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Gregor Wüst 2020-12-29 17:06:35 +01:00
parent d11eea91e8
commit 0915b62ae1
409 changed files with 190500 additions and 2 deletions
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<?xml version="1.0" encoding="UTF-8"?>
<projectDescription>
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383
stepper/steppermotor/Core/Inc/l6208.h Normal file
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/******************************************************//**
* @file l6208.h
* @author IPC Rennes
* @version V1.5.0
* @date June 1st, 2018
* @brief Header for l6208.c module
* @note (C) COPYRIGHT 2016 STMicroelectronics
******************************************************************************
* @attention
*
* <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef _L6208_H_INCLUDED
#define _L6208_H_INCLUDED
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "l6208_target_config.h"
#include "motor.h"
/** @addtogroup BSP
* @{
*/
/** @addtogroup L6208
* @{
*/
/* Exported Constants --------------------------------------------------------*/
/** @addtogroup L6208_Exported_Constants
* @{
*/
/// Current FW major version
#define L6208_FW_MAJOR_VERSION (uint8_t)(1)
/// Current FW minor version
#define L6208_FW_MINOR_VERSION (uint8_t)(4)
/// Current FW patch version
#define L6208_FW_PATCH_VERSION (uint8_t)(0)
/// Current FW version
#define L6208_FW_VERSION (uint32_t)((L6208_FW_MAJOR_VERSION<<16)|\
(L6208_FW_MINOR_VERSION<<8)|\
(L6208_FW_PATCH_VERSION))
/// Max position
#define L6208_MAX_POSITION (0x7FFFFFFF)
/// Min position
#define L6208_MIN_POSITION (0x80000000)
/// Position range
#define L6208_POSITION_RANGE ((uint32_t)(L6208_MAX_POSITION -\
L6208_MIN_POSITION))
/// micro step samples per period/4
#define L6208_USTEPS_PER_QUARTER_PERIOD (16)
/// minimum speed
#define L6208_MIN_SPEED (16)
/// minimum acceleration and deceleration rate
#define L6208_MIN_ACC_DEC_RATE (24)
/// Mask for HiZ bit in motorDecayMode_t enum
#define L6208_FAST_DECAY_MODE_MASK (0x1)
/// L6208 error base number
#define L6208_ERROR_BASE (0x9000)
/**
* @}
*/
/* Exported types ------------------------------------------------------------*/
/** @defgroup Error_Types Error Types
* @{
*/
/// Errors
typedef enum {
L6208_ERROR_SET_HOME = L6208_ERROR_BASE, /// Error while setting home position
L6208_ERROR_SET_MAX_SPEED = L6208_ERROR_BASE + 1, /// Error while setting max speed
L6208_ERROR_SET_MIN_SPEED = L6208_ERROR_BASE + 2, /// Error while setting min speed
L6208_ERROR_SET_ACCELERATION = L6208_ERROR_BASE + 3, /// Error while setting acceleration
L6208_ERROR_SET_DECELERATION = L6208_ERROR_BASE + 4, /// Error while setting decelaration
L6208_ERROR_MCU_OSC_CONFIG = L6208_ERROR_BASE + 5, /// Error while configuring mcu oscillator
L6208_ERROR_MCU_CLOCK_CONFIG = L6208_ERROR_BASE + 6, /// Error while configuring mcu clock
L6208_ERROR_POSITION = L6208_ERROR_BASE + 7, /// Unexpected current position (wrong number of steps)
L6208_ERROR_SPEED = L6208_ERROR_BASE + 8, /// Unexpected current speed
L6208_ERROR_INIT = L6208_ERROR_BASE + 9, /// Unexpected number of devices
L6208_ERROR_SET_DIRECTION = L6208_ERROR_BASE + 10,/// Error while setting direction
L6208_ERROR_SET_STEP_MODE = L6208_ERROR_BASE + 11,/// Attempt to set an unsupported step mode
L6208_ERROR_SET_PWM = L6208_ERROR_BASE + 12,/// Error while setting a PWM parameter
}errorTypes_t;
/**
* @}
*/
/** @defgroup Device_Parameters Device Parameters
* @{
*/
/// Device Parameters Structure Type
typedef struct
{
/// dwelling waiting time counter (tick)
volatile uint32_t dwellCounter;
/// motor position indicator (tick)
uint32_t ticks;
/// LSByte copy of the previous position (tick)
uint8_t lsbOldTicks;
/// LSByte copy of the previous position (tick) ( micro stepping )
