change target to include all the mbed STM32H7s

src/drivers/hardware_specific/stm32/stm32_mcu.cpp

@@ -4,7 +4,7 @@
 #include "./stm32_timerutils.h"
 #include "./stm32_searchtimers.h"
 
-#if defined(_STM32_DEF_) || defined(TARGET_PORTENTA_H7)
+#if defined(_STM32_DEF_) || defined(TARGET_STM32H7)
 
 #pragma message("")
 #pragma message("SimpleFOC: compiling for STM32")
@@ -146,11 +146,24 @@ TIM_HandleTypeDef* stm32_initPinPWM(uint32_t PWM_freq, PinMap* timer, uint32_t m
   if (timer==NULL)
     return NULL;
   TIM_HandleTypeDef* handle = stm32_getTimer(timer);
+  uint32_t channel = STM_PIN_CHANNEL(timer->function);
+  #ifdef SIMPLEFOC_STM32_DEBUG
+    SIMPLEFOC_DEBUG("STM32-DRV: Configuring timer ", (int)stm32_getTimerNumber(handle->Instance));
+    SIMPLEFOC_DEBUG("STM32-DRV: Configuring channel ", (int)channel);
+  #endif
   if (handle==NULL) {
     handle = stm32_useTimer(timer);
-    stm32_setClockAndARR(handle, PWM_freq); // TODO add checks for PWM frequency limits
+    uint32_t arr = stm32_setClockAndARR(handle, PWM_freq);
+    if (arr<SIMPLEFOC_STM32_MIN_RESOLUTION) {
+      SIMPLEFOC_DEBUG("STM32-DRV: WARN timer resolution too low (<8bit): ", (int)arr+1);
+    }
+    else {
+      #ifdef SIMPLEFOC_STM32_DEBUG
+      SIMPLEFOC_DEBUG("STM32-DRV: Timer resolution set to: ", (int)arr+1);
+      #endif
+    }
+
   }
-  uint32_t channel = STM_PIN_CHANNEL(timer->function);
   TIM_OC_InitTypeDef channelOC;
   channelOC.OCMode = TIM_OCMODE_PWM1;
   channelOC.Pulse = 0; //__HAL_TIM_GET_COMPARE(handle, channel);
@@ -171,11 +184,6 @@ TIM_HandleTypeDef* stm32_initPinPWM(uint32_t PWM_freq, PinMap* timer, uint32_t m
   if (IS_TIM_BREAK_INSTANCE(handle->Instance)) {
     __HAL_TIM_MOE_ENABLE(handle);
   }
-
-#ifdef SIMPLEFOC_STM32_DEBUG
-  SIMPLEFOC_DEBUG("STM32-DRV: Configuring timer ", (int)stm32_getTimerNumber(handle->Instance));
-  SIMPLEFOC_DEBUG("STM32-DRV: Configuring channel ", (int)channel);
-#endif
   return handle;
 }
 
@@ -342,10 +350,7 @@ void* _configure1PWM(long pwm_frequency, const int pinA) {
     return (STM32DriverParams*)SIMPLEFOC_DRIVER_INIT_FAILED;
   }
 
-  if( !pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY; // default frequency 25khz
-  else pwm_frequency = _constrain(pwm_frequency, 0, _PWM_FREQUENCY_MAX); // constrain to 50kHz max
-  // center-aligned frequency is uses two periods
-  pwm_frequency *=2;
+  if( !pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = SIMPLEFOC_STM32_PWM_FREQUENCY; // default frequency 25khz
 
   int pins[1] = { pinA };
   PinMap* pinTimers[1] = { NULL };
@@ -382,10 +387,7 @@ void* _configure2PWM(long pwm_frequency, const int pinA, const int pinB) {
     return (STM32DriverParams*)SIMPLEFOC_DRIVER_INIT_FAILED;
   }
 
-  if( !pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY; // default frequency 25khz
-  else pwm_frequency = _constrain(pwm_frequency, 0, _PWM_FREQUENCY_MAX); // constrain to 50kHz max
-  // center-aligned frequency is uses two periods
-  pwm_frequency *=2;
+  if( !pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = SIMPLEFOC_STM32_PWM_FREQUENCY; // default frequency 25khz
 
