Fixed PWM mode

SHAL/Include/Peripheral/GPIO/Reg/SHAL_GPIO_REG_L432KC.h

@@ -58,7 +58,7 @@ enum class GPIO_Alternate_Function_Mapping {
     A11_TIM1CH4 = 0x01,
     A12_TIM1ETR = 0x01,
     A15_TIM2CH1 = 0x01,
-    B0_TIM2CH2N = 0x01,
+    B0_TIM1CH2N = 0x01,
     B1_TIM1CH3N = 0x01,
 };
 
@@ -132,7 +132,7 @@ static inline SHAL_GPIO_Pullup_Pulldown_Register getGPIOPUPDRegister(const GPIO_
 
 static inline SHAL_GPIO_Alternate_Function_Register getGPIOAlternateFunctionRegister(const GPIO_Key key){
 
-    uint32_t pinNumber = static_cast<uint8_t>(key); //Number of pin (We need 0-7 to be AFR 1 and 8-15 to be AFR 2)
+    uint32_t pinNumber = static_cast<uint8_t>(key) % 16; //Number of pin (We need 0-7 to be AFR 1 and 8-15 to be AFR 2)
     uint32_t afrIndex = pinNumber < 8 ? 0 : 1;
 
     volatile uint32_t* reg = &GPIO_TABLE[static_cast<uint8_t>(key) / 16]->AFR[afrIndex];

SHAL/Include/Peripheral/Timer/Reg/SHAL_TIM_REG_L432KC.h

@@ -158,15 +158,15 @@ getTimerCaptureCompareModeRegistersOutput(Timer_Key key) {
     SHAL_TIM_Capture_Compare_Mode_Registers_Output res = {
             {nullptr, nullptr},
             TIM_CCMR1_CC1S_Pos,   //Channel 1 Capture/Compare selection
-            TIM_CCMR1_OC1FE_Pos,  //Channel 1 Fast enable
+            TIM_CCMR1_OC1FE,  //Channel 1 Fast enable
-            TIM_CCMR1_OC1PE_Pos,  //Channel 1 Preload enable
+            TIM_CCMR1_OC1PE,  //Channel 1 Preload enable
             TIM_CCMR1_OC1M_Pos,   //Channel 1 Mode (OC1M)
-            TIM_CCMR1_OC1CE_Pos,  //Channel 1 Clear enable
+            TIM_CCMR1_OC1CE,  //Channel 1 Clear enable
             TIM_CCMR1_CC2S_Pos,   //Channel 2 Capture/Compare selection
-            TIM_CCMR1_OC2FE_Pos,  //Channel 2 Fast enable
+            TIM_CCMR1_OC2FE,  //Channel 2 Fast enable
-            TIM_CCMR1_OC2PE_Pos,  //Channel 2 Preload enable
+            TIM_CCMR1_OC2PE,  //Channel 2 Preload enable
             TIM_CCMR1_OC2M_Pos,   //Channel 2 Mode (OC2M)
-            TIM_CCMR1_OC2CE_Pos   //Channel 2 Clear enable
+            TIM_CCMR1_OC2CE   //Channel 2 Clear enable
     };
 
     volatile TIM_TypeDef* tim = TIM_TABLE[static_cast<uint8_t>(key)];
@@ -176,7 +176,7 @@ getTimerCaptureCompareModeRegistersOutput(Timer_Key key) {
     return res;
 }
 
-static inline SHAL_TIM_Break_Dead_Time_Register getBreakDeadTimeRegister(Timer_Key key){
+static inline SHAL_TIM_Break_Dead_Time_Register getTimerBreakDeadTimeRegister(Timer_Key key){
 
     SHAL_TIM_Break_Dead_Time_Register res = {nullptr, 1UL << 15};
 

SHAL/Include/Peripheral/Timer/SHAL_TIM.h

@@ -38,7 +38,11 @@ public:
     //Enable interrupts
     void enableInterrupt();
 
