h_bridge.h
5a064dff3f02simple-adc-acquire

h_bridge.h
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			#ifndef __H_BRIDGE_H
			#define __H_BRIDGE_H

			#include "../main.h"

			#define PWM1_Pin 6
			#define PWM1_Port GPIOC
			#define PWM2_Pin 7
			#define PWM2_Port GPIOC
			#define ENB1_Pin 8
			#define ENB1_Port GPIOC
			#define ENB2_Pin 9
			#define ENB2_Port GPIOC
			#define nFAULT_Pin GPIO_Pin_15
			#define nFAULT_Port GPIOD
			#define nSLEEP_Pin GPIO_Pin_14
			#define nSLEEP_Port GPIOD

			#define PWM_FREQUENCY 30000 // Motor PWM freq. [Hz]

			#define PWM_RESOL_SHIFT_DWN 6 // PWM_SCALE = 0xFFFF/2^PWM_RESOL_SHIFT_DWN
			#define CURRENT_SCALE_RESOL ((uint32_t)(16-PWM_RESOL_SHIFT_DWN))
			#define PWM_TIM_PERIODE ((int16_t)(0xFFFF>>PWM_RESOL_SHIFT_DWN))
			#define PWM_TIM_PRESCALER ((int16_t)(SystemCoreClock/APB2_PRESCALER*TIM_MULTIPLIER/PWM_FREQUENCY/PWM_TIM_PERIODE-1))

			/** @defgroup H_Bridge Driver / H-bridge
			* @brief Driver for the H-bridge of the motor.
			*
			* The DC motor is supplied by a H-bridge on the HRI board. These power
			* electronics are controlled by the microcontroller using a PWM timer.
			*
			* Call hb_Init() first in the initialization code. Then, call hb_Enable()
			* to enable the H-bridge chip (power on), and hb_SetPWM() to set the motor
			* voltage.
			*
			* @addtogroup H_Bridge
			* @{
			*/

			void hb_Init(void);
			void hb_Enable(void);
			void hb_Disable(void);
			void hb_SetPWM(float32_t ratio);

			/**
			* @}
			*/

			#endif