uint8_t lsbOldUSteppingTicks;
/// LSByte copy of the current position (tick)
uint8_t lsbTicks;
/// P1 = acceleration phase steps number (motor position control mode)
uint32_t positionTarget1;
/// P2 = constant speed steps number (motor position control mode)
uint32_t positionTarget2;
/// P3 = deceleration phase steps number (motor position control mode)
uint32_t positionTarget3;
/// P = total move distance in steps (motor position control mode)
uint32_t positionTarget;
/// absolute motor position in microsteps (motor position control mode)
volatile int32_t absolutePos;
/// mark position in microsteps (motor position control mode)
volatile int32_t markPos;
/// motor position in microsteps (motor position control mode)
volatile uint32_t step;
/// dwelling time after position got (ms)
volatile uint16_t moveDwellTime;
/// number of micro stepping waveform samples to be rescaled according to selected torque value
volatile uint8_t uStepsample2scale;
/// number of micro stepping waveform samples to be updated into the waveform scanning table
volatile uint8_t uStepsample2update;
/// microstepping waveform sample index
volatile uint8_t uStepSample;
/// system status flags
volatile uint32_t flags;
/// current stepper state machine index
volatile motorState_t motionState;
/// current step mode
volatile motorStepMode_t stepMode;
/// micro stepping waveform scanning sample index increment
uint8_t uStepInc;
/// frequency of the VREFA and VREFB PWM
uint32_t vrefPwmFreq;
/// current selected torque value
volatile uint8_t curTorqueScaler;
/// constant speed phase torque value (%)
volatile uint8_t runTorque;
/// acceleration phase torque value (%)
volatile uint8_t accelTorque;
/// deceleration phase torque value (%)
volatile uint8_t decelTorque;
/// holding phase torque value (%)
volatile uint8_t holdTorque;
/// acceleration (steps/s^2)
volatile uint16_t accelerationSps2;
/// deceleration (steps/s^2)
volatile uint16_t decelerationSps2;
/// acceleration (steps/tick^2)
volatile uint16_t accelerationSpt2;
/// deceleration (steps/tick^2)
volatile uint16_t decelerationSpt2;
/// maximum speed (steps/s)
volatile uint16_t maxSpeedSps;
/// minimum speed (steps/s)
volatile uint16_t minSpeedSps;
/// current speed (steps/s)
volatile uint16_t speedSps;
/// maximum speed (steps/tick)
volatile uint32_t maxSpeedSpt;
/// minimum speed (steps/tick)
volatile uint32_t minSpeedSpt;
/// current speed (steps/tick)
volatile uint32_t speedSpt;
}deviceParams_t;
/**
* @}
*/
/// Motor driver initialization structure definition
typedef struct
{
/// acceleration (steps/s^2)
uint16_t accelerationSps2;
/// acceleration phase torque value (%)
uint8_t accelTorque;
/// deceleration (steps/s^2)
uint16_t decelerationSps2;
/// deceleration phase torque value (%)
uint8_t decelTorque;
/// maximum speed (steps/s)
uint16_t maxSpeedSps;
/// constant speed phase torque value (%)
uint8_t runTorque;
/// holding phase torque value (%)
uint8_t holdTorque;
/// current step mode
motorStepMode_t stepMode;
/// current decay mode (SLOW_DECAY or FAST_DECAY)
motorDecayMode_t decayMode;
/// dwelling time after position got (ms)
uint16_t moveDwellTime;
/// automatic HiZ on stop
bool autoHiZstop;
/// frequency of the VREFA and VREFB PWM
uint32_t vrefPwmFreq;
} l6208_Init_t;
/* Exported functions --------------------------------------------------------*/
/** @defgroup L6208_Exported_Functions L6208 Exported Functions
* @{
*/
motorDrv_t* L6208_GetMotorHandle(void); //Return handle of the motor driver handle
void L6208_Init(void* pInit); //Start the L6208 library
uint16_t L6208_ReadId(void); //Read Id to get driver instance
void L6208_AttachErrorHandler(void (*callback)(uint16_t error)); //Attach a user callback to the error Handler
void L6208_AttachFlagInterrupt(void (*callback)(void)); //Attach a user callback to the flag Interrupt
