BLDC_Control_1.c

/*
    To get proper duty cycle, you have simple equation
    pulse_length = ((TIM_Period + 1) * DutyCycle) / 100

- 1
    where DutyCycle is in percent, between 0 and 100%
*/
#include "misc.h"
#include "stm32f4xx_exti.h"
#include "stm32f4xx_gpio.h"
#include "stm32f4xx_tim.h"
#include "stm32f4xx_rcc.h"
#include "stm32f4xx_syscfg.h"
#include "stm32f4xx.h"
#define  DutyCycle 50
//#define pulse_length  (((8400) * DutyCycle) / 100) - 1
#define pulse_length 4199
void Configure_PINS(void)
{
	    GPIO_InitTypeDef H1,G1,G2;
	    EXTI_InitTypeDef E1;
	    NVIC_InitTypeDef N1;

	    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC,ENABLE);
	    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA,ENABLE);
	    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB,ENABLE);

	    RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG, ENABLE);

	    H1.GPIO_Mode = GPIO_Mode_IN;
	    H1.GPIO_OType = GPIO_OType_PP;
	    H1.GPIO_Pin = GPIO_Pin_5|GPIO_Pin_6|GPIO_Pin_7;
	    H1.GPIO_PuPd = GPIO_PuPd_NOPULL;
	    H1.GPIO_Speed = GPIO_Speed_100MHz;
	    GPIO_Init(GPIOC, & H1);

	    SYSCFG_EXTILineConfig(EXTI_PortSourceGPIOC,EXTI_PinSource5);
	    SYSCFG_EXTILineConfig(EXTI_PortSourceGPIOC, EXTI_PinSource6);
        SYSCFG_EXTILineConfig(EXTI_PortSourceGPIOC, EXTI_PinSource7);

	    E1.EXTI_Line = EXTI_Line5|EXTI_Line6|EXTI_Line8;
	    E1.EXTI_LineCmd = ENABLE;
	    E1.EXTI_Mode = EXTI_Mode_Interrupt;
	    E1.EXTI_Trigger =EXTI_Trigger_Rising_Falling;
	    EXTI_Init(&E1);

	    N1.NVIC_IRQChannel = EXTI9_5_IRQn;
	    N1.NVIC_IRQChannelPreemptionPriority = 0x00;
	    N1.NVIC_IRQChannelSubPriority = 0x00;
	    N1.NVIC_IRQChannelCmd = ENABLE;
	    NVIC_Init(&N1);
	   GPIO_PinAFConfig(GPIOB, GPIO_PinSource6,GPIO_AF_TIM4);
       GPIO_PinAFConfig(GPIOB, GPIO_PinSource7,GPIO_AF_TIM4);
       GPIO_PinAFConfig(GPIOB, GPIO_PinSource8,GPIO_AF_TIM4);
   // PORTB TIM4 PIN 6,7,8;


    G1.GPIO_Mode =  GPIO_Mode_AF;
    G1.GPIO_OType = GPIO_OType_PP;
    G1.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7|GPIO_Pin_8;
    G1.GPIO_PuPd = GPIO_PuPd_NOPULL;
    G1.GPIO_Speed = GPIO_Speed_100MHz;
    GPIO_Init(GPIOB, &G1);

          GPIO_PinAFConfig(GPIOA, GPIO_PinSource6,GPIO_AF_TIM3);
          GPIO_PinAFConfig(GPIOA, GPIO_PinSource7,GPIO_AF_TIM3);
          GPIO_PinAFConfig(GPIOA, GPIO_PinSource8,GPIO_AF_TIM3);


          G2.GPIO_Mode =  GPIO_Mode_AF;
          G2.GPIO_OType = GPIO_OType_PP;
          G2.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7|GPIO_Pin_8;
          G2.GPIO_PuPd = GPIO_PuPd_NOPULL;
          G2.GPIO_Speed = GPIO_Speed_100MHz;
          GPIO_Init(GPIOA, &G2);
}

void TIMER4_Init(void) {
    TIM_TimeBaseInitTypeDef TIM_4;

    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);

    TIM_4.TIM_Prescaler = 0;
    TIM_4.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_4.TIM_Period = 8399;
    TIM_4.TIM_ClockDivision = TIM_CKD_DIV1;
    TIM_4.TIM_RepetitionCounter = 0;
    TIM_TimeBaseInit(TIM4, &TIM_4);
    TIM_Cmd(TIM4, ENABLE);
}

void TIMER3_Init(void) {
    TIM_TimeBaseInitTypeDef TIM_3;

    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);

