M1_TEMP_Pin|AUX_I_Pin|AUX_V_Pin);
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/* ADC1 interrupt Deinit */
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/* USER CODE BEGIN ADC1:ADC_IRQn disable */
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/**
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* Uncomment the line below to disable the "ADC_IRQn" interrupt
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* Be aware, disabling shared interrupt may affect other IPs
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*/
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/* HAL_NVIC_DisableIRQ(ADC_IRQn); */
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/* USER CODE END ADC1:ADC_IRQn disable */
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/* USER CODE BEGIN ADC1_MspDeInit 1 */
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/* USER CODE END ADC1_MspDeInit 1 */
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}
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else if(adcHandle->Instance==ADC2)
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{
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/* USER CODE BEGIN ADC2_MspDeInit 0 */
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/* USER CODE END ADC2_MspDeInit 0 */
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/* Peripheral clock disable */
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__HAL_RCC_ADC2_CLK_DISABLE();
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/**ADC2 GPIO Configuration
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PC0 ------> ADC2_IN10
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PC1 ------> ADC2_IN11
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PC2 ------> ADC2_IN12
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PC3 ------> ADC2_IN13
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PA0-WKUP ------> ADC2_IN0
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PA1 ------> ADC2_IN1
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PA2 ------> ADC2_IN2
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PA6 ------> ADC2_IN6
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PC4 ------> ADC2_IN14
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PC5 ------> ADC2_IN15
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*/
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HAL_GPIO_DeInit(GPIOC, M0_IB_Pin|M0_IC_Pin|M1_IC_Pin|M1_IB_Pin
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|AUX_TEMP_Pin|M0_TEMP_Pin);
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||||
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HAL_GPIO_DeInit(GPIOA, VBUS_S_Pin|M1_TEMP_Pin|AUX_I_Pin|AUX_V_Pin);
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|
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/* ADC2 interrupt Deinit */
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/* USER CODE BEGIN ADC2:ADC_IRQn disable */
|
||||
/**
|
||||
* Uncomment the line below to disable the "ADC_IRQn" interrupt
|
||||
* Be aware, disabling shared interrupt may affect other IPs
|
||||
*/
|
||||
/* HAL_NVIC_DisableIRQ(ADC_IRQn); */
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/* USER CODE END ADC2:ADC_IRQn disable */
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||||
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||||
/* USER CODE BEGIN ADC2_MspDeInit 1 */
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||||
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||||
/* USER CODE END ADC2_MspDeInit 1 */
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||||
}
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else if(adcHandle->Instance==ADC3)
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{
|
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/* USER CODE BEGIN ADC3_MspDeInit 0 */
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||||
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||||
/* USER CODE END ADC3_MspDeInit 0 */
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||||
/* Peripheral clock disable */
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||||
__HAL_RCC_ADC3_CLK_DISABLE();
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||||
/**ADC3 GPIO Configuration
|
||||
PC0 ------> ADC3_IN10
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||||
PC1 ------> ADC3_IN11
|
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PC2 ------> ADC3_IN12
|
||||
PC3 ------> ADC3_IN13
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||||
*/
|
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HAL_GPIO_DeInit(GPIOC, M0_IB_Pin|M0_IC_Pin|M1_IC_Pin|M1_IB_Pin);
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||||
|
||||
/* ADC3 interrupt Deinit */
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||||
/* USER CODE BEGIN ADC3:ADC_IRQn disable */
|
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/**
|
||||
* Uncomment the line below to disable the "ADC_IRQn" interrupt
|
||||
* Be aware, disabling shared interrupt may affect other IPs
|
||||
*/
|
||||
/* HAL_NVIC_DisableIRQ(ADC_IRQn); */
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||||
/* USER CODE END ADC3:ADC_IRQn disable */
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||||
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||||
/* USER CODE BEGIN ADC3_MspDeInit 1 */
|
||||
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||||
/* USER CODE END ADC3_MspDeInit 1 */
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,375 @@
|
||||
|
||||
ADC_HandleTypeDef hadc1;
|
||||
ADC_HandleTypeDef hadc2;
|
||||
ADC_HandleTypeDef hadc3;
|
||||
|
||||
/* ADC1 init function */
|
||||
void MX_ADC1_Init(void)
|
||||
{
|
||||
ADC_ChannelConfTypeDef sConfig;
|
||||
ADC_InjectionConfTypeDef sConfigInjected;
|
||||
|
||||
/**Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion)
|
||||
*/
|
||||
hadc1.Instance = ADC1;
|
||||
hadc1.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV4;
|
||||
hadc1.Init.Resolution = ADC_RESOLUTION_12B;
|
||||
hadc1.Init.ScanConvMode = DISABLE;
|
||||
hadc1.Init.ContinuousConvMode = DISABLE;
|
||||
hadc1.Init.DiscontinuousConvMode = DISABLE;
|
||||
hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
|
||||
hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
|
||||
hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
|
||||
hadc1.Init.NbrOfConversion = 1;
|
||||
hadc1.Init.DMAContinuousRequests = DISABLE;
|
||||
hadc1.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
|
||||
if (HAL_ADC_Init(&hadc1) != HAL_OK)
|
||||
{
|
||||
_Error_Handler(__FILE__, __LINE__);
|
||||
}
|
||||
|
||||
/**Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time.
