cleanup

src/main/drivers/input.c

@@ -1,13 +1,15 @@
 #include "input.h"
 
+TIM_HandleTypeDef inputTimerHandle;
+DMA_HandleTypeDef inputTimerDmaHandle;
+
 bool inputArmed, inputDataValid;
 uint8_t inputProtocol;
 uint32_t inputData;
 uint32_t inputNormed, outputPwm;
 uint32_t inputArmCounter, inputTimeoutCounter;
 uint32_t inputBufferDMA[INPUT_BUFFER_DMA_SIZE];
 
-extern TIM_HandleTypeDef inputTimerHandle;
 extern uint8_t motorDirection;
 
 void inputArmCheck(void) {

src/main/drivers/motor.c

@@ -1,5 +1,6 @@
 #include "motor.h"
 
+TIM_HandleTypeDef motorPwmTimerHandle, motorCommutationTimerHandle;
 COMP_HandleTypeDef motorBemfComparatorHandle;
 
 bool motorBemfRising;
@@ -224,7 +225,7 @@ void motorStart() {
 
     motorCommutate();
 
-    TIM3->CNT = 0xffff;
+    motorCommutationTimerHandle.Instance->CNT = 0xffff;
     motorBemfCounter = 0;
     motorRunning = true;
     HAL_COMP_Start_IT(&motorBemfComparatorHandle);
@@ -236,15 +237,15 @@ void HAL_COMP_TriggerCallback(COMP_HandleTypeDef *hcomp) {
   uint32_t motorTimestamp;
 
   __disable_irq();
-  motorTimestamp = TIM3->CNT;
+  motorTimestamp = motorCommutationTimerHandle.Instance->CNT;
 
   if ((!motorRunning) || (!motorStartup)) {
     HAL_COMP_Stop_IT(&motorBemfComparatorHandle);
     __enable_irq();
     return;
   }
 
-  while ((TIM3->CNT - motorTimestamp) < motorBemfFilterDelay);
+  while ((motorCommutationTimerHandle.Instance->CNT - motorTimestamp) < motorBemfFilterDelay);
 
   for (int i = 0; i < motorBemfFilterLevel; i++) {
     if ((motorBemfRising && HAL_COMP_GetOutputLevel(&motorBemfComparatorHandle) == COMP_OUTPUTLEVEL_HIGH) ||
@@ -260,7 +261,7 @@ void HAL_COMP_TriggerCallback(COMP_HandleTypeDef *hcomp) {
   #endif
 
   HAL_COMP_Stop_IT(&motorBemfComparatorHandle);
-  TIM3->CNT = 0xffff;
+  motorCommutationTimerHandle.Instance->CNT = 0xffff;
 
   motorBemfCounter++;
   motorBemfZeroCounterTimeout = 0;
@@ -269,7 +270,7 @@ void HAL_COMP_TriggerCallback(COMP_HandleTypeDef *hcomp) {
   // ToDo
   //if ((motorCommutationDelay > 31) && (motorCommutationDelay < 613) && (outputPwm > 37) && (outputPwm < 707)) {
   if (motorCommutationDelay > 17) {
-    while (TIM3->CNT < motorCommutationDelay) {
+    while (motorCommutationTimerHandle.Instance->CNT < motorCommutationDelay) {
       #if (defined(_DEBUG_) && defined(MOTOR_TIMING))
         LED_TOGGLE(BLUE);
       #endif

src/main/drivers/system.c

@@ -2,7 +2,7 @@
 
 extern ADC_HandleTypeDef adcHandle;
 extern COMP_HandleTypeDef motorBemfComparatorHandle;
-extern TIM_HandleTypeDef motorPwmTimerHandle, timer3Handle, inputTimerHandle;
+extern TIM_HandleTypeDef motorPwmTimerHandle, motorCommutationTimerHandle, inputTimerHandle;
 
 extern uint32_t adcValue[3];
 extern uint32_t inputBufferDMA[INPUT_BUFFER_DMA_SIZE];
@@ -168,26 +168,26 @@ void systemMotorPwmTimerInit(void) {
   //while (HAL_TIM_OC_Start_IT(&motorPwmTimerHandle, TIM_CHANNEL_4) != HAL_OK);
 }
 
-void systemTimer3Init(void) {
+void systemMotorCommutationTimerInit(void) {
   TIM_ClockConfigTypeDef sClockSourceConfig;
   TIM_MasterConfigTypeDef sMasterConfig;
 
