Motor_PMSM/Application/Hal/hal.c

#include "hal/hal.h"
#include "hal/pwm.h"

void HAL_MspInit(void)
{
	__HAL_RCC_SYSCFG_CLK_ENABLE();
	__HAL_RCC_PWR_CLK_ENABLE();
	HAL_NVIC_SetPriorityGrouping(NVIC_PRIORITYGROUP_3);
}

void SystemClock_Config(void)
{
  	RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  	RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
 	 RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};

  	/** Initializes the RCC Oscillators according to the specified parameters
  	* in the RCC_OscInitTypeDef structure.
  	*/
  	RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  	RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  	RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  	RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  	RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
 	RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  	RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  	if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  	{
    	Error_Handler();
  	}
  	/** Initializes the CPU, AHB and APB buses clocks
  	*/
  	RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  	RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  	RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  	RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  	RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  	if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  	{
    	Error_Handler();
  	}
  	PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_TIM1;
  	PeriphClkInit.Tim1ClockSelection = RCC_TIM1CLK_PLLCLK;
  	if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
  	{
    	Error_Handler();
  	}
	SystemCoreClockUpdate();
}

void HAL_GPIO_init(void){	
	GPIO_InitTypeDef GPIO_InitStruct = {0};
	
	__HAL_RCC_GPIOA_CLK_ENABLE();
	__HAL_RCC_GPIOB_CLK_ENABLE();
	__HAL_RCC_GPIOC_CLK_ENABLE();
	__HAL_RCC_GPIOD_CLK_ENABLE();
	__HAL_RCC_GPIOF_CLK_ENABLE();

  	/*Configure GPIO pin Output Level */
  	HAL_GPIO_WritePin(GPIOC, PWM_EN_U_Pin | PWM_EN_V_Pin | PWM_EN_W_Pin, GPIO_PIN_RESET);
  	/*Configure GPIO pins : M1_PWM_EN_U_Pin M1_PWM_EN_V_Pin M1_PWM_EN_W_Pin */
  	GPIO_InitStruct.Pin = PWM_EN_U_Pin | PWM_EN_V_Pin | PWM_EN_W_Pin;
  	GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  	GPIO_InitStruct.Pull = GPIO_PULLDOWN;
  	GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
  	HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);

  	GPIO_InitStruct.Pin = HALL_1_PIN;
  	GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  	GPIO_InitStruct.Pull = GPIO_NOPULL;
  	GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
  	HAL_GPIO_Init(HALL_1_GROUP, &GPIO_InitStruct);

  	GPIO_InitStruct.Pin = HALL_2_PIN;
  	GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  	GPIO_InitStruct.Pull = GPIO_NOPULL;
  	GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
  	HAL_GPIO_Init(HALL_2_GROUP, &GPIO_InitStruct);

  	GPIO_InitStruct.Pin = HALL_3_PIN;
  	GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  	GPIO_InitStruct.Pull = GPIO_NOPULL;
  	GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
  	HAL_GPIO_Init(HALL_3_GROUP, &GPIO_InitStruct);	
}

void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};
  if(htim_base->Instance==TIM1)
  {
  /* USER CODE BEGIN TIM1_MspInit 0 */

  /* USER CODE END TIM1_MspInit 0 */
    /* Peripheral clock enable */
    __HAL_RCC_TIM1_CLK_ENABLE();

    __HAL_RCC_GPIOA_CLK_ENABLE();
    /**TIM1 GPIO Configuration
    PA11     ------> TIM1_BKIN2
    */
    GPIO_InitStruct.Pin = M1_OCP_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_PULLUP;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    GPIO_InitStruct.Alternate = GPIO_AF12_TIM1;
    HAL_GPIO_Init(M1_OCP_GPIO_Port, &GPIO_InitStruct);

  /* USER CODE BEGIN TIM1_MspInit 1 */

  /* USER CODE END TIM1_MspInit 1 */
  }

}

void HAL_ADC_MspInit(ADC_HandleTypeDef* hadc)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};
  if(hadc->Instance==ADC1)
  {
  /* USER CODE BEGIN ADC1_MspInit 0 */

  /* USER CODE END ADC1_MspInit 0 */
    /* Peripheral clock enable */
    __HAL_RCC_ADC1_CLK_ENABLE();

    __HAL_RCC_GPIOC_CLK_ENABLE();
    __HAL_RCC_GPIOA_CLK_ENABLE();
    /**ADC1 GPIO Configuration
    PC0     ------> ADC1_IN6
    PC1     ------> ADC1_IN7
    PC2     ------> ADC1_IN8
    PA0     ------> ADC1_IN1
    PA1     ------> ADC1_IN2
    */
    GPIO_InitStruct.Pin = CURR_AMPL_W_Pin|CURR_AMPL_V_Pin|TEMPERATURE_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);

    GPIO_InitStruct.Pin = CURR_AMPL_U_Pin|BUS_VOLTAGE_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  /* USER CODE BEGIN ADC1_MspInit 1 */

  /* USER CODE END ADC1_MspInit 1 */
  }

}


int HALL_Read(int samples) {
	samples = 1 + 2 * samples;

	int h1 = 0, h2 = 0, h3 = 0;
	int tres = samples / 2;

	while (samples--) {
		h1 += READ_HALL1();
		h2 += READ_HALL2();
		h3 += READ_HALL3();
	}
	return (h1 > tres) | ((h2 > tres) << 1) | ((h3 > tres) << 2);
}


void Error_Handler(void)
{
	__disable_irq();
	while (1){
	}
}