|
||||
*/
|
||||
sConfig.Channel = ADC_CHANNEL_6;
|
||||
sConfig.Rank = 1;
|
||||
sConfig.SamplingTime = ADC_SAMPLETIME_3CYCLES;
|
||||
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
|
||||
{
|
||||
_Error_Handler(__FILE__, __LINE__);
|
||||
}
|
||||
|
||||
/**Configures for the selected ADC injected channel its corresponding rank in the sequencer and its sample time
|
||||
*/
|
||||
sConfigInjected.InjectedChannel = ADC_CHANNEL_6;
|
||||
sConfigInjected.InjectedRank = 1;
|
||||
sConfigInjected.InjectedNbrOfConversion = 1;
|
||||
sConfigInjected.InjectedSamplingTime = ADC_SAMPLETIME_3CYCLES;
|
||||
sConfigInjected.ExternalTrigInjecConvEdge = ADC_EXTERNALTRIGINJECCONVEDGE_RISING;
|
||||
sConfigInjected.ExternalTrigInjecConv = ADC_EXTERNALTRIGINJECCONV_T1_TRGO;
|
||||
sConfigInjected.AutoInjectedConv = DISABLE;
|
||||
sConfigInjected.InjectedDiscontinuousConvMode = DISABLE;
|
||||
sConfigInjected.InjectedOffset = 0;
|
||||
if (HAL_ADCEx_InjectedConfigChannel(&hadc1, &sConfigInjected) != HAL_OK)
|
||||
{
|
||||
_Error_Handler(__FILE__, __LINE__);
|
||||
}
|
||||
|
||||
}
|
||||
/* ADC2 init function */
|
||||
void MX_ADC2_Init(void)
|
||||
{
|
||||
ADC_ChannelConfTypeDef sConfig;
|
||||
ADC_InjectionConfTypeDef sConfigInjected;
|
||||
|
||||
/**Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion)
|
||||
*/
|
||||
hadc2.Instance = ADC2;
|
||||
hadc2.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV4;
|
||||
hadc2.Init.Resolution = ADC_RESOLUTION_12B;
|
||||
hadc2.Init.ScanConvMode = DISABLE;
|
||||
hadc2.Init.ContinuousConvMode = DISABLE;
|
||||
hadc2.Init.DiscontinuousConvMode = DISABLE;
|
||||
hadc2.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_RISING;
|
||||
hadc2.Init.ExternalTrigConv = ADC_EXTERNALTRIGCONV_T8_TRGO;
|
||||
hadc2.Init.DataAlign = ADC_DATAALIGN_RIGHT;
|
||||
hadc2.Init.NbrOfConversion = 1;
|
||||
hadc2.Init.DMAContinuousRequests = DISABLE;
|
||||
hadc2.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
|
||||
if (HAL_ADC_Init(&hadc2) != HAL_OK)
|
||||
{
|
||||
_Error_Handler(__FILE__, __LINE__);
|
||||
}
|
||||
|
||||
/**Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time.
|
||||
*/
|
||||
sConfig.Channel = ADC_CHANNEL_13;
|
||||
sConfig.Rank = 1;
|
||||
sConfig.SamplingTime = ADC_SAMPLETIME_3CYCLES;
|
||||
if (HAL_ADC_ConfigChannel(&hadc2, &sConfig) != HAL_OK)
|
||||
{
|
||||
_Error_Handler(__FILE__, __LINE__);
|
||||
}
|
||||
|
||||
/**Configures for the selected ADC injected channel its corresponding rank in the sequencer and its sample time
|
||||
*/
|
||||
sConfigInjected.InjectedChannel = ADC_CHANNEL_10;
|
||||
sConfigInjected.InjectedRank = 1;
|
||||
sConfigInjected.InjectedNbrOfConversion = 1;
|
||||
sConfigInjected.InjectedSamplingTime = ADC_SAMPLETIME_3CYCLES;
|
||||
sConfigInjected.ExternalTrigInjecConvEdge = ADC_EXTERNALTRIGINJECCONVEDGE_RISING;
|
||||
sConfigInjected.ExternalTrigInjecConv = ADC_EXTERNALTRIGINJECCONV_T1_TRGO;
|
||||
sConfigInjected.AutoInjectedConv = DISABLE;
|
||||
sConfigInjected.InjectedDiscontinuousConvMode = DISABLE;
|
||||
sConfigInjected.InjectedOffset = 0;
|
||||
if (HAL_ADCEx_InjectedConfigChannel(&hadc2, &sConfigInjected) != HAL_OK)
|
||||
{
|
||||
_Error_Handler(__FILE__, __LINE__);
|
||||
}
|
||||
|
||||
}
|
||||
/* ADC3 init function */
|
||||
void MX_ADC3_Init(void)
|
||||
{
|
||||
ADC_ChannelConfTypeDef sConfig;
|
||||
ADC_InjectionConfTypeDef sConfigInjected;
|
||||
|
||||
/**Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion)
|
||||
*/
|
||||
hadc3.Instance = ADC3;
|
||||
hadc3.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV4;
|
||||
hadc3.Init.Resolution = ADC_RESOLUTION_12B;
|
||||
hadc3.Init.ScanConvMode = DISABLE;
|
||||
hadc3.Init.ContinuousConvMode = DISABLE;
|
||||
hadc3.Init.DiscontinuousConvMode = DISABLE;
|
||||
hadc3.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_RISING;
|
||||
hadc3.Init.ExternalTrigConv = ADC_EXTERNALTRIGCONV_T8_TRGO;
|
||||
hadc3.Init.DataAlign = ADC_DATAALIGN_RIGHT;
|
||||
hadc3.Init.NbrOfConversion = 1;
|
||||
hadc3.Init.DMAContinuousRequests = DISABLE;
|
||||
hadc3.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
|
||||
if (HAL_ADC_Init(&hadc3) != HAL_OK)
|
||||
{
|
||||
_Error_Handler(__FILE__, __LINE__);
|
||||
}
|
||||
|
||||
/**Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time.