-    void setPWMMode(SHAL_Timer_Channel channel, SHAL_Timer_Channel_Main_Output_Mode mainOutputMode, SHAL_Timer_Channel_Complimentary_Output_Mode complimentaryOutputMode);
+    void setPWMMode(SHAL_Timer_Channel channel, SHAL_TIM_Output_Compare_Mode outputCompareMode, SHAL_Timer_Channel_Main_Output_Mode mainOutputMode, SHAL_Timer_Channel_Complimentary_Output_Mode complimentaryOutputMode);
+
+    /// Set the duty cycle for PWM
+    /// \param dutyCycle 10 * percentage (e.g. 500 = 50%)
+    void setPWMDutyCycle(uint32_t dutyCycle);
 
     //Set TIMER_KEY IRQ callback function
     void setCallbackFunc(TimerCallback callback){
@@ -52,6 +56,7 @@ private:
 
     Timer_Key m_key;
 
+
 };
 
 

SHAL/Include/Peripheral/Timer/SHAL_TIM_TYPES.h

@@ -59,15 +59,15 @@ struct SHAL_TIM_Capture_Compare_Mode_Registers_Input {
 struct SHAL_TIM_Capture_Compare_Mode_Registers_Output {
     volatile uint32_t* regs[2];
     uint32_t capture_compare_1_selection_offset;
-    uint32_t output_compare_1_fast_enable_offset;
+    uint32_t output_compare_1_fast_enable_mask;
-    uint32_t output_compare_1_preload_enable_offset;
+    uint32_t output_compare_1_preload_enable_mask;
     uint32_t output_compare_1_mode_offset;
-    uint32_t output_compare_1_clear_enable_offset;
+    uint32_t output_compare_1_clear_enable_mask;
     uint32_t capture_compare_2_selection_offset;
-    uint32_t output_compare_2_fast_enable_offset;
+    uint32_t output_compare_2_fast_enable_mask;
-    uint32_t output_compare_2_preload_enable_offset;
+    uint32_t output_compare_2_preload_enable_mask;
     uint32_t output_compare_2_mode_offset;
-    uint32_t output_compare_2_clear_enable_offset;
+    uint32_t output_compare_2_clear_enable_mask;
 };
 
 struct SHAL_TIM_Break_Dead_Time_Register {

SHAL/Src/STM32L4XX/Peripheral/Timer/SHAL_TIM.cpp

@@ -19,6 +19,7 @@ void Timer::start() {
     auto event_generation_reg = getTimerEventGenerationRegister(m_key);
 
     SHAL_apply_bitmask(control_reg.reg, control_reg.counter_enable_mask); //Enable counter
+    SHAL_apply_bitmask(control_reg.reg, control_reg.auto_reload_preload_enable_mask); //Preload enable (buffer)
     SHAL_apply_bitmask(event_generation_reg.reg, event_generation_reg.update_generation_mask);
 
     enableInterrupt();
@@ -54,19 +55,42 @@ void Timer::init(uint32_t prescaler, uint32_t autoReload) {
     setARR(autoReload);
 }
 
-void Timer::setPWMMode(SHAL_Timer_Channel channel, SHAL_Timer_Channel_Main_Output_Mode mainOutputMode,
+void Timer::setPWMMode(SHAL_Timer_Channel channel, SHAL_TIM_Output_Compare_Mode outputCompareMode, SHAL_Timer_Channel_Main_Output_Mode mainOutputMode,
                        SHAL_Timer_Channel_Complimentary_Output_Mode complimentaryOutputMode) {
 
-    uint8_t fullModeMask = static_cast<uint8_t>(mainOutputMode) | (static_cast<uint8_t>(complimentaryOutputMode) << 2);
-    uint32_t offset = static_cast<uint8_t>(channel) * 4;
-
     auto ccer = getTimerCaptureCompareEnableRegister(m_key);
+    auto ccmr1 = getTimerCaptureCompareModeRegistersOutput(m_key);
+    auto bdtr = getTimerBreakDeadTimeRegister(m_key);
 
-    if(static_cast<uint8_t>(m_key) > 3){
+    uint8_t fullChannelModeMask = static_cast<uint8_t>(mainOutputMode) | (static_cast<uint8_t>(complimentaryOutputMode) << 2);
-        fullModeMask &= (0b0011); //Clear bits for complimentary output since channels 4,5,6 don't support it
+    uint8_t channelNum = static_cast<uint8_t>(channel);
+
+    if (channelNum <= 3) {
+
+        uint32_t regNum = channelNum / 2; //TODO change later for support for channels 5 and 6
+
+        if (channelNum % 2 == 1) {
+            SHAL_set_bits(ccmr1.regs[regNum], 4, static_cast<uint8_t>(outputCompareMode),
+                          ccmr1.output_compare_2_mode_offset);
+        } else {
+            SHAL_set_bits(ccmr1.regs[regNum], 4, static_cast<uint8_t>(outputCompareMode),
+                          ccmr1.output_compare_1_mode_offset);
+        }
     }
 