   int pins[2] = { pinA, pinB };
   PinMap* pinTimers[2] = { NULL, NULL };
@@ -404,7 +406,7 @@ void* _configure2PWM(long pwm_frequency, const int pinA, const int pinB) {
     .timers_handle = { HT1, HT2 },
     .channels = { channel1, channel2 },
     .llchannels = { stm32_getLLChannel(pinTimers[0]), stm32_getLLChannel(pinTimers[1]) },
-    .pwm_frequency = pwm_frequency,
+    .pwm_frequency = pwm_frequency, // TODO set to actual frequency
     .num_timers = stm32_countTimers(timers, 2),
     .master_timer = NULL
   };
@@ -425,10 +427,7 @@ void* _configure3PWM(long pwm_frequency,const int pinA, const int pinB, const in
     SIMPLEFOC_DEBUG("STM32-DRV: ERR: too many drivers used");
     return (STM32DriverParams*)SIMPLEFOC_DRIVER_INIT_FAILED;
   }
-  if( !pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY; // default frequency 25khz
-  else pwm_frequency = _constrain(pwm_frequency, 0, _PWM_FREQUENCY_MAX); // constrain to 50kHz max
-  // center-aligned frequency is uses two periods
-  //pwm_frequency *=2;
+  if( !pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = SIMPLEFOC_STM32_PWM_FREQUENCY; // default frequency 25khz
 
   int pins[3] = { pinA, pinB, pinC };
   PinMap* pinTimers[3] = { NULL, NULL, NULL };
@@ -469,10 +468,7 @@ void* _configure4PWM(long pwm_frequency,const int pinA, const int pinB, const in
     SIMPLEFOC_DEBUG("STM32-DRV: ERR: too many drivers used");
     return (STM32DriverParams*)SIMPLEFOC_DRIVER_INIT_FAILED;
   }
-  if( !pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY; // default frequency 25khz
-  else pwm_frequency = _constrain(pwm_frequency, 0, _PWM_FREQUENCY_MAX); // constrain to 50kHz max
-  // center-aligned frequency is uses two periods
-  pwm_frequency *=2;
+  if( !pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = SIMPLEFOC_STM32_PWM_FREQUENCY; // default frequency 25khz
 
   int pins[4] = { pinA, pinB, pinC, pinD };
   PinMap* pinTimers[4] = { NULL, NULL, NULL, NULL };
@@ -570,10 +566,7 @@ void* _configure6PWM(long pwm_frequency, float dead_zone, const int pinA_h, cons
     SIMPLEFOC_DEBUG("STM32-DRV: ERR: too many drivers used");
     return (STM32DriverParams*)SIMPLEFOC_DRIVER_INIT_FAILED;
   }
-  if( !pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY; // default frequency 25khz
-  else pwm_frequency = _constrain(pwm_frequency, 0, _PWM_FREQUENCY_MAX); // constrain to |%0kHz max
-  // center-aligned frequency is uses two periods
-  pwm_frequency *=2;
+  if( !pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = SIMPLEFOC_STM32_PWM_FREQUENCY; // default frequency 25khz
 
   // find configuration
   int pins[6] = { pinA_h, pinA_l, pinB_h, pinB_l, pinC_h, pinC_l };

src/drivers/hardware_specific/stm32/stm32_mcu.h

@@ -2,7 +2,7 @@
 
 #include "../../hardware_api.h"
 
-#if defined(_STM32_DEF_) || defined(TARGET_PORTENTA_H7)
+#if defined(_STM32_DEF_) || defined(TARGET_STM32H7)
 
 #ifndef SIMPLEFOC_STM32_MAX_TIMERSUSED
 #define SIMPLEFOC_STM32_MAX_TIMERSUSED 6
@@ -23,12 +23,13 @@
 #endif
 
 
-
-// default pwm parameters
-#define _PWM_RESOLUTION 12 // 12bit
-#define _PWM_RANGE 4095.0f // 2^12 -1 = 4095
-#define _PWM_FREQUENCY 25000 // 25khz
-#define _PWM_FREQUENCY_MAX 50000 // 50khz
+/**
+ * No limits are placed on PWM frequency, so very fast or very slow frequencies can be set. 
+ * A warning is displayed to debug if you get less than 8bit resolution for the PWM duty cycle.
+ * If no pwm_frequency is set, the default value is 25kHz.
+ */
+#define SIMPLEFOC_STM32_PWM_FREQUENCY 25000 // 25khz
+#define SIMPLEFOC_STM32_MIN_RESOLUTION 255
 
 // 6pwm parameters
 #define _HARDWARE_6PWM 1

src/drivers/hardware_specific/stm32/stm32_searchtimers.cpp

@@ -2,7 +2,7 @@
 #include "./stm32_searchtimers.h"
 #include "./stm32_timerutils.h"
 
-#if defined(_STM32_DEF_) || defined(TARGET_PORTENTA_H7)
+#if defined(_STM32_DEF_) || defined(TARGET_STM32H7)
 
 
 

src/drivers/hardware_specific/stm32/stm32_searchtimers.h

@@ -2,7 +2,7 @@
 
 #include "./stm32_mcu.h"
 
