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R2671/Firmware/src/drivers/h_bridge.c
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h_bridge.c
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/*
* Copyright (C) 2017 EPFL-LSRO (Laboratoire de Systemes Robotiques).
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include "h_bridge.h"
void hb_Tim8Init(void);
/**
* @brief Initialize the pins and the PWM timer to control the H-bridge.
*/
void hb_Init(void)
{
// Init the GPIO pins.
GPIO_InitTypeDef GPIO_InitStruct;
GPIO_InitStruct.GPIO_Pin = nFAULT_Pin;
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_IN;
GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(nFAULT_Port, &GPIO_InitStruct);
GPIO_InitStruct.GPIO_Pin = nSLEEP_Pin;
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStruct.GPIO_OType = GPIO_OType_PP;
GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(nSLEEP_Port, &GPIO_InitStruct);
GPIO_WriteBit(nSLEEP_Port, nSLEEP_Pin, Bit_SET);
GPIO_InitStruct.GPIO_Pin = (uint16_t)(1<<ENB1_Pin);
GPIO_Init(ENB1_Port, &GPIO_InitStruct);
GPIO_WriteBit(ENB1_Port, (uint16_t)(1<<ENB1_Pin), Bit_RESET);
GPIO_InitStruct.GPIO_Pin = (uint16_t)(1<<ENB2_Pin);
GPIO_Init(ENB2_Port, &GPIO_InitStruct);
GPIO_WriteBit(ENB2_Port, (uint16_t)(1<<ENB2_Pin), Bit_RESET);
// Init the timer 8, that generates the PWM signal.
hb_Tim8Init();
}
/**
* @brief Initialize TIM8 as a PWM generator.
*/
void hb_Tim8Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStruct;
TIM_OCInitTypeDef TIM_OCInitStruct;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8, ENABLE);
GPIO_InitStruct.GPIO_Pin = (uint16_t)(1<<PWM1_Pin);
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStruct.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStruct.GPIO_OType = GPIO_OType_PP;
GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(PWM1_Port, &GPIO_InitStruct);
GPIO_InitStruct.GPIO_Pin = (uint16_t)(1<<PWM2_Pin);
GPIO_Init(PWM2_Port, &GPIO_InitStruct);
GPIO_PinAFConfig(PWM1_Port, (uint8_t)PWM1_Pin, GPIO_AF_TIM8);
GPIO_PinAFConfig(PWM2_Port, (uint8_t)PWM2_Pin, GPIO_AF_TIM8);
TIM_TimeBaseStruct.TIM_Period = PWM_TIM_PERIODE;
TIM_TimeBaseStruct.TIM_Prescaler = PWM_TIM_PRESCALER;
TIM_TimeBaseStruct.TIM_ClockDivision = 0;
TIM_TimeBaseStruct.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStruct.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM8, &TIM_TimeBaseStruct);
TIM_OCInitStruct.TIM_OCMode = TIM_OCMode_PWM2;
TIM_OCInitStruct.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStruct.TIM_Pulse = ((int16_t)(PWM_TIM_PERIODE>>1)); //50% duty cycle
TIM_OCInitStruct.TIM_OCPolarity = TIM_OCPolarity_Low;
TIM_OCInitStruct.TIM_OCIdleState = TIM_OCIdleState_Set;
TIM_OC1Init(TIM8, &TIM_OCInitStruct);
TIM_OCInitStruct.TIM_OCIdleState = TIM_OCIdleState_Reset;
TIM_OCInitStruct.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC2Init(TIM8, &TIM_OCInitStruct);
TIM_OC1PreloadConfig(TIM8, TIM_OCPreload_Enable);
TIM_OC2PreloadConfig(TIM8, TIM_OCPreload_Enable);
// TIM8 TRGO selection.
TIM_SelectOutputTrigger(TIM8, TIM_TRGOSource_Update);
TIM_Cmd(TIM8, ENABLE);
TIM_CtrlPWMOutputs(TIM8, ENABLE);
}
/**
* @brief Enable the motor driver.
*/
void hb_Enable()
{
GPIO_WriteBit(ENB1_Port, (uint16_t)(1<<ENB1_Pin), Bit_SET);
GPIO_WriteBit(ENB2_Port, (uint16_t)(1<<ENB2_Pin), Bit_SET);
}
/**
* @brief Disable the motor driver.
*/
void hb_Disable()
{
GPIO_WriteBit(ENB1_Port, (uint16_t)(1<<ENB1_Pin), Bit_RESET);
GPIO_WriteBit(ENB2_Port, (uint16_t)(1<<ENB2_Pin), Bit_RESET);
}
/**
* @brief Set the PWM duty.
* @param ratio: PWM duty ("on" time ratio) [-1.0 to 1.0]. 0 means zero
* voltage at the motor leads, -1 and 1 are max voltages.
*/
void hb_SetPWM(float32_t ratio)
{
uint16_t pwmDutyCycle;
pwmDutyCycle = ((uint16_t)((ratio+1)*((float32_t)((TIM8->ARR)>>1))));
TIM8->CCR1 = pwmDutyCycle; // The same value is affected to both timers, because they have
TIM8->CCR2 = pwmDutyCycle; // an opposite polarity.
}
/**
* @brief Gets the fault state.
* Gets the fault state of the H-Bridge from its nFAULT line. A fault may be
* because of an undervoltage, overcurrent or overtemperature.
* @return true if there is a fault, false otherwise.
*/
bool hb_HasFault(void)
{
return !GPIO_ReadInputDataBit(nFAULT_Port, nFAULT_Pin);
}
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