uint8_t L6208_CheckStatusHw(void); //Check if L6208 has a fault by reading EN pin position
void L6208_Disable(uint8_t deviceId); //Disable the power bridge
void L6208_ErrorHandler(uint16_t error); //Error handler which calls the user callback
void L6208_Enable(uint8_t deviceId); //Enable the power bridge
void L6208_FlagInterruptHandler(void); //Handler of the flag interrupt which calls the user callback (if defined)
uint16_t L6208_GetAcceleration(uint8_t deviceId); //Return the acceleration in pps^2
uint16_t L6208_GetCurrentSpeed(uint8_t deviceId); //Return the current speed in pps
motorDecayMode_t L6208_GetDecayMode(uint8_t deviceId); //Get the motor decay mode
uint16_t L6208_GetDeceleration(uint8_t deviceId); //Return the deceleration in pps^2
motorDir_t L6208_GetDirection(uint8_t deviceId); //Get the motor current direction
uint32_t L6208_GetFwVersion(void); //Return the FW version
int32_t L6208_GetMark(uint8_t deviceId); //Get the mark position (32b signed)
uint16_t L6208_GetMaxSpeed(uint8_t deviceId); //Return the max speed in pps
uint16_t L6208_GetMinSpeed(uint8_t deviceId); //Return the min speed in pps
motorState_t L6208_GetMotionState(uint8_t deviceId); //Return the motion state
int32_t L6208_GetPosition(uint8_t deviceId); //Get the current position (32b signed)
motorStepMode_t L6208_GetStepMode(uint8_t deviceId); //Get the motor step mode
motorStopMode_t L6208_GetStopMode(uint8_t deviceId); //Get the selected mode to stop the motor
uint8_t L6208_GetTorque(uint8_t deviceId, motorTorqueMode_t torqueMode); //Get the torque value according to the torque mode
void L6208_GoHome(uint8_t deviceId); //Go to the home position
void L6208_GoMark(uint8_t deviceId); //Go to the Mark position
void L6208_GoTo(uint8_t deviceId, int32_t abs_pos); //Go to the specified position
void L6208_GoToDir(uint8_t deviceId, motorDir_t direction, int32_t abs_pos); //Go to the specified position using the specified direction
void L6208_HardHiZ(uint8_t deviceId); //Stop the motor by using the device deceleration and disables the power bridges
void L6208_HardStop(uint8_t deviceId); //Stop the motor and keeps holding torque
void L6208_Move(uint8_t deviceId, motorDir_t direction, uint32_t stepCount); //Move the motor by the specified number of steps in the specified direction
void L6208_ReleaseReset(uint8_t deviceId); //Release the reset pin
void L6208_Reset(uint8_t deviceId); //Set the reset pin
void L6208_ResetDevice(void); //Reset L6208 device
void L6208_Run(uint8_t deviceId, motorDir_t direction); //Run the motor in the specified direction
bool L6208_SetAcceleration(uint8_t deviceId, uint16_t newAcc); //Set the acceleration in pps^2
void L6208_SetDecayMode(uint8_t deviceId, motorDecayMode_t decayMode); //Set the motor decay mode
bool L6208_SetDeceleration(uint8_t deviceId, uint16_t newDec); //Set the deceleration in pps^2
void L6208_SetDirection(uint8_t deviceId, motorDir_t direction); //Set the motor direction
void L6208_SetHome(uint8_t deviceId, int32_t homePos); //Set the home position
void L6208_SetMark(uint8_t deviceId, int32_t markPos); //Set the mark position
bool L6208_SetMaxSpeed(uint8_t deviceId, uint16_t volatile newSpeed); //Set the max speed value in pps
bool L6208_SetMinSpeed(uint8_t deviceId, uint16_t volatile newSpeed); //Set the max speed value in pps
bool L6208_SetNbDevices(uint8_t nbDevices); //Set the number of devices
bool L6208_SetStepMode(uint8_t deviceId, motorStepMode_t stepMode); //Set the motor step mode
void L6208_SetStopMode(uint8_t deviceId, motorStopMode_t stopMode); //Select the mode to stop the motor
void L6208_SetTorque(uint8_t deviceId, motorTorqueMode_t torqueMode, uint8_t torqueValue); //Set the torque value according to the torque mode