-#if defined(_STM32_DEF_) || defined(TARGET_PORTENTA_H7)
+#if defined(_STM32_DEF_) || defined(TARGET_STM32H7)
 
 
 int stm32_findBestTimerCombination(int numPins, int pins[], PinMap* pinTimers[]);

src/drivers/hardware_specific/stm32/stm32_timerutils.cpp

@@ -2,14 +2,16 @@
 #include "./stm32_timerutils.h"
 #include <Arduino.h>
 
-#if defined(_STM32_DEF_) || defined(TARGET_PORTENTA_H7)
+#if defined(_STM32_DEF_) || defined(TARGET_STM32H7)
 
 
 void stm32_pauseTimer(TIM_HandleTypeDef* handle){
   /* Disable timer unconditionally. Required to guarantee timer is stopped,
    * even if some channels are still running */
   LL_TIM_DisableCounter(handle->Instance);
 //  handle->State = HAL_TIM_STATE_READY;
+  // on advanced control timers there is also the option of using the brake or the MOE?
+  // TIM1->EGR |= TIM_EGR_BG; // break generation
 }
 
 
@@ -211,7 +213,7 @@ int stm32_getInternalSourceTrigger(TIM_HandleTypeDef* master, TIM_HandleTypeDef*
   #endif
   return -1;
 }
-#elif defined(STM32F4xx) || defined(STM32F1xx) || defined(STM32L4xx) || defined(STM32F7xx)
+#elif defined(STM32F4xx) || defined(STM32F1xx) || defined(STM32L4xx) || defined(STM32F7xx) || defined(TARGET_STM32H7)
 
 // function finds the appropriate timer source trigger for the master/slave timer combination
 // returns -1 if no trigger source is found
@@ -250,7 +252,7 @@ int stm32_getInternalSourceTrigger(TIM_HandleTypeDef* master, TIM_HandleTypeDef*
       #if defined(TIM8)
       else if(TIM_slave == TIM8) return LL_TIM_TS_ITR1;
       #endif
-      #if defined(TIM5)
+      #if defined(TIM5) && !defined(TARGET_STM32H7)
       else if(TIM_slave == TIM5) return LL_TIM_TS_ITR0;
       #endif
     }
@@ -266,9 +268,12 @@ int stm32_getInternalSourceTrigger(TIM_HandleTypeDef* master, TIM_HandleTypeDef*
       #if defined(TIM4)
       else if(TIM_slave == TIM4) return LL_TIM_TS_ITR2;
       #endif
-      #if defined(TIM5)
+      #if defined(TIM5) && !defined(TARGET_STM32H7)
       else if(TIM_slave == TIM5) return LL_TIM_TS_ITR1;
       #endif
+      #if defined(TIM5) && defined(TARGET_STM32H7)
+      else if(TIM_slave == TIM5) return LL_TIM_TS_ITR2;
+      #endif
     }
   #endif  
   #if defined(TIM4) &&  defined(LL_TIM_TS_ITR3)
@@ -285,9 +290,12 @@ int stm32_getInternalSourceTrigger(TIM_HandleTypeDef* master, TIM_HandleTypeDef*
       #if defined(TIM8)
       else if(TIM_slave == TIM8) return LL_TIM_TS_ITR2;
       #endif
-      #if defined(TIM5)
+      #if defined(TIM5) && !defined(TARGET_STM32H7)
       else if(TIM_slave == TIM5) return LL_TIM_TS_ITR1;
       #endif
+      #if defined(TIM5) && defined(TARGET_STM32H7)
+      else if(TIM_slave == TIM5) return LL_TIM_TS_ITR3;
+      #endif
     }
   #endif 
   #if defined(TIM5) 
@@ -318,6 +326,16 @@ int stm32_getInternalSourceTrigger(TIM_HandleTypeDef* master, TIM_HandleTypeDef*
       #endif
     }
   #endif
+  #if defined(TIM15) && defined(TARGET_STM32H7)
+    else if (TIM_master == TIM15){
+      #if defined(TIM1)
+      if(TIM_slave == TIM1) return LL_TIM_TS_ITR0;
+      #endif
+      #if defined(TIM3)
+      if(TIM_slave == TIM3) return LL_TIM_TS_ITR2;
+      #endif
+    }
+  #endif
   return -1; // combination not supported
 }
 #else
@@ -484,7 +502,7 @@ uint32_t stm32_getTimerClockFreq(TIM_HandleTypeDef *handle) {
       return 0;
   }
 
-#if defined(STM32H7xx)
+#if defined(STM32H7xx) || defined(TARGET_STM32H7) 
   /* When TIMPRE bit of the RCC_CFGR register is reset,
    *   if APBx prescaler is 1 or 2 then TIMxCLK = HCLK,
    *   otherwise TIMxCLK = 2x PCLKx.

src/drivers/hardware_specific/stm32/stm32_timerutils.h

@@ -3,7 +3,7 @@
 
 #include "./stm32_mcu.h"
 
-#if defined(_STM32_DEF_) || defined(TARGET_PORTENTA_H7)
+#if defined(_STM32_DEF_) || defined(TARGET_STM32H7)
 
 void stm32_pauseTimer(TIM_HandleTypeDef* handle);
 void stm32_resumeTimer(TIM_HandleTypeDef* handle);