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Firmware: PWM Servo tested with ESC

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This commit is contained in:
Gabriel Lima
2024-08-05 19:29:40 -03:00
parent 651ac33845
commit a863469640
12 changed files with 364 additions and 37 deletions
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1
Firmware/F407V-PWMServoTester/.cproject
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@@ -222,4 +222,5 @@
<autodiscovery enabled="false" problemReportingEnabled="true" selectedProfileId=""/>
</scannerConfigBuildInfo>
</storageModule>
<storageModule moduleId="refreshScope"/>
</cproject>

2
Firmware/F407V-PWMServoTester/Core/Inc/stm32f4xx_hal_conf.h
View File

@@ -189,7 +189,7 @@
#define USE_HAL_SPDIFRX_REGISTER_CALLBACKS 0U /* SPDIFRX register callback disabled */
#define USE_HAL_SMBUS_REGISTER_CALLBACKS 0U /* SMBUS register callback disabled */
#define USE_HAL_SPI_REGISTER_CALLBACKS 1U /* SPI register callback enabled */
#define USE_HAL_TIM_REGISTER_CALLBACKS 0U /* TIM register callback disabled */
#define USE_HAL_TIM_REGISTER_CALLBACKS 1U /* TIM register callback enabled */
#define USE_HAL_UART_REGISTER_CALLBACKS 1U /* UART register callback enabled */
#define USE_HAL_USART_REGISTER_CALLBACKS 0U /* USART register callback disabled */
#define USE_HAL_WWDG_REGISTER_CALLBACKS 0U /* WWDG register callback disabled */

3
Firmware/F407V-PWMServoTester/Core/Inc/tim.h
View File

@@ -32,12 +32,15 @@ extern "C" {
/* USER CODE END Includes */
extern TIM_HandleTypeDef htim8;
extern TIM_HandleTypeDef htim10;
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
void MX_TIM8_Init(void);
void MX_TIM10_Init(void);
void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);

49
Firmware/F407V-PWMServoTester/Core/Src/Components/PWMServo.cpp Normal file
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@@ -0,0 +1,49 @@
/*
* PWMServo.cpp
*
* Created on: Jul 30, 2024
* Author: Gabriel
*/
#include "PWMServo.hpp"
PWMServo::PWMServo(PWM_Pin* pwmPin, float pulseWidthMinUs, float pulseWidthMaxUs) :
pwmPin(pwmPin), pulseWidthMinUs(pulseWidthMinUs), pulseWidthMaxUs(pulseWidthMaxUs) {
}
PWMServo::~PWMServo() {
}
int32_t PWMServo::init() {
if(pulseWidthMaxUs <= pulseWidthMinUs){
// Max pulse width not greater than min pulse width
return -1;
}
if(pwmPin->init()){
// Could not initialize PWM pin
return -1;
}
initialized = true;
return 0;
}
int32_t PWMServo::setPosition(float position) {
if(!initialized){
// Not initialized
return -1;
}
if(position < 0 || position > 1){
// position out of range
return -1;
}
float frequency;
if(pwmPin->getFrequency(&frequency)){
// Error getting PWM frequency
return -1;
}
float pulseWidthUs = pulseWidthMinUs + position*(pulseWidthMaxUs - pulseWidthMinUs);
float dutyCycle = pulseWidthUs*frequency/1000000;
return pwmPin->setDutyCycle(dutyCycle);
}

27
Firmware/F407V-PWMServoTester/Core/Src/Components/PWMServo.hpp Normal file
View File

@@ -0,0 +1,27 @@
/*
* PWMServo.hpp
*
* Created on: Jul 30, 2024
* Author: Gabriel
*/
#ifndef SRC_COMPONENTS_PWMSERVO_HPP_
#define SRC_COMPONENTS_PWMSERVO_HPP_
#include <cinttypes>
#include "PWM_Pin.hpp"
class PWMServo {
public:
PWMServo(PWM_Pin* pwmPin, float pulseWidthMinUs = 500, float pulseWidthMaxUs = 1500);
virtual ~PWMServo();
int32_t init();
int32_t setPosition(float position);
private:
bool initialized = false;
PWM_Pin* pwmPin;
float pulseWidthMinUs;
float pulseWidthMaxUs;
};
#endif /* SRC_COMPONENTS_PWMSERVO_HPP_ */