|
||||
*/
|
||||
sConfig.Channel = ADC_CHANNEL_12;
|
||||
sConfig.Rank = 1;
|
||||
sConfig.SamplingTime = ADC_SAMPLETIME_3CYCLES;
|
||||
if (HAL_ADC_ConfigChannel(&hadc3, &sConfig) != HAL_OK)
|
||||
{
|
||||
_Error_Handler(__FILE__, __LINE__);
|
||||
}
|
||||
|
||||
/**Configures for the selected ADC injected channel its corresponding rank in the sequencer and its sample time
|
||||
*/
|
||||
sConfigInjected.InjectedChannel = ADC_CHANNEL_11;
|
||||
sConfigInjected.InjectedRank = 1;
|
||||
sConfigInjected.InjectedNbrOfConversion = 1;
|
||||
sConfigInjected.InjectedSamplingTime = ADC_SAMPLETIME_3CYCLES;
|
||||
sConfigInjected.ExternalTrigInjecConvEdge = ADC_EXTERNALTRIGINJECCONVEDGE_RISING;
|
||||
sConfigInjected.ExternalTrigInjecConv = ADC_EXTERNALTRIGINJECCONV_T1_TRGO;
|
||||
sConfigInjected.AutoInjectedConv = DISABLE;
|
||||
sConfigInjected.InjectedDiscontinuousConvMode = DISABLE;
|
||||
sConfigInjected.InjectedOffset = 0;
|
||||
if (HAL_ADCEx_InjectedConfigChannel(&hadc3, &sConfigInjected) != HAL_OK)
|
||||
{
|
||||
_Error_Handler(__FILE__, __LINE__);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void HAL_ADC_MspInit(ADC_HandleTypeDef* adcHandle)
|
||||
{
|
||||
|
||||
GPIO_InitTypeDef GPIO_InitStruct;
|
||||
if(adcHandle->Instance==ADC1)
|
||||
{
|
||||
/* USER CODE BEGIN ADC1_MspInit 0 */
|
||||
|
||||
/* USER CODE END ADC1_MspInit 0 */
|
||||
/* ADC1 clock enable */
|
||||
__HAL_RCC_ADC1_CLK_ENABLE();
|
||||
|
||||
/**ADC1 GPIO Configuration
|
||||
PC0 ------> ADC1_IN10
|
||||
PC1 ------> ADC1_IN11
|
||||
PC2 ------> ADC1_IN12
|
||||
PC3 ------> ADC1_IN13
|
||||
PA4 ------> ADC1_IN4
|
||||
PA5 ------> ADC1_IN5
|
||||
PA6 ------> ADC1_IN6
|
||||
PC4 ------> ADC1_IN14
|
||||
PC5 ------> ADC1_IN15
|
||||
*/
|
||||
GPIO_InitStruct.Pin = M0_IB_Pin|M0_IC_Pin|M1_IC_Pin|M1_IB_Pin
|
||||
|AUX_TEMP_Pin|M0_TEMP_Pin;
|
||||
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
|
||||
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
||||
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
|
||||
|
||||
GPIO_InitStruct.Pin = M1_TEMP_Pin|AUX_I_Pin|VBUS_S_Pin;
|
||||
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
|
||||
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
||||
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
|
||||
|
||||
/* ADC1 interrupt Init */
|
||||
HAL_NVIC_SetPriority(ADC_IRQn, 5, 0);
|
||||
HAL_NVIC_EnableIRQ(ADC_IRQn);
|
||||
/* USER CODE BEGIN ADC1_MspInit 1 */
|
||||
|
||||
/* USER CODE END ADC1_MspInit 1 */
|
||||
}
|
||||
else if(adcHandle->Instance==ADC2)
|
||||
{
|
||||
/* USER CODE BEGIN ADC2_MspInit 0 */
|
||||
|
||||
/* USER CODE END ADC2_MspInit 0 */
|
||||
/* ADC2 clock enable */
|
||||
__HAL_RCC_ADC2_CLK_ENABLE();
|
||||
|
||||
/**ADC2 GPIO Configuration
|
||||
PC0 ------> ADC2_IN10
|
||||
PC1 ------> ADC2_IN11
|
||||
PC2 ------> ADC2_IN12
|
||||
PC3 ------> ADC2_IN13
|
||||
PA4 ------> ADC2_IN4
|
||||
PA5 ------> ADC2_IN5
|
||||
PA6 ------> ADC2_IN6
|
||||
PC4 ------> ADC2_IN14
|
||||
PC5 ------> ADC2_IN15
|
||||
*/
|
||||
GPIO_InitStruct.Pin = M0_IB_Pin|M0_IC_Pin|M1_IC_Pin|M1_IB_Pin
|
||||
|AUX_TEMP_Pin|M0_TEMP_Pin;
|
||||
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
|
||||
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
||||
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
|
||||
|
||||
GPIO_InitStruct.Pin = M1_TEMP_Pin|AUX_I_Pin|VBUS_S_Pin;
|
||||
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
|
||||
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
||||
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
|
||||
|
||||
/* ADC2 interrupt Init */
|
||||
HAL_NVIC_SetPriority(ADC_IRQn, 5, 0);
|
||||
HAL_NVIC_EnableIRQ(ADC_IRQn);
|
||||
/* USER CODE BEGIN ADC2_MspInit 1 */
|
||||
|
||||
/* USER CODE END ADC2_MspInit 1 */
|
||||
}
|
||||
else if(adcHandle->Instance==ADC3)
|
||||
{
|
||||
/* USER CODE BEGIN ADC3_MspInit 0 */
|
||||
|
||||
/* USER CODE END ADC3_MspInit 0 */
|
||||
/* ADC3 clock enable */
|
||||
__HAL_RCC_ADC3_CLK_ENABLE();
|
||||
|
||||
/**ADC3 GPIO Configuration
|
||||
PC0 ------> ADC3_IN10
|
||||
PC1 ------> ADC3_IN11
|
||||
PC2 ------> ADC3_IN12
|
||||
PC3 ------> ADC3_IN13
|
||||
*/
|
||||
GPIO_InitStruct.Pin = M0_IB_Pin|M0_IC_Pin|M1_IC_Pin|M1_IB_Pin;
|
||||
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
|
||||
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
||||
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
|
||||
|
||||
/* ADC3 interrupt Init */
|
||||
HAL_NVIC_SetPriority(ADC_IRQn, 5, 0);
|
||||
HAL_NVIC_EnableIRQ(ADC_IRQn);
|
||||
/* USER CODE BEGIN ADC3_MspInit 1 */
|
||||
|
||||
/* USER CODE END ADC3_MspInit 1 */
|
||||
}
|
||||
}
|
||||
|
||||