bool L6208_SoftStop(uint8_t deviceId); //Progressively stop the motor by using the device deceleration and set deceleration torque
void L6208_TickHandler(uint8_t deviceId); //Handle the device state machine at each tick timer pulse end
uint32_t L6208_VrefPwmGetFreq(uint8_t deviceId); //Get the frequency of VREFA and VREFB PWM
void L6208_VrefPwmSetFreq(uint8_t deviceId, uint32_t newFreq); //Set the frequency of the VREFA and VREFB PWM
void L6208_WaitWhileActive(uint8_t deviceId); //Wait for the device state becomes Inactive
/**
* @}
*/
/** @defgroup MotorControl_Board_Linked_Functions MotorControl Board Linked Functions
* @{
*/
///Delay of the requested number of milliseconds
extern void L6208_Board_Delay(uint32_t delay);
///Enable Irq
extern void L6208_Board_EnableIrq(void);
///Disable Irq
extern void L6208_Board_DisableIrq(void);
///Initialise GPIOs used for L6208
extern void L6208_Board_GpioInit(void);
//Initialize the VREFA or VREFB PWM
extern bool L6208_Board_VrefPwmInit(uint8_t bridgeId, uint32_t pwmFreq);
///Set duty cycle of VREFA or VREFB PWM
extern bool L6208_Board_VrefPwmSetDutyCycle(uint8_t bridgeId,\
uint16_t value,\
bool valueIsPwmDutyCycle);
///Start the timer for the VREFA or VREFB PWM
extern bool L6208_Board_VrefPwmStart(uint8_t bridgeId,\
uint32_t pwmFreq);
///Stop the timer for the VREFA or VREFB PWM
extern bool L6208_Board_VrefPwmStop(uint8_t bridgeId);
///Get the period of VREFA and VREFB PWM
extern uint32_t L6208_Board_VrefPwmGetPeriod(void);
///Check that the new VREFA and VREFB PWM frequency is nor too low nor too high
bool L6208_Board_VrefPwmFreqCheck(uint32_t newFreq);
///Initialize the tick
extern void L6208_Board_TickInit(void);
///Start the timer for the tick by using the set tick frequency
extern void L6208_Board_TickStart(void);
///Stop the timer for the tick
extern void L6208_Board_TickStop(void);
///Get the tick frequency in Hz
extern uint32_t L6208_Board_TickGetFreq(void);
///Release the reset pin
extern void L6208_Board_ReleaseReset(void);
///Set the reset pin
extern void L6208_Board_Reset(void);
///Set the control pin
extern void L6208_Board_CONTROL_PIN_Set(void);
///Reset the control pin
extern void L6208_Board_CONTROL_PIN_Reset(void);
///Set the clock pin
extern void L6208_Board_CLOCK_PIN_Set(void);
///Reset the clock pin
extern void L6208_Board_CLOCK_PIN_Reset(void);
///Set the half full pin
extern void L6208_Board_HALF_FULL_PIN_Set(void);
///Reset the half full pin
extern void L6208_Board_HALF_FULL_PIN_Reset(void);
///Set the dir pin
extern void L6208_Board_DIR_PIN_Set(void);
///Reset the dir pin
extern void L6208_Board_DIR_PIN_Reset(void);
///Returns the EN pin state
extern uint32_t L6208_Board_FLAG_PIN_GetState(void);
///Enable the power bridges (leave the output bridges HiZ)
extern void L6208_Board_Enable(void);
///Disable the power bridges (leave the output bridges HiZ)
extern void L6208_Board_Disable(void);
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
#ifdef __cplusplus
}
#endif
#endif /* __L6208_H */
/******************* (C) COPYRIGHT 2016 STMicroelectronics *****END OF FILE****/

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/******************************************************//**
* @file l6208_target_config.h
* @author IPC Rennes
* @version V1.5.0
* @date June 1st, 2018
* @brief Predefines values for the L6208 parameters
* @note (C) COPYRIGHT 2016 STMicroelectronics
******************************************************************************
* @attention
*
* <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __L6208_TARGET_CONFIG_H
#define __L6208_TARGET_CONFIG_H
#ifdef __cplusplus
extern "C" {
#endif
/** @addtogroup BSP
* @{
*/
/** @addtogroup L6208
* @{
*/
/** @addtogroup L6208_Exported_Constants
* @{
*/
/** @defgroup Predefined_L6208_Parameters_Values Predefined L6208 Parameters Values