21
Firmware/F407V-PWMServoTester/Core/Src/Components/PWM_Pin.hpp Normal file
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@@ -0,0 +1,21 @@
/*
* PWM_Pin.hpp
*
* Created on: Jul 30, 2024
* Author: Gabriel
*/
#ifndef SRC_COMPONENTS_PWM_PIN_HPP_
#define SRC_COMPONENTS_PWM_PIN_HPP_
#include <cinttypes>
class PWM_Pin {
public:
virtual int32_t init() = 0;
virtual int32_t setDutyCycle(float dutyCycle) = 0;
virtual int32_t getFrequency(float* frequency) = 0;
virtual int32_t reset() = 0;
};
#endif /* SRC_COMPONENTS_PWM_PIN_HPP_ */

60
Firmware/F407V-PWMServoTester/Core/Src/Components/PWM_Pin_STM32.cpp Normal file
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@@ -0,0 +1,60 @@
/*
* PWM_Pin_STM32.cpp
*
* Created on: Jul 30, 2024
* Author: Gabriel
*/
#include "PWM_Pin_STM32.hpp"
PWM_Pin_STM32::PWM_Pin_STM32(TIM_HandleTypeDef* htim, uint32_t channel) : htim(htim), channel(channel) {
}
PWM_Pin_STM32::~PWM_Pin_STM32() {
}
int32_t PWM_Pin_STM32::init() {
if(HAL_TIM_PWM_Start(htim, channel) == HAL_OK){
return 0;
}else{
return -1;
}
}
int32_t PWM_Pin_STM32::setDutyCycle(float dutyCycle) {
if(dutyCycle<0 || dutyCycle>1){
// dutyCycle out of range
return -1;
}
uint32_t arr = __HAL_TIM_GET_AUTORELOAD(htim);
uint32_t ccr = dutyCycle*arr;
__HAL_TIM_SET_COMPARE(htim, channel, ccr);
return 0;
}
int32_t PWM_Pin_STM32::getFrequency(float* frequency){
// FIXME: May work only on STM32F4
float timClkFreq;
if((uint32_t*)htim->Instance >= (uint32_t*)APB1PERIPH_BASE && (uint32_t*)htim->Instance < (uint32_t*)APB2PERIPH_BASE){
// Timer on APB1
timClkFreq = HAL_RCC_GetPCLK1Freq()*2;
}else if((uint32_t*)htim->Instance > (uint32_t*)APB2PERIPH_BASE){
// Timer on APB2
timClkFreq = HAL_RCC_GetPCLK2Freq()*2;
}else{
// Unknown bus
return -1;
}
if(frequency){
*frequency = timClkFreq/((htim->Instance->ARR+1) * (htim->Instance->PSC+1));
}
return 0;
}
int32_t PWM_Pin_STM32::reset(){
// TODO: test if this implementation works to force reload
__HAL_TIM_SET_COUNTER(htim, 0);
return 0;
}

27
Firmware/F407V-PWMServoTester/Core/Src/Components/PWM_Pin_STM32.hpp Normal file
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@@ -0,0 +1,27 @@
/*
* PWM_Pin_STM32.hpp
*
* Created on: Jul 30, 2024
* Author: Gabriel
*/
#ifndef SRC_COMPONENTS_PWM_PIN_STM32_HPP_
#define SRC_COMPONENTS_PWM_PIN_STM32_HPP_
#include "main.h"
#include "PWM_Pin.hpp"
class PWM_Pin_STM32 : public PWM_Pin {
public:
PWM_Pin_STM32(TIM_HandleTypeDef* htim, uint32_t channel);
virtual ~PWM_Pin_STM32();
int32_t init();
int32_t setDutyCycle(float dutyCycle);
int32_t getFrequency(float* frequency);
int32_t reset();
private:
TIM_HandleTypeDef* htim;
uint32_t channel;
};
#endif /* SRC_COMPONENTS_PWM_PIN_STM32_HPP_ */