void HAL_ADC_MspDeInit(ADC_HandleTypeDef* adcHandle)
|
||||
{
|
||||
|
||||
if(adcHandle->Instance==ADC1)
|
||||
{
|
||||
/* USER CODE BEGIN ADC1_MspDeInit 0 */
|
||||
|
||||
/* USER CODE END ADC1_MspDeInit 0 */
|
||||
/* Peripheral clock disable */
|
||||
__HAL_RCC_ADC1_CLK_DISABLE();
|
||||
|
||||
/**ADC1 GPIO Configuration
|
||||
PC0 ------> ADC1_IN10
|
||||
PC1 ------> ADC1_IN11
|
||||
PC2 ------> ADC1_IN12
|
||||
PC3 ------> ADC1_IN13
|
||||
PA4 ------> ADC1_IN4
|
||||
PA5 ------> ADC1_IN5
|
||||
PA6 ------> ADC1_IN6
|
||||
PC4 ------> ADC1_IN14
|
||||
PC5 ------> ADC1_IN15
|
||||
*/
|
||||
HAL_GPIO_DeInit(GPIOC, M0_IB_Pin|M0_IC_Pin|M1_IC_Pin|M1_IB_Pin
|
||||
|AUX_TEMP_Pin|M0_TEMP_Pin);
|
||||
|
||||
HAL_GPIO_DeInit(GPIOA, M1_TEMP_Pin|AUX_I_Pin|VBUS_S_Pin);
|
||||
|
||||
/* ADC1 interrupt Deinit */
|
||||
/* USER CODE BEGIN ADC1:ADC_IRQn disable */
|
||||
/**
|
||||
* Uncomment the line below to disable the "ADC_IRQn" interrupt
|
||||
* Be aware, disabling shared interrupt may affect other IPs
|
||||
*/
|
||||
/* HAL_NVIC_DisableIRQ(ADC_IRQn); */
|
||||
/* USER CODE END ADC1:ADC_IRQn disable */
|
||||
|
||||
/* USER CODE BEGIN ADC1_MspDeInit 1 */
|
||||
|
||||
/* USER CODE END ADC1_MspDeInit 1 */
|
||||
}
|
||||
else if(adcHandle->Instance==ADC2)
|
||||
{
|
||||
/* USER CODE BEGIN ADC2_MspDeInit 0 */
|
||||
|
||||
/* USER CODE END ADC2_MspDeInit 0 */
|
||||
/* Peripheral clock disable */
|
||||
__HAL_RCC_ADC2_CLK_DISABLE();
|
||||
|
||||
/**ADC2 GPIO Configuration
|
||||
PC0 ------> ADC2_IN10
|
||||
PC1 ------> ADC2_IN11
|
||||
PC2 ------> ADC2_IN12
|
||||
PC3 ------> ADC2_IN13
|
||||
PA4 ------> ADC2_IN4
|
||||
PA5 ------> ADC2_IN5
|
||||
PA6 ------> ADC2_IN6
|
||||
PC4 ------> ADC2_IN14
|
||||
PC5 ------> ADC2_IN15
|
||||
*/
|
||||
HAL_GPIO_DeInit(GPIOC, M0_IB_Pin|M0_IC_Pin|M1_IC_Pin|M1_IB_Pin
|
||||
|AUX_TEMP_Pin|M0_TEMP_Pin);
|
||||
|
||||
HAL_GPIO_DeInit(GPIOA, M1_TEMP_Pin|AUX_I_Pin|VBUS_S_Pin);
|
||||
|
||||
/* ADC2 interrupt Deinit */
|
||||
/* USER CODE BEGIN ADC2:ADC_IRQn disable */
|
||||
/**
|
||||
* Uncomment the line below to disable the "ADC_IRQn" interrupt
|
||||
* Be aware, disabling shared interrupt may affect other IPs
|
||||
*/
|
||||
/* HAL_NVIC_DisableIRQ(ADC_IRQn); */
|
||||
/* USER CODE END ADC2:ADC_IRQn disable */
|
||||
|
||||
/* USER CODE BEGIN ADC2_MspDeInit 1 */
|
||||
|
||||
/* USER CODE END ADC2_MspDeInit 1 */
|
||||
}
|
||||
else if(adcHandle->Instance==ADC3)
|
||||
{
|
||||
/* USER CODE BEGIN ADC3_MspDeInit 0 */
|
||||
|
||||
/* USER CODE END ADC3_MspDeInit 0 */
|
||||
/* Peripheral clock disable */
|
||||
__HAL_RCC_ADC3_CLK_DISABLE();
|
||||
|
||||
/**ADC3 GPIO Configuration
|
||||
PC0 ------> ADC3_IN10
|
||||
PC1 ------> ADC3_IN11
|
||||
PC2 ------> ADC3_IN12
|
||||
PC3 ------> ADC3_IN13
|
||||
*/
|
||||
HAL_GPIO_DeInit(GPIOC, M0_IB_Pin|M0_IC_Pin|M1_IC_Pin|M1_IB_Pin);
|
||||
|
||||
/* ADC3 interrupt Deinit */
|
||||
/* USER CODE BEGIN ADC3:ADC_IRQn disable */
|
||||
/**
|
||||
* Uncomment the line below to disable the "ADC_IRQn" interrupt
|
||||
* Be aware, disabling shared interrupt may affect other IPs
|
||||
*/
|
||||
/* HAL_NVIC_DisableIRQ(ADC_IRQn); */
|
||||
/* USER CODE END ADC3:ADC_IRQn disable */
|
||||
|
||||
/* USER CODE BEGIN ADC3_MspDeInit 1 */
|
||||
|
||||
/* USER CODE END ADC3_MspDeInit 1 */
|
||||
}
|
||||
}
|
||||
+12
@@ -51,6 +51,17 @@
|
||||
#include "gpio.h"
|
||||
/* USER CODE BEGIN 0 */
|
||||
#include "low_level.h"
|
||||
#include "callbacks.h"
|
||||
#include "boards.h"
|
||||
#include "configuration.h"
|
||||
|
||||
#if MB(ODRIVE_V3_3)
|
||||
#include "gpio_ODRIVE_V3_3.c"
|
||||
#elif MB(ODRIVE_V3_2)
|
||||
#include "gpio_ODRIVE_V3_2.c"
|
||||
#elif MB(ODRIVE_V3_1)
|
||||
#include "gpio_ODRIVE_V3_2.c"
|
||||
#else
|
||||
/* USER CODE END 0 */
|
||||
|
||||
/*----------------------------------------------------------------------------*/
|
||||
@@ -148,6 +159,7 @@ void MX_GPIO_Init(void)
|
||||
}
|
||||
|
||||
/* USER CODE BEGIN 2 */
|
||||
#endif // End GPIO Include
|
||||
|
||||
//Dispatch processing of external interrupts based on source
|
||||
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
|
||||
|
||||
@@ -0,0 +1,86 @@
|
||||
/** Configure pins as
|
||||
* Analog
|
||||
* Input
|
||||
* Output
|
||||
* EVENT_OUT
|
||||
* EXTI
|
||||
*/
|
||||
void MX_GPIO_Init(void)
|
||||
{
|
||||
|
||||
GPIO_InitTypeDef GPIO_InitStruct;
|
||||
|
||||
/* GPIO Ports Clock Enable */
|
||||
__HAL_RCC_GPIOC_CLK_ENABLE();
|
||||
__HAL_RCC_GPIOH_CLK_ENABLE();
|
||||
__HAL_RCC_GPIOA_CLK_ENABLE();
|
||||
__HAL_RCC_GPIOB_CLK_ENABLE();
|
||||
__HAL_RCC_GPIOD_CLK_ENABLE();
|
||||
|
||||
/*Configure GPIO pin Output Level */