* @{
*/
/// Acceleration rate in step/s^2 or (1/16)th step/s^2 for microstep modes
#define L6208_CONF_PARAM_ACC_RATE (1000)
/// Acceleration current torque in % (from 0 to 100)
#define L6208_CONF_PARAM_ACC_CURRENT (10)
/// Deceleration rate in step/s^2 or (1/16)th step/s^2 for microstep modes
#define L6208_CONF_PARAM_DEC_RATE (1000)
/// Deceleration current torque in % (from 0 to 100)
#define L6208_CONF_PARAM_DEC_CURRENT (10)
/// Running speed in step/s or (1/16)th step/s for microstep modes
#define L6208_CONF_PARAM_RUNNING_SPEED (1000)
/// Running current torque in % (from 0 to 100)
#define L6208_CONF_PARAM_RUNNING_CURRENT (10)
/// Holding current torque in % (from 0 to 100)
#define L6208_CONF_PARAM_HOLDING_CURRENT (10)
/// Step mode via enum motorStepMode_t
#define L6208_CONF_PARAM_STEP_MODE (STEP_MODE_1_16)
/// Decay mode via enum motorDecayMode_t
#define L6208_CONF_PARAM_DECAY_MODE (FAST_DECAY)
/// Dwelling time in ms
#define L6208_CONF_PARAM_DWELL_TIME (0)
/// Automatic HIZ STOP
#define L6208_CONF_PARAM_AUTO_HIZ_STOP (FALSE)
/// VREFA and VREFB PWM frequency (Hz)
#define L6208_CONF_VREF_PWM_FREQUENCY (100000)
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
#ifdef __cplusplus
}
#endif
#endif /* __L6208_TARGET_CONFIG_H */
/******************* (C) COPYRIGHT 2016 STMicroelectronics *****END OF FILE****/

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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.h
* @brief : Header for main.c file.
* This file contains the common defines of the application.
******************************************************************************
* @attention
*
* <h2><center>&copy; Copyright (c) 2020 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under BSD 3-Clause license,
* the "License"; You may not use this file except in compliance with the
* License. You may obtain a copy of the License at:
* opensource.org/licenses/BSD-3-Clause
*
******************************************************************************
*/
/* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __MAIN_H
#define __MAIN_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "stm32l1xx_hal.h"
#include "x_nucleo_ihmxx.h"
#include "l6208.h"
#include "x_nucleo_ihm05a1_stm32l1xx.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Exported types ------------------------------------------------------------*/
/* USER CODE BEGIN ET */
/* USER CODE END ET */
/* Exported constants --------------------------------------------------------*/
/* USER CODE BEGIN EC */
/* USER CODE END EC */
/* Exported macro ------------------------------------------------------------*/
/* USER CODE BEGIN EM */
/* USER CODE END EM */
/* Exported functions prototypes ---------------------------------------------*/
void Error_Handler(void);
/* USER CODE BEGIN EFP */
/* USER CODE END EFP */
/* Private defines -----------------------------------------------------------*/
#define B1_Pin GPIO_PIN_13
#define B1_GPIO_Port GPIOC
#define USART_TX_Pin GPIO_PIN_2
#define USART_TX_GPIO_Port GPIOA
#define USART_RX_Pin GPIO_PIN_3
#define USART_RX_GPIO_Port GPIOA
#define LD2_Pin GPIO_PIN_5
#define LD2_GPIO_Port GPIOA
#define TMS_Pin GPIO_PIN_13
#define TMS_GPIO_Port GPIOA
#define TCK_Pin GPIO_PIN_14
#define TCK_GPIO_Port GPIOA
#define SWO_Pin GPIO_PIN_3
#define SWO_GPIO_Port GPIOB
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
#ifdef __cplusplus
}
#endif
#endif /* __MAIN_H */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

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/**
******************************************************************************
* @file motor.h
* @author IPC Rennes
* @version V1.7.0
* @date March 16th, 2018
* @brief This file contains all the functions prototypes for motor drivers.