14
Firmware/F407V-PWMServoTester/Core/Src/Components/start.cpp
View File

@@ -11,6 +11,8 @@
#include "GPIO_Pin_STM32.hpp"
#include "BinLeds.hpp"
#include "LogDriver.hpp"
#include "PWMServo.hpp"
#include "PWM_Pin_STM32.hpp"
GPIO_Pin_STM32 ledOrange(GPIOD, GPIO_PIN_13);
GPIO_Pin_STM32 ledGreen(GPIOD, GPIO_PIN_12);
@@ -18,7 +20,9 @@ GPIO_Pin_STM32 ledRed(GPIOD, GPIO_PIN_14);
GPIO_Pin_STM32 ledBlue(GPIOD, GPIO_PIN_15);
BinLeds discoveryLeds((GPIO_Pin*[]){&ledOrange, &ledGreen, &ledRed, &ledBlue}, 4);
uint8_t recvBuffer[12];
extern TIM_HandleTypeDef htim8;
PWM_Pin_STM32 escPin(&htim8, TIM_CHANNEL_3);
PWMServo esc(&escPin, 1000, 2000);
void executableDispatch(void* _executable){
Executable* executable = static_cast<Executable*>(_executable);
@@ -43,5 +47,13 @@ void start(){
LogDriver::getInstance()->init();
TaskHandle_t hTaskLogDriver;
xTaskCreate(executableDispatch, "LogDriver", 256, LogDriver::getInstance(), 20, &hTaskLogDriver);
esc.init();
esc.setPosition(0);
vTaskDelay(10000);
esc.setPosition(1);
vTaskDelay(10000);
esc.setPosition(0);
vTaskDelay(10000);
esc.setPosition(0.5);
vTaskDelete(nullptr);
}

1
Firmware/F407V-PWMServoTester/Core/Src/main.c
View File

@@ -103,6 +103,7 @@ int main(void)
MX_TIM10_Init();
MX_USART2_UART_Init();
MX_USB_OTG_FS_PCD_Init();
MX_TIM8_Init();
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */

119
Firmware/F407V-PWMServoTester/Core/Src/tim.c
View File

@@ -24,8 +24,79 @@
/* USER CODE END 0 */
TIM_HandleTypeDef htim8;
TIM_HandleTypeDef htim10;
/* TIM8 init function */
void MX_TIM8_Init(void)
{
/* USER CODE BEGIN TIM8_Init 0 */
/* USER CODE END TIM8_Init 0 */
TIM_ClockConfigTypeDef sClockSourceConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
TIM_OC_InitTypeDef sConfigOC = {0};
TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
/* USER CODE BEGIN TIM8_Init 1 */
/* USER CODE END TIM8_Init 1 */
htim8.Instance = TIM8;
htim8.Init.Prescaler = 50;
htim8.Init.CounterMode = TIM_COUNTERMODE_UP;
htim8.Init.Period = 65535;
htim8.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim8.Init.RepetitionCounter = 0;
htim8.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
if (HAL_TIM_Base_Init(&htim8) != HAL_OK)
{
Error_Handler();
}
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
if (HAL_TIM_ConfigClockSource(&htim8, &sClockSourceConfig) != HAL_OK)
{
Error_Handler();
}
if (HAL_TIM_PWM_Init(&htim8) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim8, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
if (HAL_TIM_PWM_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
sBreakDeadTimeConfig.DeadTime = 0;
sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
if (HAL_TIMEx_ConfigBreakDeadTime(&htim8, &sBreakDeadTimeConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM8_Init 2 */
/* USER CODE END TIM8_Init 2 */
HAL_TIM_MspPostInit(&htim8);
}
/* TIM10 init function */
void MX_TIM10_Init(void)
{
@@ -71,7 +142,18 @@ void MX_TIM10_Init(void)
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
{
if(tim_baseHandle->Instance==TIM10)
if(tim_baseHandle->Instance==TIM8)
{
/* USER CODE BEGIN TIM8_MspInit 0 */
/* USER CODE END TIM8_MspInit 0 */
/* TIM8 clock enable */
__HAL_RCC_TIM8_CLK_ENABLE();
/* USER CODE BEGIN TIM8_MspInit 1 */
/* USER CODE END TIM8_MspInit 1 */
}
else if(tim_baseHandle->Instance==TIM10)
{
/* USER CODE BEGIN TIM10_MspInit 0 */
@@ -87,7 +169,27 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
if(timHandle->Instance==TIM10)
if(timHandle->Instance==TIM8)
{
/* USER CODE BEGIN TIM8_MspPostInit 0 */
/* USER CODE END TIM8_MspPostInit 0 */
__HAL_RCC_GPIOC_CLK_ENABLE();
/**TIM8 GPIO Configuration
PC8 ------> TIM8_CH3
*/
GPIO_InitStruct.Pin = GPIO_PIN_8;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF3_TIM8;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/* USER CODE BEGIN TIM8_MspPostInit 1 */
/* USER CODE END TIM8_MspPostInit 1 */
}
else if(timHandle->Instance==TIM10)
{
/* USER CODE BEGIN TIM10_MspPostInit 0 */
@@ -114,7 +216,18 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
{
if(tim_baseHandle->Instance==TIM10)
if(tim_baseHandle->Instance==TIM8)
{
/* USER CODE BEGIN TIM8_MspDeInit 0 */
/* USER CODE END TIM8_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM8_CLK_DISABLE();
/* USER CODE BEGIN TIM8_MspDeInit 1 */
/* USER CODE END TIM8_MspDeInit 1 */
}
else if(tim_baseHandle->Instance==TIM10)
{
/* USER CODE BEGIN TIM10_MspDeInit 0 */