|
||||
HAL_GPIO_WritePin(GPIOC, M0_nCS_Pin|M1_nCS_Pin, GPIO_PIN_SET);
|
||||
|
||||
/*Configure GPIO pin Output Level */
|
||||
HAL_GPIO_WritePin(GPIOC, M1_DC_CAL_Pin|M0_DC_CAL_Pin, GPIO_PIN_RESET);
|
||||
|
||||
/*Configure GPIO pin Output Level */
|
||||
HAL_GPIO_WritePin(EN_GATE_GPIO_Port, EN_GATE_Pin, GPIO_PIN_RESET);
|
||||
|
||||
/*Configure GPIO pins : PCPin PCPin PCPin PCPin */
|
||||
GPIO_InitStruct.Pin = M0_nCS_Pin|M1_nCS_Pin|M1_DC_CAL_Pin|M0_DC_CAL_Pin;
|
||||
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
|
||||
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
||||
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
|
||||
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
|
||||
|
||||
/*Configure GPIO pins : PAPin PAPin */
|
||||
GPIO_InitStruct.Pin = GPIO_4_Pin|GPIO_2_Pin;
|
||||
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
|
||||
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
|
||||
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
|
||||
|
||||
/*Configure GPIO pin : PtPin */
|
||||
GPIO_InitStruct.Pin = GPIO_3_Pin;
|
||||
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
|
||||
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
|
||||
HAL_GPIO_Init(GPIO_3_GPIO_Port, &GPIO_InitStruct);
|
||||
|
||||
/*Configure GPIO pin : PtPin */
|
||||
GPIO_InitStruct.Pin = GPIO_1_Pin;
|
||||
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
|
||||
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
|
||||
HAL_GPIO_Init(GPIO_1_GPIO_Port, &GPIO_InitStruct);
|
||||
|
||||
/*Configure GPIO pin : PtPin */
|
||||
GPIO_InitStruct.Pin = EN_GATE_Pin;
|
||||
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
|
||||
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
||||
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
|
||||
HAL_GPIO_Init(EN_GATE_GPIO_Port, &GPIO_InitStruct);
|
||||
|
||||
/*Configure GPIO pin : PtPin */
|
||||
GPIO_InitStruct.Pin = M0_ENC_Z_Pin;
|
||||
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
|
||||
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
||||
HAL_GPIO_Init(M0_ENC_Z_GPIO_Port, &GPIO_InitStruct);
|
||||
|
||||
/*Configure GPIO pin : PtPin */
|
||||
GPIO_InitStruct.Pin = nFAULT_Pin;
|
||||
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
|
||||
GPIO_InitStruct.Pull = GPIO_PULLUP;
|
||||
HAL_GPIO_Init(nFAULT_GPIO_Port, &GPIO_InitStruct);
|
||||
|
||||
/*Configure GPIO pin : PtPin */
|
||||
GPIO_InitStruct.Pin = M1_ENC_Z_Pin;
|
||||
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
|
||||
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
||||
HAL_GPIO_Init(M1_ENC_Z_GPIO_Port, &GPIO_InitStruct);
|
||||
|
||||
/* EXTI interrupt init*/
|
||||
HAL_NVIC_SetPriority(EXTI2_IRQn, 0, 0);
|
||||
HAL_NVIC_EnableIRQ(EXTI2_IRQn);
|
||||
|
||||
HAL_NVIC_SetPriority(EXTI4_IRQn, 0, 0);
|
||||
HAL_NVIC_EnableIRQ(EXTI4_IRQn);
|
||||
|
||||
}
|
||||
@@ -0,0 +1,74 @@
|
||||
/** Configure pins as
|
||||
* Analog
|
||||
* Input
|
||||
* Output
|
||||
* EVENT_OUT
|
||||
* EXTI
|
||||
*/
|
||||
void MX_GPIO_Init(void)
|
||||
{
|
||||
|
||||
GPIO_InitTypeDef GPIO_InitStruct;
|
||||
|
||||
/* GPIO Ports Clock Enable */
|
||||
__HAL_RCC_GPIOC_CLK_ENABLE();
|
||||
__HAL_RCC_GPIOH_CLK_ENABLE();
|
||||
__HAL_RCC_GPIOA_CLK_ENABLE();
|
||||
__HAL_RCC_GPIOB_CLK_ENABLE();
|
||||
__HAL_RCC_GPIOD_CLK_ENABLE();
|
||||
|
||||
/*Configure GPIO pin Output Level */
|
||||
HAL_GPIO_WritePin(GPIOC, M0_nCS_Pin|M1_nCS_Pin, GPIO_PIN_SET);
|
||||
|
||||
/*Configure GPIO pin Output Level */
|
||||
HAL_GPIO_WritePin(GPIOC, M1_DC_CAL_Pin|M0_DC_CAL_Pin, GPIO_PIN_RESET);
|
||||
|
||||
/*Configure GPIO pin Output Level */
|
||||
HAL_GPIO_WritePin(EN_GATE_GPIO_Port, EN_GATE_Pin, GPIO_PIN_RESET);
|
||||
|
||||
/*Configure GPIO pins : PCPin PCPin PCPin PCPin */
|
||||
GPIO_InitStruct.Pin = M0_nCS_Pin|M1_nCS_Pin|M1_DC_CAL_Pin|M0_DC_CAL_Pin;
|
||||
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
|
||||
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
||||
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
|
||||
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
|
||||
|
||||
/*Configure GPIO pins : PAPin PAPin */
|
||||
GPIO_InitStruct.Pin = GPIO_1_Pin|GPIO_3_Pin;
|
||||
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
|
||||
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
|
||||
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
|
||||
|
||||
/*Configure GPIO pins : PAPin PAPin PAPin */
|
||||
GPIO_InitStruct.Pin = GPIO_2_Pin|GPIO_4_Pin|M0_ENC_Z_Pin;
|
||||
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
|
||||
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
||||