******************************************************************************
* @attention
*
* <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __MOTOR_H
#define __MOTOR_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include <stdint.h>
/** @addtogroup BSP
* @{
*/
/** @addtogroup Components
* @{
*/
/** @defgroup Motor Motor
* @{
*/
/** @defgroup Motor_Exported_Constants Motor Exported Constants
* @{
*/
/// boolean for false condition
#ifndef FALSE
#define FALSE (0)
#endif
/// boolean for true condition
#ifndef TRUE
#define TRUE (1)
#endif
/**
* @}
*/
/** @defgroup Motor_Exported_Types Motor Exported Types
* @{
*/
/** @defgroup Motor_Boolean_Type Motor Boolean Type
* @{
*/
///bool Type
typedef uint8_t bool;
/**
* @}
*/
/** @defgroup Device_Direction_Options Device Direction Options
* @{
*/
/// Direction options
typedef enum {
BACKWARD = 0,
FORWARD = 1,
UNKNOW_DIR = ((uint8_t)0xFF)
} motorDir_t;
/**
* @}
*/
/** @defgroup Device_Action_Options Device Action Options
* @{
*/
/// Action options
typedef enum {
ACTION_RESET = ((uint8_t)0x00),
ACTION_COPY = ((uint8_t)0x08)
} motorAction_t;
/**
* @}
*/
/** @defgroup Device_States Device States
* @{
*/
/// Device states
typedef enum {
ACCELERATING = 0,
DECELERATINGTOSTOP = 1,
DECELERATING = 2,
STEADY = 3,
INDEX_ACCEL = 4,
INDEX_RUN = 5,
INDEX_DECEL = 6,
INDEX_DWELL = 7,
INACTIVE = 8,
STANDBY = 9,
STANDBYTOINACTIVE = 10
} motorState_t;
/**
* @}
*/
/** @defgroup Device_Step_mode Device Step mode
* @{
*/
/// Stepping options
typedef enum {
STEP_MODE_FULL = ((uint8_t)0x00),
STEP_MODE_HALF = ((uint8_t)0x01),
STEP_MODE_1_4 = ((uint8_t)0x02),
STEP_MODE_1_8 = ((uint8_t)0x03),
STEP_MODE_1_16 = ((uint8_t)0x04),
STEP_MODE_1_32 = ((uint8_t)0x05),
STEP_MODE_1_64 = ((uint8_t)0x06),
STEP_MODE_1_128 = ((uint8_t)0x07),
STEP_MODE_1_256 = ((uint8_t)0x08),
STEP_MODE_UNKNOW = ((uint8_t)0xFE),
STEP_MODE_WAVE = ((uint8_t)0xFF)
} motorStepMode_t;
/**
* @}
*/
/** @defgroup Decay_mode Decay mode
* @{
*/
/// Decay Mode
typedef enum {
SLOW_DECAY = 0,
FAST_DECAY = 1,
UNKNOW_DECAY = ((uint8_t)0xFF)
} motorDecayMode_t;
/**
* @}
*/
/** @defgroup Stop_mode Stop mode
* @{
*/
/// Stop mode
typedef enum
{
HOLD_MODE = 0,
HIZ_MODE = 1,
STANDBY_MODE = 2,
UNKNOW_STOP_MODE = ((uint8_t)0xFF)
} motorStopMode_t;
/**
* @}
*/
/** @defgroup Torque_mode Torque mode
* @{
*/
/// Torque mode
typedef enum
{
ACC_TORQUE = 0,
DEC_TORQUE = 1,
RUN_TORQUE = 2,
HOLD_TORQUE = 3,
CURRENT_TORQUE = 4,
UNKNOW_TORQUE = ((uint8_t)0xFF)
} motorTorqueMode_t;
/**
* @}
*/
/** @defgroup Dual_Full_Bridge_Configuration Dual Full Bridge Configuration
* @{
*/
///Dual full bridge configurations for brush DC motors
typedef enum {
PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B = 0,
PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B = 1,
PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B = 2,
PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B = 3,
PARALLELING_IN1A_IN2A__1_UNDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B = 4,