77
Firmware/F407V-PWMServoTester/F407V-PWMServoTester.ioc
View File

@@ -66,8 +66,9 @@ Mcu.CPN=STM32F407VGT6
Mcu.Family=STM32F4
Mcu.IP0=DMA
Mcu.IP1=FREERTOS
Mcu.IP10=USART2
Mcu.IP11=USB_OTG_FS
Mcu.IP10=TIM10
Mcu.IP11=USART2
Mcu.IP12=USB_OTG_FS
Mcu.IP2=I2C1
Mcu.IP3=I2S3
Mcu.IP4=NVIC
@@ -75,8 +76,8 @@ Mcu.IP5=RCC
Mcu.IP6=SPI1
Mcu.IP7=SPI2
Mcu.IP8=SYS
Mcu.IP9=TIM10
Mcu.IPNb=12
Mcu.IP9=TIM8
Mcu.IPNb=13
Mcu.Name=STM32F407V(E-G)Tx
Mcu.Package=LQFP100
Mcu.Pin0=PE3
@@ -116,38 +117,40 @@ Mcu.Pin39=PD15
Mcu.Pin4=PH1-OSC_OUT
Mcu.Pin40=PC6
Mcu.Pin41=PC7
Mcu.Pin42=PC9
Mcu.Pin43=PA8
Mcu.Pin44=PA9
Mcu.Pin45=PA10
Mcu.Pin46=PA11
Mcu.Pin47=PA12
Mcu.Pin48=PA13
Mcu.Pin49=PA14
Mcu.Pin42=PC8
Mcu.Pin43=PC9
Mcu.Pin44=PA8
Mcu.Pin45=PA9
Mcu.Pin46=PA10
Mcu.Pin47=PA11
Mcu.Pin48=PA12
Mcu.Pin49=PA13
Mcu.Pin5=PC0
Mcu.Pin50=PA15
Mcu.Pin51=PC10
Mcu.Pin52=PC12
Mcu.Pin53=PD4
Mcu.Pin54=PD5
Mcu.Pin55=PD6
Mcu.Pin56=PD7
Mcu.Pin57=PB3
Mcu.Pin58=PB4
Mcu.Pin59=PB5
Mcu.Pin50=PA14
Mcu.Pin51=PA15
Mcu.Pin52=PC10
Mcu.Pin53=PC12
Mcu.Pin54=PD4
Mcu.Pin55=PD5
Mcu.Pin56=PD6
Mcu.Pin57=PD7
Mcu.Pin58=PB3
Mcu.Pin59=PB4
Mcu.Pin6=PC3
Mcu.Pin60=PB6
Mcu.Pin61=PB7
Mcu.Pin62=PB8
Mcu.Pin63=PB9
Mcu.Pin64=PE1
Mcu.Pin65=VP_FREERTOS_VS_CMSIS_V2
Mcu.Pin66=VP_SYS_VS_tim7
Mcu.Pin67=VP_TIM10_VS_ClockSourceINT
Mcu.Pin60=PB5
Mcu.Pin61=PB6
Mcu.Pin62=PB7
Mcu.Pin63=PB8
Mcu.Pin64=PB9
Mcu.Pin65=PE1
Mcu.Pin66=VP_FREERTOS_VS_CMSIS_V2
Mcu.Pin67=VP_SYS_VS_tim7
Mcu.Pin68=VP_TIM8_VS_ClockSourceINT
Mcu.Pin69=VP_TIM10_VS_ClockSourceINT
Mcu.Pin7=PA0-WKUP
Mcu.Pin8=PA2
Mcu.Pin9=PA3
Mcu.PinsNb=68
Mcu.PinsNb=70
Mcu.ThirdPartyNb=0
Mcu.UserConstants=
Mcu.UserName=STM32F407VGTx
@@ -416,6 +419,8 @@ PC7.GPIO_Speed=GPIO_SPEED_FREQ_LOW
PC7.Locked=true
