hi everyone
i'm writing some code to control an RC car.
while implementing the code for the motors, i've decided to assign the peripherals information (PORT, GPIO, timer ecc) directly in the class constructor.
but if i do so, motors wont respond, it seems like peripherals aren't correctly initialized.
//DC Motors-----------------------------------------
Motors::Motors(float w_max, uint32_t ARR,GPIO_TypeDef* M_PORT_DirPin, uint16_t M_GPIO_DirPin,
TIM_HandleTypeDef M_htim, uint32_t M_Channel){
m_map=ARR/w_max;
PORT_DirPin=M_PORT_DirPin;
GPIO_DirPin=M_GPIO_DirPin;
htim=M_htim;
Channel=M_Channel;
}
void Motors::setMotorSpeed(float w){
if(w<0){//CCW
w=-1*w;
HAL_GPIO_WritePin(PORT_DirPin,GPIO_DirPin,GPIO_PIN_RESET);
}else{ //CW
HAL_GPIO_WritePin(PORT_DirPin,GPIO_DirPin,GPIO_PIN_SET);
}
switch(Channel){
case TIM_CHANNEL_1:
htim.Instance->CCR1=uint32_t(w*m_map);
break;
case TIM_CHANNEL_2:
htim.Instance->CCR2=uint32_t(w*m_map);
break;
case TIM_CHANNEL_3:
htim.Instance->CCR3=uint32_t(w*m_map);
break;
case TIM_CHANNEL_4:
htim.Instance->CCR4=uint32_t(w*m_map);
break;
default:
break;
}
}
//DC motors
Motors Motor_L(Car.W_max,500,GPIOB,Dir_B_Pin,htim3,TIM_CHANNEL_1); //w_max,ARR,GPIO,timer
Motors Motor_R(Car.W_max,500,GPIOA,Dir_A_Pin,htim2,TIM_CHANNEL_3);
...
as you can see i've passed the ARR value in a numerical way, instead of htim.Init.Period
If i pass them in the method motors works:
void Motors::setMotorSpeed(float w, GPIO_TypeDef* PORT_DirPin, uint16_t GPIO_DirPin,
TIM_HandleTypeDef htim, uint32_t Channel){
if(w<0){//CCW
w=-1*w;
HAL_GPIO_WritePin(PORT_DirPin,GPIO_DirPin,GPIO_PIN_RESET);
}else{ //CW
HAL_GPIO_WritePin(PORT_DirPin,GPIO_DirPin,GPIO_PIN_SET);
}
switch(Channel){
case TIM_CHANNEL_1:
...
however also in this case i've to pass the ARR in a numerical way, if i take it form the real storing variable ( htim.Init.Period), pwm isn't generated correctly.
STM32F446RE
EDIT:
it seems .cpp files are executed before the main.c