PARALLELING_IN1A_IN2A__1_UNDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B = 5,
PARALLELING_IN1B_IN2B__1_BIDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B = 6,
PARALLELING_IN1B_IN2B__2_UNDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B = 7,
PARALLELING_IN1A_IN2A__IN1B_IN2B__1_UNDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B = 8,
PARALLELING_IN1A_IN2A__IN1B_IN2B__1_BIDIR_MOTOR = 9,
PARALLELING_IN1A_IN1B__IN2A_IN2B__1_UNDIR_MOTOR_BRIDGE_1A__1_UNDIR_MOTOR_BRIDGE_2A = 10,
PARALLELING_IN1A_IN1B__IN2A_IN2B__1_BIDIR_MOTOR = 11,
PARALLELING_ALL_WITH_IN1A___1_UNDIR_MOTOR = 12,
PARALLELING_END_ENUM = 13
} dualFullBridgeConfig_t;
/**
* @}
*/
/** @defgroup Motor_Driver_Structure Motor Driver Structure
* @{
*/
/// Motor driver structure definition
typedef struct
{
/// Function pointer to Init
void (*Init)(void*);
/// Function pointer to ReadID
uint16_t (*ReadID)(void);
/// Function pointer to AttachErrorHandler
void(*AttachErrorHandler)(void (*callback)(uint16_t));
/// Function pointer to AttachFlagInterrupt
void (*AttachFlagInterrupt)(void (*callback)(void));
/// Function pointer to AttachBusyInterrupt
void (*AttachBusyInterrupt)(void (*callback)(void));
/// Function pointer to FlagInterruptHandler
void (*FlagInterruptHandler)(void);
/// Function pointer to GetAcceleration
uint16_t (*GetAcceleration)(uint8_t);
/// Function pointer to GetCurrentSpeed
uint16_t (*GetCurrentSpeed)(uint8_t);
/// Function pointer to GetDeceleration
uint16_t (*GetDeceleration)(uint8_t);
/// Function pointer to GetDeviceState
motorState_t(*GetDeviceState)(uint8_t);
/// Function pointer to GetFwVersion
uint32_t (*GetFwVersion)(void);
/// Function pointer to GetMark
int32_t (*GetMark)(uint8_t);
/// Function pointer to GetMaxSpeed
uint16_t (*GetMaxSpeed)(uint8_t);
/// Function pointer to GetMinSpeed
uint16_t (*GetMinSpeed)(uint8_t);
/// Function pointer to GetPosition
int32_t (*GetPosition)(uint8_t);
/// Function pointer to GoHome
void (*GoHome)(uint8_t);
/// Function pointer to GoMark
void (*GoMark)(uint8_t);
/// Function pointer to GoTo
void (*GoTo)(uint8_t, int32_t);
/// Function pointer to HardStop
void (*HardStop)(uint8_t);
/// Function pointer to Move
void (*Move)(uint8_t, motorDir_t, uint32_t );
/// Function pointer to ResetAllDevices
void (*ResetAllDevices)(void);
/// Function pointer to Run
void (*Run)(uint8_t, motorDir_t);
/// Function pointer to SetAcceleration
bool(*SetAcceleration)(uint8_t ,uint16_t );
/// Function pointer to SetDeceleration
bool(*SetDeceleration)(uint8_t , uint16_t );
/// Function pointer to SetHome
void (*SetHome)(uint8_t, int32_t);
/// Function pointer to SetMark
void (*SetMark)(uint8_t, int32_t);
/// Function pointer to SetMaxSpeed
bool (*SetMaxSpeed)(uint8_t, uint16_t );
/// Function pointer to SetMinSpeed
bool (*SetMinSpeed)(uint8_t, uint16_t );
/// Function pointer to SoftStop
bool (*SoftStop)(uint8_t);
/// Function pointer to StepClockHandler
