From 8fe94ffbe3389ad42a2574f19b3968c97c6cb8d8 Mon Sep 17 00:00:00 2001
From: Rene Hopf <renehopf@mac.com>
Date: Tue, 11 Oct 2016 06:49:45 +0200
Subject: [PATCH] brake pwm

---
 src/comps/io.comp | 37 +++++++++++++++++++++++++++++++------
 1 file changed, 31 insertions(+), 6 deletions(-)

diff --git a/src/comps/io.comp b/src/comps/io.comp
index d0b50742..849500c2 100644
--- a/src/comps/io.comp
+++ b/src/comps/io.comp
@@ -23,8 +23,35 @@ INIT(
    GPIO_Init(LED_G_PORT, &GPIO_InitStructure);
 
    //brake
-   GPIO_InitStructure.GPIO_Pin   = BRAKE_PIN;
-   GPIO_Init(BRAKE_PORT, &GPIO_InitStructure);
+   RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8, ENABLE);
+   TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV4;
+   TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
+   TIM_TimeBaseStructure.TIM_Period = 8400; // 168e6 / 8400 = 20kHz
+   TIM_TimeBaseStructure.TIM_Prescaler = 0;
+   TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
+   TIM_TimeBaseInit(TIM8, &TIM_TimeBaseStructure);
+   TIM_ARRPreloadConfig(TIM8,ENABLE);
+   TIM_Cmd(TIM8, ENABLE);
+   
+   GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
+   GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
+   GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
+   GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+   GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
+   GPIO_Init(GPIOC, &GPIO_InitStructure);
+   GPIO_PinAFConfig(GPIOC, GPIO_PinSource9, GPIO_AF_TIM8);
+   
+   TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
+   TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
+   TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;
+   TIM_OCInitStructure.TIM_Pulse = 0;
+   TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
+   TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
+
+   TIM_OC4Init(TIM8, &TIM_OCInitStructure);
+   TIM_OC4PreloadConfig(TIM8, TIM_OCPreload_Enable);
+   TIM_CtrlPWMOutputs(TIM8, ENABLE);
+   
 );
 
 NRT(
@@ -43,10 +70,8 @@ NRT(
    else
       GPIO_ResetBits(LED_G_PORT, LED_G_PIN);
 
-   if(PIN(brake) > 0)
-      GPIO_SetBits(BRAKE_PORT, BRAKE_PIN);
-   else
-      GPIO_ResetBits(BRAKE_PORT, BRAKE_PIN);
+   TIM8->CCR4 = (int)CLAMP(PIN(brake) * 8400, 0, TIM8->ARR - 1);
+
 );
 
 ENDCOMP;