    TIM_3.TIM_Prescaler = 0;
    TIM_3.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_3.TIM_Period = 8399;
    TIM_3.TIM_ClockDivision = TIM_CKD_DIV1;
    TIM_3.TIM_RepetitionCounter = 0;
    TIM_TimeBaseInit(TIM3, &TIM_3);
    TIM_Cmd(TIM3, ENABLE);
}



void EXTI9_5_IRQHandler(void)
{
	 TIM_OCInitTypeDef TIM4_OCStruct;
	 TIM_OCInitTypeDef TIM3_OCStruct;
	 TIMER4_Init();
	 TIMER3_Init();
	if((EXTI_GetITStatus(EXTI_Line5) != RESET)||(EXTI_GetITStatus(EXTI_Line6) != RESET)||(EXTI_GetITStatus(EXTI_Line7) != RESET))
	{
;
	 switch((GPIO_ReadInputDataBit(GPIOC,GPIO_Pin_5))+(2*GPIO_ReadInputDataBit(GPIOC,GPIO_Pin_6))+(4*GPIO_ReadInputDataBit(GPIOC,GPIO_Pin_7)))
	 {

	 case 1:


		 TIM4_OCStruct.TIM_OCMode =TIM_OCMode_PWM2;
		 TIM4_OCStruct.TIM_OutputState =TIM_OutputState_Enable;
		 TIM4_OCStruct.TIM_OCPolarity =TIM_OCPolarity_Low;
		 TIM4_OCStruct.TIM_Pulse =pulse_length;
		 TIM_OC1Init(TIM4, &TIM4_OCStruct);
		 TIM_OC1PreloadConfig(TIM4,TIM_OCPreload_Enable);
		 TIM4_OCStruct.TIM_Pulse = 0;
		 TIM_OC2Init(TIM4, &TIM4_OCStruct);
		 TIM_OC2PreloadConfig(TIM4,TIM_OCPreload_Enable);
		 TIM4_OCStruct.TIM_Pulse = 0;
		 TIM_OC3Init(TIM4, &TIM4_OCStruct);
		 TIM_OC3PreloadConfig(TIM4,TIM_OCPreload_Enable);
		 TIM3_OCStruct.TIM_OCMode =TIM_OCMode_PWM2;
	     TIM3_OCStruct.TIM_OutputState =TIM_OutputState_Enable;
         TIM3_OCStruct.TIM_OCPolarity =TIM_OCPolarity_Low;

         TIM3_OCStruct.TIM_Pulse =8399;
         TIM_OC1Init(TIM3, &TIM3_OCStruct);
         TIM_OC1PreloadConfig(TIM3,

TIM_OCPreload_Enable);

         TIM3_OCStruct.TIM_Pulse =8399;
         TIM_OC2Init(TIM3, &TIM3_OCStruct);
         TIM_OC2PreloadConfig(TIM3,

TIM_OCPreload_Enable);

         TIM3_OCStruct.TIM_Pulse =(8399-pulse_length);
         TIM_OC3Init(TIM3, &TIM3_OCStruct);
         TIM_OC3PreloadConfig(TIM3,

TIM_OCPreload_Enable);
		 break;
	 case 2:
		 TIM4_OCStruct.TIM_OCMode =

TIM_OCMode_PWM2;


TIM4_OCStruct.TIM_OutputState = TIM_OutputState_Enable;


TIM4_OCStruct.TIM_OCPolarity = TIM_OCPolarity_Low;

		 		 TIM4_OCStruct.TIM_Pulse

=0;
		 		 TIM_OC1Init(TIM4,

&TIM4_OCStruct);
		 		 TIM_OC1PreloadConfig

(TIM4, TIM_OCPreload_Enable);

		 		 TIM4_OCStruct.TIM_Pulse

= pulse_length;
		 		 TIM_OC2Init(TIM4,

&TIM4_OCStruct);
		 		 TIM_OC2PreloadConfig

(TIM4, TIM_OCPreload_Enable);

		 		 TIM4_OCStruct.TIM_Pulse

= 0;
		 		 TIM_OC3Init(TIM4,

&TIM4_OCStruct);
		 		 TIM_OC3PreloadConfig

(TIM4, TIM_OCPreload_Enable);



TIM3_OCStruct.TIM_OCMode = TIM_OCMode_PWM2;


TIM3_OCStruct.TIM_OutputState = TIM_OutputState_Enable;
		          TIM3_OCStruct.TIM_OCPolarity =

TIM_OCPolarity_Low;

		          TIM3_OCStruct.TIM_Pulse =

(8399-pulse_length);
		          TIM_OC1Init(TIM3,

&TIM3_OCStruct);
		          TIM_OC1PreloadConfig(TIM3,

TIM_OCPreload_Enable);

