Merge pull request #66 from Rocketct/master

changed pwm usage in favour of mbed pwm management

Author: pennam

Diff for: src/Arduino_MachineControl.h

@@ -193,139 +193,6 @@ class AnalogInClass {
 
 extern AnalogInClass analog_in;
 
-class AnalogOutPWMClass {
-public:
-	AnalogOutPWMClass() {
-		GPIO_InitTypeDef   GPIO_InitStruct;
-
-		// Enables peripherals and GPIO Clocks HRTIM1 Peripheral clock enable
-		__HAL_RCC_HRTIM1_CLK_ENABLE();
-
-		// Enable GPIO Channels Clock
-		__HAL_RCC_GPIOG_CLK_ENABLE();
-
-		// Configure HRTIMA TIMA TA1/A2, TIMB TB1/2, TIMC TC1/2, TIMD TD1/2 and TIME TE1.2
-		// channels as alternate function mode
-
-		GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-		GPIO_InitStruct.Pull = GPIO_PULLUP;
-		GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
-		GPIO_InitStruct.Alternate = GPIO_AF2_HRTIM1;
-		GPIO_InitStruct.Pin = GPIO_PIN_7;
-		HAL_GPIO_Init(GPIOG, &GPIO_InitStruct);
-
-		// Configure the HRTIM peripheral
-		// Initialize the HRTIM structure
-		HrtimHandle.Instance = HRTIM1;
-		HrtimHandle.Init.HRTIMInterruptResquests = HRTIM_IT_NONE;
-		HrtimHandle.Init.SyncOptions = HRTIM_SYNCOPTION_NONE;
-
-		HAL_HRTIM_Init(&HrtimHandle);
-
-		// Configure the HRTIM TIME PWM channels 2
-		sConfig_time_base.Mode = HRTIM_MODE_CONTINUOUS;
-		sConfig_time_base.Period = 100;
-		sConfig_time_base.PrescalerRatio = HRTIM_PRESCALERRATIO_DIV1;
-		sConfig_time_base.RepetitionCounter = 0;
-
-		HAL_HRTIM_TimeBaseConfig(&HrtimHandle, HRTIM_TIMERINDEX_TIMER_E, &sConfig_time_base);
-
-		sConfig_timerE.DMARequests = HRTIM_TIM_DMA_NONE;
-		sConfig_timerE.HalfModeEnable = HRTIM_HALFMODE_DISABLED;
-		sConfig_timerE.StartOnSync = HRTIM_SYNCSTART_DISABLED;
-		sConfig_timerE.ResetOnSync = HRTIM_SYNCRESET_DISABLED;
-		sConfig_timerE.DACSynchro = HRTIM_DACSYNC_NONE;
-		sConfig_timerE.PreloadEnable = HRTIM_PRELOAD_ENABLED;
-		sConfig_timerE.UpdateGating = HRTIM_UPDATEGATING_INDEPENDENT;
-		sConfig_timerE.BurstMode = HRTIM_TIMERBURSTMODE_MAINTAINCLOCK;
-		sConfig_timerE.RepetitionUpdate = HRTIM_UPDATEONREPETITION_ENABLED;
-		sConfig_timerE.ResetUpdate = HRTIM_TIMUPDATEONRESET_DISABLED;
-		sConfig_timerE.InterruptRequests = HRTIM_TIM_IT_NONE;
-		sConfig_timerE.PushPull = HRTIM_TIMPUSHPULLMODE_DISABLED;
-		sConfig_timerE.FaultEnable = HRTIM_TIMFAULTENABLE_NONE;
-		sConfig_timerE.FaultLock = HRTIM_TIMFAULTLOCK_READWRITE;
-		sConfig_timerE.DeadTimeInsertion = HRTIM_TIMDEADTIMEINSERTION_DISABLED;
-		sConfig_timerE.DelayedProtectionMode = HRTIM_TIMER_D_E_DELAYEDPROTECTION_DISABLED;
-		sConfig_timerE.UpdateTrigger= HRTIM_TIMUPDATETRIGGER_NONE;
-		sConfig_timerE.ResetTrigger = HRTIM_TIMRESETTRIGGER_NONE;
-
-		HAL_HRTIM_WaveformTimerConfig(&HrtimHandle, HRTIM_TIMERINDEX_TIMER_E,&sConfig_timerE);
-
-		sConfig_compare.AutoDelayedMode = HRTIM_AUTODELAYEDMODE_REGULAR;
-		sConfig_compare.AutoDelayedTimeout = 0;
-		sConfig_compare.CompareValue = 1;
-
-		HAL_HRTIM_WaveformCompareConfig(&HrtimHandle, HRTIM_TIMERINDEX_TIMER_E, HRTIM_COMPAREUNIT_2, &sConfig_compare);
-
-		sConfig_output_config.Polarity = HRTIM_OUTPUTPOLARITY_LOW;