-    SHAL_set_bits(ccer.reg,4,fullModeMask,offset);
+    uint32_t offset = channelNum * 4;
+
+    if (static_cast<uint8_t>(m_key) > 3) {
+        fullChannelModeMask &= (0b0011); //Clear bits for complimentary output since channels 4,5,6 don't support it
+    }
+
+    SHAL_set_bits(ccer.reg, 4, fullChannelModeMask, offset);
+    SHAL_apply_bitmask(bdtr.reg, bdtr.main_output_enable_mask);
+}
+
+void Timer::setPWMDutyCycle(uint32_t dutyCycle) {
+    auto reg = getTimerCaptureCompareRegister(m_key);
+    SHAL_set_bits(reg.reg,16,dutyCycle,0);
 }
 
 

SHAL/Src/main.cpp

@@ -10,6 +10,11 @@ GPIO_Key gpios[6] = {
         GPIO_Key::A7,
 };
 
+bool isAlarmBeeping = false;
+bool isCalibrateButtonHigh = false;
+
+uint16_t sensorThresholds[6] = {4096,4096,4096,4096,4096,4096};
+
 void timer2callback(){
 
     uint16_t val[6];
@@ -26,8 +31,24 @@ void timer2callback(){
 
 }
 
-void b0PWM(){
+void PWMToggle(){
-    PIN(B0).toggle();
+
+    if(!isAlarmBeeping){
+        SHAL_TIM1.start();
+    }
+    else{
+        SHAL_TIM1.stop();
+    }
+    isAlarmBeeping = !isAlarmBeeping;
+}
+
+void buttonCallback(){
+
+}
+
+void calibrateSensors(){
+    PIN(B3).setHigh();
+    SHAL_TIM7.stop();
 }
 
 int main() {
@@ -44,7 +65,10 @@ int main() {
     PIN(A6).setPinMode(PinMode::ANALOG_MODE);
     PIN(A7).setPinMode(PinMode::ANALOG_MODE);
 
-    PIN(B0).setPinMode(PinMode::OUTPUT_MODE);
+    PIN(B0).setAlternateFunction(GPIO_Alternate_Function_Mapping::B0_TIM1CH2N);
+
+    PIN(B6).setPinMode(PinMode::INPUT_MODE);
+    PIN(B6).useAsExternalInterrupt(TriggerMode::RISING_FALLING_EDGE,buttonCallback);
 
     SHAL_TIM2.init(4000000,400);
 
@@ -52,11 +76,23 @@ int main() {
     SHAL_TIM2.enableInterrupt();
     SHAL_TIM2.start();
 
-    SHAL_TIM6.init(4000000,1);
+    SHAL_TIM1.init(300,999);
-    SHAL_TIM6.setCallbackFunc(b0PWM);
+    SHAL_TIM1.setPWMMode(SHAL_Timer_Channel::CH2,SHAL_TIM_Output_Compare_Mode::PWMMode1,SHAL_Timer_Channel_Main_Output_Mode::Disabled,SHAL_Timer_Channel_Complimentary_Output_Mode::Polarity_Reversed);
+    SHAL_TIM1.setPWMDutyCycle(499);
+    SHAL_TIM1.start();
+
+    SHAL_TIM6.init(4000000,400);
+    SHAL_TIM6.setCallbackFunc(PWMToggle);
     SHAL_TIM6.enableInterrupt();
     SHAL_TIM6.start();
 
+    SHAL_TIM7.init(4000000,3000);
+    SHAL_TIM7.setCallbackFunc(calibrateSensors);
+    SHAL_TIM7.enableInterrupt();
+
+    PIN(B3).setPinMode(PinMode::OUTPUT_MODE); //Test
+
     while (true) {
+        SHAL_UART2.sendString("HELLO\r\n");
     }
 }