-  timer3Handle.Instance = TIM3;
-  timer3Handle.Init.Prescaler = 7;
-  timer3Handle.Init.CounterMode = TIM_COUNTERMODE_UP;
-  timer3Handle.Init.Period = 65535;
-  timer3Handle.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
-  timer3Handle.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
-  while (HAL_TIM_Base_Init(&timer3Handle) != HAL_OK);
+  motorCommutationTimerHandle.Instance = TIM3;
+  motorCommutationTimerHandle.Init.Prescaler = 7;
+  motorCommutationTimerHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
+  motorCommutationTimerHandle.Init.Period = 65535;
+  motorCommutationTimerHandle.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  motorCommutationTimerHandle.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  while (HAL_TIM_Base_Init(&motorCommutationTimerHandle) != HAL_OK);
 
   sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
-  while (HAL_TIM_ConfigClockSource(&timer3Handle, &sClockSourceConfig) != HAL_OK);
+  while (HAL_TIM_ConfigClockSource(&motorCommutationTimerHandle, &sClockSourceConfig) != HAL_OK);
 
   sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
   sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
-  while (HAL_TIMEx_MasterConfigSynchronization(&timer3Handle, &sMasterConfig) != HAL_OK);
+  while (HAL_TIMEx_MasterConfigSynchronization(&motorCommutationTimerHandle, &sMasterConfig) != HAL_OK);
 
-  while (HAL_TIM_Base_Start(&timer3Handle) != HAL_OK);
+  while (HAL_TIM_Base_Start(&motorCommutationTimerHandle) != HAL_OK);
 }
 
 

src/main/drivers/system.h

@@ -9,5 +9,5 @@ void systemDmaInit(void);
 void systemAdcInit(void);
 void systemBemfComparatorInit(void);
 void systemMotorPwmTimerInit(void);
-void systemTimer3Init(void);
+void systemMotorCommutationTimerInit(void);
 void systemInputTimerInit(void);

src/main/main.c

@@ -1,10 +1,5 @@
 #include "main.h"
 
-extern COMP_HandleTypeDef motorBemfComparatorHandle;
-
-TIM_HandleTypeDef motorPwmTimerHandle, timer3Handle, inputTimerHandle;
-DMA_HandleTypeDef inputTimerDmaHandle;
-
 // ADC
 kalman_t adcCurrentFilterState;
 extern uint32_t adcVoltageRaw, adcCurrentRaw, adcTemperatureRaw;
@@ -13,6 +8,8 @@ extern uint32_t adcVoltage, adcCurrent, adcTemperature;
 // motor
 kalman_t motorCommutationIntervalFilterState;
 uint32_t motorCommutationInterval, motorCommutationDelay;
+extern COMP_HandleTypeDef motorBemfComparatorHandle;
+extern TIM_HandleTypeDef motorPwmTimerHandle, motorCommutationTimerHandle;
 extern bool motorStartup, motorRunning;
 extern bool motorDirection, motorSlowDecay, motorBrakeActiveProportional;
 extern uint32_t motorBemfZeroCrossTimestamp;
@@ -21,6 +18,8 @@ extern uint32_t motorDutyCycle, motorBemfCounter;
 extern uint32_t motorBemfZeroCounterTimeout, motorBemfZeroCounterTimeoutThreshold;
 
 // input
+extern TIM_HandleTypeDef  inputTimerHandle;
+extern DMA_HandleTypeDef inputTimerDmaHandle;
 extern bool inputArmed, inputDataValid;
 extern uint8_t  inputProtocol;
 extern uint32_t inputData;
@@ -39,7 +38,7 @@ int main(void) {
   systemBemfComparatorInit();
   systemAdcInit();
   systemMotorPwmTimerInit();
-  systemTimer3Init();
+  systemMotorCommutationTimerInit();
   systemInputTimerInit();
 
   // init

src/main/target/stm32f0xx_hal_msp.c

@@ -3,6 +3,7 @@
 
 extern DMA_HandleTypeDef adcDmaHandle;
 extern DMA_HandleTypeDef inputTimerDmaHandle;
+extern TIM_HandleTypeDef motorPwmTimerHandle, motorCommutationTimerHandle;
 
 void HAL_MspInit(void) {
   __HAL_RCC_SYSCFG_CLK_ENABLE();
@@ -78,7 +79,7 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base) {
     //HAL_NVIC_SetPriority(TIM1_CC_IRQn, 0, 0);
     //HAL_NVIC_EnableIRQ(TIM1_CC_IRQn);
   }
-  else if(htim_base->Instance == TIM3) {
+  else if(htim_base->Instance == motorCommutationTimerHandle.Instance) {
     __HAL_RCC_TIM3_CLK_ENABLE();
   }
   else if(htim_base->Instance == TIM15) {
@@ -143,7 +144,7 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base) {
 
     HAL_NVIC_DisableIRQ(TIM1_CC_IRQn);
   }
-  else if(htim_base->Instance == TIM3) {
+  else if(htim_base->Instance == motorCommutationTimerHandle.Instance) {
     __HAL_RCC_TIM3_CLK_DISABLE();
   }
   else if(htim_base->Instance == TIM15) {