-		sConfig_output_config.SetSource = HRTIM_OUTPUTRESET_TIMCMP2;
-		sConfig_output_config.ResetSource = HRTIM_OUTPUTSET_TIMPER;
-		sConfig_output_config.IdleMode = HRTIM_OUTPUTIDLEMODE_NONE;
-		sConfig_output_config.IdleLevel = HRTIM_OUTPUTIDLELEVEL_INACTIVE;
-		sConfig_output_config.FaultLevel = HRTIM_OUTPUTFAULTLEVEL_NONE;
-		sConfig_output_config.ChopperModeEnable = HRTIM_OUTPUTCHOPPERMODE_DISABLED;
-		sConfig_output_config.BurstModeEntryDelayed = HRTIM_OUTPUTBURSTMODEENTRY_REGULAR;
-		sConfig_output_config.ResetSource = HRTIM_OUTPUTRESET_TIMPER;
-		sConfig_output_config.SetSource = HRTIM_OUTPUTSET_TIMCMP2;
-
-		HAL_HRTIM_WaveformOutputConfig(&HrtimHandle, HRTIM_TIMERINDEX_TIMER_E, HRTIM_OUTPUT_TE2, &sConfig_output_config);
-
-		// Start PWM signals generation
-		if (HAL_HRTIM_WaveformOutputStart(&HrtimHandle, HRTIM_OUTPUT_TE2) != HAL_OK)
-		{
-			// PWM Generation Error
-		}
-
-		// Start HRTIM counter
-		if (HAL_HRTIM_WaveformCounterStart(&HrtimHandle, HRTIM_TIMERID_TIMER_E) != HAL_OK)
-		{
-			// PWM Generation Error
-		}
-	}
-
-	~AnalogOutPWMClass(){}
-	void period_ms(int period) {
-		sConfig_time_base.Mode = HRTIM_MODE_CONTINUOUS;
-		sConfig_time_base.Period = period;
-		sConfig_time_base.PrescalerRatio = HRTIM_PRESCALERRATIO_DIV1;
-		sConfig_time_base.RepetitionCounter = 0;
-
-		HAL_HRTIM_TimeBaseConfig(&HrtimHandle, HRTIM_TIMERINDEX_TIMER_E, &sConfig_time_base);
-	}
-
-	bool write(uint8_t pulse) {
-		if (pulse > 100) {
-			pulse = 100;
-		}
-		sConfig_compare.CompareValue = pulse;
-		if (HAL_HRTIM_WaveformCompareConfig(&HrtimHandle, HRTIM_TIMERINDEX_TIMER_E, HRTIM_COMPAREUNIT_2, &sConfig_compare) != HAL_OK)
-		{
-			return false;
-		}
-		return true;
-	}
-
-	bool stop() {
-		if (HAL_HRTIM_SimplePWMStop(&HrtimHandle, HRTIM_TIMERINDEX_TIMER_E, HRTIM_OUTPUT_TE2) != HAL_OK)
-		{
-			return false;
-		}
-		return true;
-	}
-
-private:
-	HRTIM_HandleTypeDef HrtimHandle;
-
-	HRTIM_TimeBaseCfgTypeDef sConfig_time_base;
-	HRTIM_TimerCfgTypeDef               sConfig_timerE;
-	HRTIM_OutputCfgTypeDef              sConfig_output_config;
-	HRTIM_CompareCfgTypeDef             sConfig_compare;
-};
-
-
-extern AnalogOutPWMClass analopwm;
-
-
 class AnalogOutClass {
 public:
 	void write(int index, float voltage) {
@@ -341,7 +208,7 @@ class AnalogOutClass {
 				out_1.write(voltage / 10.5);
 				break;
 			case 2:
-				out_2.write((voltage*9.5));
+				out_2.write(voltage / 10.5);
 				break;
 			case 3:
 				out_3.write(voltage / 10.5);
@@ -357,7 +224,7 @@ class AnalogOutClass {
 				out_1.period_ms(period);
 				break;
 			case 2:
-				out_2.period_ms((period/4)*100);
+				out_2.period_ms(period);
 				break;
 			case 3:
 				out_3.period_ms(period);
@@ -370,16 +237,16 @@ class AnalogOutClass {
 				return out_0;
 			case 1:
 				return out_1;
-			//case 2:
-				//return out_2;
+			case 2:
+				return out_2;
 			case 3:
 				return out_3;
 		}
 	}
 private:
 	mbed::PwmOut out_0 = mbed::PwmOut(PJ_11);
 	mbed::PwmOut out_1 = mbed::PwmOut(PK_1);
-	AnalogOutPWMClass out_2 = AnalogOutPWMClass();
+	mbed::PwmOut out_2 = mbed::PwmOut(PG_7);
 	mbed::PwmOut out_3 = mbed::PwmOut(PC_7);
 };