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
|
||||
|
||||
/*Configure GPIO pins : PBPin PBPin */
|
||||
GPIO_InitStruct.Pin = GPIO_5_Pin|M1_ENC_Z_Pin;
|
||||
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
|
||||
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
||||
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
|
||||
|
||||
/*Configure GPIO pin : PtPin */
|
||||
GPIO_InitStruct.Pin = EN_GATE_Pin;
|
||||
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
|
||||
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
||||
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
|
||||
HAL_GPIO_Init(EN_GATE_GPIO_Port, &GPIO_InitStruct);
|
||||
|
||||
/*Configure GPIO pin : PtPin */
|
||||
GPIO_InitStruct.Pin = nFAULT_Pin;
|
||||
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
|
||||
GPIO_InitStruct.Pull = GPIO_PULLUP;
|
||||
HAL_GPIO_Init(nFAULT_GPIO_Port, &GPIO_InitStruct);
|
||||
|
||||
/* EXTI interrupt init*/
|
||||
HAL_NVIC_SetPriority(EXTI0_IRQn, 0, 0);
|
||||
HAL_NVIC_EnableIRQ(EXTI0_IRQn);
|
||||
|
||||
HAL_NVIC_SetPriority(EXTI2_IRQn, 0, 0);
|
||||
HAL_NVIC_EnableIRQ(EXTI2_IRQn);
|
||||
|
||||
}
|
||||
@@ -38,11 +38,21 @@
|
||||
|
||||
/* USER CODE BEGIN 0 */
|
||||
#include "freertos_vars.h"
|
||||
#include "boards.h"
|
||||
#include "configuration.h"
|
||||
#include "low_level.h"
|
||||
#include "callbacks.h"
|
||||
|
||||
typedef void (*ADC_handler_t)(ADC_HandleTypeDef* hadc, bool injected);
|
||||
void ADC_IRQ_Dispatch(ADC_HandleTypeDef* hadc, ADC_handler_t callback);
|
||||
|
||||
#if MB(ODRIVE_V3_3)
|
||||
#include "stm32f4xx_it_ODRIVE_V3_3.c"
|
||||
#elif MB(ODRIVE_V3_2)
|
||||
#include "stm32f4xx_it_ODRIVE_V3_2.c"
|
||||
#elif MB(ODRIVE_V3_1)
|
||||
#include "stm32f4xx_it_ODRIVE_V3_2.c"
|
||||
#else
|
||||
/* USER CODE END 0 */
|
||||
|
||||
/* External variables --------------------------------------------------------*/
|
||||
@@ -243,6 +253,7 @@ void OTG_FS_IRQHandler(void)
|
||||
}
|
||||
|
||||
/* USER CODE BEGIN 1 */
|
||||
#endif
|
||||
|
||||
void ADC_IRQ_Dispatch(ADC_HandleTypeDef* hadc, ADC_handler_t callback) {
|
||||
|
||||
|
||||
@@ -0,0 +1,196 @@
|
||||
/* External variables --------------------------------------------------------*/
|
||||
extern PCD_HandleTypeDef hpcd_USB_OTG_FS;
|
||||
extern ADC_HandleTypeDef hadc1;
|
||||
extern ADC_HandleTypeDef hadc2;
|
||||
extern ADC_HandleTypeDef hadc3;
|
||||
|
||||
/******************************************************************************/
|
||||
/* Cortex-M4 Processor Interruption and Exception Handlers */
|
||||
/******************************************************************************/
|
||||
|
||||
/**
|
||||
* @brief This function handles Non maskable interrupt.
|
||||
*/
|
||||
void NMI_Handler(void)
|
||||
{
|
||||
/* USER CODE BEGIN NonMaskableInt_IRQn 0 */
|
||||
|
||||
/* USER CODE END NonMaskableInt_IRQn 0 */
|
||||
/* USER CODE BEGIN NonMaskableInt_IRQn 1 */
|
||||
|
||||
/* USER CODE END NonMaskableInt_IRQn 1 */
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This function handles Hard fault interrupt.
|
||||
*/
|
||||
void HardFault_Handler(void)
|
||||
{
|
||||
/* USER CODE BEGIN HardFault_IRQn 0 */
|
||||
|
||||
/* USER CODE END HardFault_IRQn 0 */
|
||||
while (1)
|
||||
{
|
||||
}
|
||||
/* USER CODE BEGIN HardFault_IRQn 1 */
|
||||
|
||||
/* USER CODE END HardFault_IRQn 1 */
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This function handles Memory management fault.
|
||||
*/
|
||||
void MemManage_Handler(void)
|
||||
{
|
||||
/* USER CODE BEGIN MemoryManagement_IRQn 0 */
|
||||
|
||||
/* USER CODE END MemoryManagement_IRQn 0 */
|
||||
while (1)
|
||||
{
|
||||
}
|
||||
/* USER CODE BEGIN MemoryManagement_IRQn 1 */
|
||||
|
||||
/* USER CODE END MemoryManagement_IRQn 1 */
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This function handles Pre-fetch fault, memory access fault.
|
||||
*/
|
||||
void BusFault_Handler(void)
|
||||
{
|
||||
/* USER CODE BEGIN BusFault_IRQn 0 */
|
||||
|
||||
/* USER CODE END BusFault_IRQn 0 */
|
||||
while (1)
|
||||
{
|
||||
}
|
||||
/* USER CODE BEGIN BusFault_IRQn 1 */
|
||||
|
||||
/* USER CODE END BusFault_IRQn 1 */
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This function handles Undefined instruction or illegal state.
|
||||
*/
|
||||
void UsageFault_Handler(void)
|
||||
{
|
||||
/* USER CODE BEGIN UsageFault_IRQn 0 */
|
||||
|
||||
/* USER CODE END UsageFault_IRQn 0 */
|
||||
while (1)
|
||||
{
|
||||
}
|
||||
/* USER CODE BEGIN UsageFault_IRQn 1 */
|
||||
|
||||
/* USER CODE END UsageFault_IRQn 1 */
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This function handles Debug monitor.