		          TIM3_OCStruct.TIM_Pulse =8399;
		          TIM_OC2Init(TIM3,

&TIM3_OCStruct);
		          TIM_OC2PreloadConfig(TIM3,

TIM_OCPreload_Enable);

		          TIM3_OCStruct.TIM_Pulse =8399;
		          TIM_OC3Init(TIM3,

&TIM3_OCStruct);
		          TIM_OC3PreloadConfig(TIM3,

TIM_OCPreload_Enable);
		 		 break;

	 case 3:
		 TIM4_OCStruct.TIM_OCMode =

TIM_OCMode_PWM2;


TIM4_OCStruct.TIM_OutputState = TIM_OutputState_Enable;


TIM4_OCStruct.TIM_OCPolarity = TIM_OCPolarity_Low;

		 		 TIM4_OCStruct.TIM_Pulse

=0;
		 		 TIM_OC1Init(TIM4,

&TIM4_OCStruct);
		 		 TIM_OC1PreloadConfig

(TIM4, TIM_OCPreload_Enable);

		 		 TIM4_OCStruct.TIM_Pulse

= pulse_length;
		 		 TIM_OC2Init(TIM4,

&TIM4_OCStruct);
		 		 TIM_OC2PreloadConfig

(TIM4, TIM_OCPreload_Enable);

		 		 TIM4_OCStruct.TIM_Pulse

= 0;
		 		 TIM_OC3Init(TIM4,

&TIM4_OCStruct);
		 		 TIM_OC3PreloadConfig

(TIM4, TIM_OCPreload_Enable);




TIM3_OCStruct.TIM_OCMode = TIM_OCMode_PWM2;


TIM3_OCStruct.TIM_OutputState = TIM_OutputState_Enable;
		          TIM3_OCStruct.TIM_OCPolarity =

TIM_OCPolarity_Low;

		          TIM3_OCStruct.TIM_Pulse =8399;
		          TIM_OC1Init(TIM3,

&TIM3_OCStruct);
		          TIM_OC1PreloadConfig(TIM3,

TIM_OCPreload_Enable);

		          TIM3_OCStruct.TIM_Pulse =8399;
		          TIM_OC2Init(TIM3,

&TIM3_OCStruct);
		          TIM_OC2PreloadConfig(TIM3,

TIM_OCPreload_Enable);

		          TIM3_OCStruct.TIM_Pulse =

(8399-pulse_length);
		          TIM_OC3Init(TIM3,

&TIM3_OCStruct);
		          TIM_OC3PreloadConfig(TIM3,

TIM_OCPreload_Enable);
		 		 break;

	 case 4:
		 TIM4_OCStruct.TIM_OCMode =

TIM_OCMode_PWM2;


TIM4_OCStruct.TIM_OutputState = TIM_OutputState_Enable;


TIM4_OCStruct.TIM_OCPolarity = TIM_OCPolarity_Low;

		 		 TIM4_OCStruct.TIM_Pulse

=0;
		 		 TIM_OC1Init(TIM4,

&TIM4_OCStruct);
		 		 TIM_OC1PreloadConfig

(TIM4, TIM_OCPreload_Enable);

		 		 TIM4_OCStruct.TIM_Pulse

=0;
		 		 TIM_OC2Init(TIM4,

&TIM4_OCStruct);
		 		 TIM_OC2PreloadConfig

(TIM4, TIM_OCPreload_Enable);

		 		 TIM4_OCStruct.TIM_Pulse

= pulse_length;
		 		 TIM_OC3Init(TIM4,

&TIM4_OCStruct);
		 		 TIM_OC3PreloadConfig

(TIM4, TIM_OCPreload_Enable);





TIM3_OCStruct.TIM_OCMode = TIM_OCMode_PWM2;


TIM3_OCStruct.TIM_OutputState = TIM_OutputState_Enable;
		          TIM3_OCStruct.TIM_OCPolarity =

TIM_OCPolarity_Low;

		          TIM3_OCStruct.TIM_Pulse =8399;
		          TIM_OC1Init(TIM3,

&TIM3_OCStruct);
		          TIM_OC1PreloadConfig(TIM3,

TIM_OCPreload_Enable);

		          TIM3_OCStruct.TIM_Pulse =

(8399-pulse_length);
		          TIM_OC2Init(TIM3,

&TIM3_OCStruct);
		          TIM_OC2PreloadConfig(TIM3,

TIM_OCPreload_Enable);