PC7.Mode=Master_Clock_Activated
PC7.Signal=I2S3_MCK
PC8.Locked=true
PC8.Signal=S_TIM8_CH3
PC9.GPIOParameters=GPIO_Label
PC9.GPIO_Label=NRF24_B_CE
PC9.Locked=true
@@ -564,7 +569,7 @@ ProjectManager.ProjectBuild=false
ProjectManager.ProjectFileName=F407V-PWMServoTester.ioc
ProjectManager.ProjectName=F407V-PWMServoTester
ProjectManager.ProjectStructure=
ProjectManager.RegisterCallBack=SPI,ADC,I2C,UART
ProjectManager.RegisterCallBack=ADC,I2C,SPI,TIM,UART
ProjectManager.StackSize=0x400
ProjectManager.TargetToolchain=STM32CubeIDE
ProjectManager.ToolChainLocation=
@@ -626,6 +631,8 @@ SH.GPXTI9.0=GPIO_EXTI9
SH.GPXTI9.ConfNb=1
SH.S_TIM10_CH1.0=TIM10_CH1,PWM Generation1 CH1
SH.S_TIM10_CH1.ConfNb=1
SH.S_TIM8_CH3.0=TIM8_CH3,PWM Generation3 CH3
SH.S_TIM8_CH3.ConfNb=1
SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_256
SPI1.BaudRatePrescaler-Full_Duplex_Master=SPI_BAUDRATEPRESCALER_2
SPI1.CalculateBaudRate=328.125 KBits/s
@@ -643,6 +650,10 @@ SPI2.Mode=SPI_MODE_MASTER
SPI2.VirtualType=VM_MASTER
TIM10.Channel=TIM_CHANNEL_1
TIM10.IPParameters=Channel
TIM8.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_ENABLE
TIM8.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
TIM8.IPParameters=Channel-PWM Generation3 CH3,Prescaler,AutoReloadPreload
TIM8.Prescaler=50
USART2.IPParameters=VirtualMode
USART2.VirtualMode=VM_ASYNC
USB_OTG_FS.IPParameters=VirtualMode
@@ -653,6 +664,8 @@ VP_SYS_VS_tim7.Mode=TIM7
VP_SYS_VS_tim7.Signal=SYS_VS_tim7
VP_TIM10_VS_ClockSourceINT.Mode=Enable_Timer
VP_TIM10_VS_ClockSourceINT.Signal=TIM10_VS_ClockSourceINT
VP_TIM8_VS_ClockSourceINT.Mode=Internal
VP_TIM8_VS_ClockSourceINT.Signal=TIM8_VS_ClockSourceINT
board=STM32F407G-DISC1
boardIOC=true
rtos.0.ip=FREERTOS