|
||||
*/
|
||||
void DebugMon_Handler(void)
|
||||
{
|
||||
/* USER CODE BEGIN DebugMonitor_IRQn 0 */
|
||||
|
||||
/* USER CODE END DebugMonitor_IRQn 0 */
|
||||
/* USER CODE BEGIN DebugMonitor_IRQn 1 */
|
||||
|
||||
/* USER CODE END DebugMonitor_IRQn 1 */
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This function handles System tick timer.
|
||||
*/
|
||||
void SysTick_Handler(void)
|
||||
{
|
||||
/* USER CODE BEGIN SysTick_IRQn 0 */
|
||||
|
||||
/* USER CODE END SysTick_IRQn 0 */
|
||||
HAL_IncTick();
|
||||
osSystickHandler();
|
||||
/* USER CODE BEGIN SysTick_IRQn 1 */
|
||||
|
||||
/* USER CODE END SysTick_IRQn 1 */
|
||||
}
|
||||
|
||||
/******************************************************************************/
|
||||
/* STM32F4xx Peripheral Interrupt Handlers */
|
||||
/* Add here the Interrupt Handlers for the used peripherals. */
|
||||
/* For the available peripheral interrupt handler names, */
|
||||
/* please refer to the startup file (startup_stm32f4xx.s). */
|
||||
/******************************************************************************/
|
||||
|
||||
/**
|
||||
* @brief This function handles EXTI line2 interrupt.
|
||||
*/
|
||||
void EXTI2_IRQHandler(void)
|
||||
{
|
||||
/* USER CODE BEGIN EXTI2_IRQn 0 */
|
||||
|
||||
/* USER CODE END EXTI2_IRQn 0 */
|
||||
HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_2);
|
||||
/* USER CODE BEGIN EXTI2_IRQn 1 */
|
||||
|
||||
/* USER CODE END EXTI2_IRQn 1 */
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This function handles EXTI line4 interrupt.
|
||||
*/
|
||||
void EXTI4_IRQHandler(void)
|
||||
{
|
||||
/* USER CODE BEGIN EXTI4_IRQn 0 */
|
||||
|
||||
/* USER CODE END EXTI4_IRQn 0 */
|
||||
HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_4);
|
||||
/* USER CODE BEGIN EXTI4_IRQn 1 */
|
||||
|
||||
/* USER CODE END EXTI4_IRQn 1 */
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This function handles ADC1, ADC2 and ADC3 global interrupts.
|
||||
*/
|
||||
void ADC_IRQHandler(void)
|
||||
{
|
||||
/* USER CODE BEGIN ADC_IRQn 0 */
|
||||
|
||||
// The HAL's ADC handling mechanism adds many clock cycles of overhead
|
||||
// So we bypass it and handle the logic ourselves.
|
||||
//@TODO add vbus meaasurement on adc1 here
|
||||
ADC_IRQ_Dispatch(&hadc1, &vbusSenseADC_cb);
|
||||
ADC_IRQ_Dispatch(&hadc2, &pwmTrigADC_cb);
|
||||
ADC_IRQ_Dispatch(&hadc3, &pwmTrigADC_cb);
|
||||
|
||||
// Bypass HAL
|
||||
return;
|
||||
|
||||
/* USER CODE END ADC_IRQn 0 */
|
||||
HAL_ADC_IRQHandler(&hadc1);
|
||||
HAL_ADC_IRQHandler(&hadc2);
|
||||
HAL_ADC_IRQHandler(&hadc3);
|
||||
/* USER CODE BEGIN ADC_IRQn 1 */
|
||||
|
||||
/* USER CODE END ADC_IRQn 1 */
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This function handles USB On The Go FS global interrupt.
|
||||
*/
|
||||
void OTG_FS_IRQHandler(void)
|
||||
{
|
||||
/* USER CODE BEGIN OTG_FS_IRQn 0 */
|
||||
|
||||
// Mask interrupt, and signal processing of interrupt by usb_cmd_thread
|
||||
// The thread will re-enable the interrupt when all pending irqs are clear.
|
||||
HAL_NVIC_DisableIRQ(OTG_FS_IRQn);
|
||||
osSemaphoreRelease(sem_usb_irq);
|
||||
// Bypass interrupt processing here
|
||||
return;
|
||||
|
||||
/* USER CODE END OTG_FS_IRQn 0 */
|
||||
HAL_PCD_IRQHandler(&hpcd_USB_OTG_FS);
|
||||
/* USER CODE BEGIN OTG_FS_IRQn 1 */
|
||||
|
||||
/* USER CODE END OTG_FS_IRQn 1 */
|
||||
}
|
||||
@@ -0,0 +1,197 @@
|
||||
|
||||
/* External variables --------------------------------------------------------*/
|
||||
extern PCD_HandleTypeDef hpcd_USB_OTG_FS;
|
||||
extern ADC_HandleTypeDef hadc1;
|
||||
extern ADC_HandleTypeDef hadc2;
|
||||
extern ADC_HandleTypeDef hadc3;
|
||||
|
||||
/******************************************************************************/
|
||||
/* Cortex-M4 Processor Interruption and Exception Handlers */
|
||||
/******************************************************************************/
|
||||
|
||||
/**
|
||||
* @brief This function handles Non maskable interrupt.
|
||||
*/
|
||||
void NMI_Handler(void)
|
||||
{
|
||||
/* USER CODE BEGIN NonMaskableInt_IRQn 0 */
|
||||
|
||||
/* USER CODE END NonMaskableInt_IRQn 0 */
|
||||
/* USER CODE BEGIN NonMaskableInt_IRQn 1 */
|
||||
|
||||
/* USER CODE END NonMaskableInt_IRQn 1 */
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This function handles Hard fault interrupt.
|
||||
*/
|
||||
void HardFault_Handler(void)
|
||||
{
|
||||
/* USER CODE BEGIN HardFault_IRQn 0 */
|
||||
|
||||
/* USER CODE END HardFault_IRQn 0 */
|
||||
while (1)
|
||||
{
|
||||
}
|
||||
/* USER CODE BEGIN HardFault_IRQn 1 */
|
||||
|
||||
/* USER CODE END HardFault_IRQn 1 */
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This function handles Memory management fault.