		          TIM3_OCStruct.TIM_Pulse =8399;
		          TIM_OC3Init(TIM3,

&TIM3_OCStruct);
		          TIM_OC3PreloadConfig(TIM3,

TIM_OCPreload_Enable);
		 		 break;


	 case 5:
		 TIM4_OCStruct.TIM_OCMode =

TIM_OCMode_PWM2;


TIM4_OCStruct.TIM_OutputState = TIM_OutputState_Enable;


TIM4_OCStruct.TIM_OCPolarity = TIM_OCPolarity_Low;

		 		 TIM4_OCStruct.TIM_Pulse

=pulse_length;
		 		 TIM_OC1Init(TIM4,

&TIM4_OCStruct);
		 		 TIM_OC1PreloadConfig

(TIM4, TIM_OCPreload_Enable);

		 		 TIM4_OCStruct.TIM_Pulse

=0;
		 		 TIM_OC2Init(TIM4,

&TIM4_OCStruct);
		 		 TIM_OC2PreloadConfig

(TIM4, TIM_OCPreload_Enable);

		 		 TIM4_OCStruct.TIM_Pulse

=0;
		 		 TIM_OC3Init(TIM4,

&TIM4_OCStruct);
		 		 TIM_OC3PreloadConfig

(TIM4, TIM_OCPreload_Enable);





TIM3_OCStruct.TIM_OCMode = TIM_OCMode_PWM2;


TIM3_OCStruct.TIM_OutputState = TIM_OutputState_Enable;
		          TIM3_OCStruct.TIM_OCPolarity =

TIM_OCPolarity_Low;

		          TIM3_OCStruct.TIM_Pulse =8399;
		          TIM_OC1Init(TIM3,

&TIM3_OCStruct);
		          TIM_OC1PreloadConfig(TIM3,

TIM_OCPreload_Enable);

		          TIM3_OCStruct.TIM_Pulse =

(8399-pulse_length);
		          TIM_OC2Init(TIM3,

&TIM3_OCStruct);
		          TIM_OC2PreloadConfig(TIM3,

TIM_OCPreload_Enable);

		          TIM3_OCStruct.TIM_Pulse =8399;
		          TIM_OC3Init(TIM3,

&TIM3_OCStruct);
		          TIM_OC3PreloadConfig(TIM3,

TIM_OCPreload_Enable);
		 		 break;


	 case 6:
		 TIM4_OCStruct.TIM_OCMode =

TIM_OCMode_PWM2;


TIM4_OCStruct.TIM_OutputState = TIM_OutputState_Enable;


TIM4_OCStruct.TIM_OCPolarity = TIM_OCPolarity_Low;

		 		 TIM4_OCStruct.TIM_Pulse

=0;
		 		 TIM_OC1Init(TIM4,

&TIM4_OCStruct);
		 		 TIM_OC1PreloadConfig

(TIM4, TIM_OCPreload_Enable);

		 		 TIM4_OCStruct.TIM_Pulse

= 0;
		 		 TIM_OC2Init(TIM4,

&TIM4_OCStruct);
		 		 TIM_OC2PreloadConfig

(TIM4, TIM_OCPreload_Enable);

		 		 TIM4_OCStruct.TIM_Pulse

= pulse_length;
		 		 TIM_OC3Init(TIM4,

&TIM4_OCStruct);
		 		 TIM_OC3PreloadConfig

(TIM4, TIM_OCPreload_Enable);






TIM3_OCStruct.TIM_OCMode = TIM_OCMode_PWM2;


TIM3_OCStruct.TIM_OutputState = TIM_OutputState_Enable;
		          TIM3_OCStruct.TIM_OCPolarity =

TIM_OCPolarity_Low;

		          TIM3_OCStruct.TIM_Pulse =

(8399-pulse_length);
		          TIM_OC1Init(TIM3,

&TIM3_OCStruct);
		          TIM_OC1PreloadConfig(TIM3,

TIM_OCPreload_Enable);

		          TIM3_OCStruct.TIM_Pulse =8399;
		          TIM_OC2Init(TIM3,

&TIM3_OCStruct);
		          TIM_OC2PreloadConfig(TIM3,

TIM_OCPreload_Enable);

		          TIM3_OCStruct.TIM_Pulse =8399;
		          TIM_OC3Init(TIM3,

&TIM3_OCStruct);
		          TIM_OC3PreloadConfig(TIM3,

TIM_OCPreload_Enable);
		 		 break;


	 }
	 EXTI_ClearITPendingBit(EXTI_Line5);
	 EXTI_ClearITPendingBit(EXTI_Line6);
	 EXTI_ClearITPendingBit(EXTI_Line7);
	}
}


int main(void)
{
	Configure_PINS();
    while(1)
    {

    }
}