|
||||
*/
|
||||
void MemManage_Handler(void)
|
||||
{
|
||||
/* USER CODE BEGIN MemoryManagement_IRQn 0 */
|
||||
|
||||
/* USER CODE END MemoryManagement_IRQn 0 */
|
||||
while (1)
|
||||
{
|
||||
}
|
||||
/* USER CODE BEGIN MemoryManagement_IRQn 1 */
|
||||
|
||||
/* USER CODE END MemoryManagement_IRQn 1 */
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This function handles Pre-fetch fault, memory access fault.
|
||||
*/
|
||||
void BusFault_Handler(void)
|
||||
{
|
||||
/* USER CODE BEGIN BusFault_IRQn 0 */
|
||||
|
||||
/* USER CODE END BusFault_IRQn 0 */
|
||||
while (1)
|
||||
{
|
||||
}
|
||||
/* USER CODE BEGIN BusFault_IRQn 1 */
|
||||
|
||||
/* USER CODE END BusFault_IRQn 1 */
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This function handles Undefined instruction or illegal state.
|
||||
*/
|
||||
void UsageFault_Handler(void)
|
||||
{
|
||||
/* USER CODE BEGIN UsageFault_IRQn 0 */
|
||||
|
||||
/* USER CODE END UsageFault_IRQn 0 */
|
||||
while (1)
|
||||
{
|
||||
}
|
||||
/* USER CODE BEGIN UsageFault_IRQn 1 */
|
||||
|
||||
/* USER CODE END UsageFault_IRQn 1 */
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This function handles Debug monitor.
|
||||
*/
|
||||
void DebugMon_Handler(void)
|
||||
{
|
||||
/* USER CODE BEGIN DebugMonitor_IRQn 0 */
|
||||
|
||||
/* USER CODE END DebugMonitor_IRQn 0 */
|
||||
/* USER CODE BEGIN DebugMonitor_IRQn 1 */
|
||||
|
||||
/* USER CODE END DebugMonitor_IRQn 1 */
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This function handles System tick timer.
|
||||
*/
|
||||
void SysTick_Handler(void)
|
||||
{
|
||||
/* USER CODE BEGIN SysTick_IRQn 0 */
|
||||
|
||||
/* USER CODE END SysTick_IRQn 0 */
|
||||
HAL_IncTick();
|
||||
osSystickHandler();
|
||||
/* USER CODE BEGIN SysTick_IRQn 1 */
|
||||
|
||||
/* USER CODE END SysTick_IRQn 1 */
|
||||
}
|
||||
|
||||
/******************************************************************************/
|
||||
/* STM32F4xx Peripheral Interrupt Handlers */
|
||||
/* Add here the Interrupt Handlers for the used peripherals. */
|
||||
/* For the available peripheral interrupt handler names, */
|
||||
/* please refer to the startup file (startup_stm32f4xx.s). */
|
||||
/******************************************************************************/
|
||||
|
||||
/**
|
||||
* @brief This function handles EXTI line0 interrupt.
|
||||
*/
|
||||
void EXTI0_IRQHandler(void)
|
||||
{
|
||||
/* USER CODE BEGIN EXTI0_IRQn 0 */
|
||||
|
||||
/* USER CODE END EXTI0_IRQn 0 */
|
||||
HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_0);
|
||||
/* USER CODE BEGIN EXTI0_IRQn 1 */
|
||||
|
||||
/* USER CODE END EXTI0_IRQn 1 */
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This function handles EXTI line2 interrupt.
|
||||
*/
|
||||
void EXTI2_IRQHandler(void)
|
||||
{
|
||||
/* USER CODE BEGIN EXTI2_IRQn 0 */
|
||||
|
||||
/* USER CODE END EXTI2_IRQn 0 */
|
||||
HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_2);
|
||||
/* USER CODE BEGIN EXTI2_IRQn 1 */
|
||||
|
||||
/* USER CODE END EXTI2_IRQn 1 */
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This function handles ADC1, ADC2 and ADC3 global interrupts.
|
||||
*/
|
||||
void ADC_IRQHandler(void)
|
||||
{
|
||||
/* USER CODE BEGIN ADC_IRQn 0 */
|
||||
|
||||
// The HAL's ADC handling mechanism adds many clock cycles of overhead
|
||||
// So we bypass it and handle the logic ourselves.
|
||||
//@TODO add vbus meaasurement on adc1 here
|
||||
ADC_IRQ_Dispatch(&hadc1, &vbusSenseADC_cb);
|
||||
ADC_IRQ_Dispatch(&hadc2, &pwmTrigADC_cb);
|
||||
ADC_IRQ_Dispatch(&hadc3, &pwmTrigADC_cb);
|
||||
|
||||
// Bypass HAL
|
||||
return;
|
||||
|
||||
/* USER CODE END ADC_IRQn 0 */
|
||||
HAL_ADC_IRQHandler(&hadc1);
|
||||
HAL_ADC_IRQHandler(&hadc2);
|
||||
HAL_ADC_IRQHandler(&hadc3);
|
||||
/* USER CODE BEGIN ADC_IRQn 1 */
|
||||
|
||||
/* USER CODE END ADC_IRQn 1 */
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This function handles USB On The Go FS global interrupt.
|
||||
*/
|
||||
void OTG_FS_IRQHandler(void)
|
||||
{
|
||||
/* USER CODE BEGIN OTG_FS_IRQn 0 */
|
||||
|
||||
// Mask interrupt, and signal processing of interrupt by usb_cmd_thread
|
||||
// The thread will re-enable the interrupt when all pending irqs are clear.
|
||||
HAL_NVIC_DisableIRQ(OTG_FS_IRQn);
|
||||
osSemaphoreRelease(sem_usb_irq);
|
||||
// Bypass interrupt processing here
|
||||
return;
|
||||
|
||||
/* USER CODE END OTG_FS_IRQn 0 */
|
||||
HAL_PCD_IRQHandler(&hpcd_USB_OTG_FS);
|
||||
/* USER CODE BEGIN OTG_FS_IRQn 1 */
|
||||
|
||||
/* USER CODE END OTG_FS_IRQn 1 */
|
||||
}
|
||||
Reference in New Issue
Block a user