void (*StepClockHandler)(uint8_t deviceId);
/// Function pointer to WaitWhileActive
void (*WaitWhileActive)(uint8_t);
/// Function pointer to CmdDisable
void (*CmdDisable)(uint8_t);
/// Function pointer to CmdEnable
void (*CmdEnable)(uint8_t);
/// Function pointer to CmdGetParam
uint32_t (*CmdGetParam)(uint8_t, uint32_t);
/// Function pointer to CmdGetStatus
uint16_t (*CmdGetStatus)(uint8_t);
/// Function pointer to CmdNop
void (*CmdNop)(uint8_t);
/// Function pointer to CmdSetParam
void (*CmdSetParam)(uint8_t, uint32_t, uint32_t);
/// Function pointer to ReadStatusRegister
uint16_t (*ReadStatusRegister)(uint8_t);
/// Function pointer to ReleaseReset
void (*ReleaseReset)(uint8_t);
/// Function pointer to Reset
void (*Reset)(uint8_t);
/// Function pointer to SelectStepMode
bool (*SelectStepMode)(uint8_t deviceId, motorStepMode_t);
/// Function pointer to SetDirection
void (*SetDirection)(uint8_t, motorDir_t);
/// Function pointer to CmdGoToDir
void (*CmdGoToDir)(uint8_t, motorDir_t, int32_t);
/// Function pointer to CheckBusyHw
uint8_t (*CheckBusyHw)(void);
/// Function pointer to CheckStatusHw
uint8_t (*CheckStatusHw)(void);
/// Function pointer to CmdGoUntil
void (*CmdGoUntil)(uint8_t, motorAction_t, motorDir_t, uint32_t);
/// Function pointer to CmdHardHiZ
void (*CmdHardHiZ)(uint8_t);
/// Function pointer to CmdReleaseSw
void (*CmdReleaseSw)(uint8_t, motorAction_t, motorDir_t);
/// Function pointer to CmdResetDevice
void (*CmdResetDevice)(uint8_t);
/// Function pointer to CmdResetPos
void (*CmdResetPos)(uint8_t);
/// Function pointer to CmdRun
void (*CmdRun)(uint8_t, motorDir_t, uint32_t);
/// Function pointer to CmdSoftHiZ
void (*CmdSoftHiZ)(uint8_t);
/// Function pointer to CmdStepClock
void (*CmdStepClock)(uint8_t, motorDir_t);
/// Function pointer to FetchAndClearAllStatus
void (*FetchAndClearAllStatus)(void);
/// Function pointer to GetFetchedStatus
uint16_t (*GetFetchedStatus)(uint8_t);
/// Function pointer to GetNbDevices
uint8_t (*GetNbDevices)(void);
/// Function pointer to IsDeviceBusy
bool (*IsDeviceBusy)(uint8_t);
/// Function pointer to SendQueuedCommands
void (*SendQueuedCommands)(void);
/// Function pointer to QueueCommands
void (*QueueCommands)(uint8_t, uint8_t, int32_t);
/// Function pointer to WaitForAllDevicesNotBusy
void (*WaitForAllDevicesNotBusy)(void);
/// Function pointer to ErrorHandler
void (*ErrorHandler)(uint16_t);
/// Function pointer to BusyInterruptHandler
void (*BusyInterruptHandler)(void);
/// Function pointer to CmdSoftStop
void (*CmdSoftStop)(uint8_t);
/// Function pointer to StartStepClock
void (*StartStepClock)(uint16_t);
/// Function pointer to StopStepClock
void (*StopStepClock)(void);
/// Function pointer to SetDualFullBridgeConfig
void (*SetDualFullBridgeConfig)(uint8_t);
/// Function pointer to GetBridgeInputPwmFreq
uint32_t (*GetBridgeInputPwmFreq)(uint8_t);
/// Function pointer to SetBridgeInputPwmFreq
void (*SetBridgeInputPwmFreq)(uint8_t, uint32_t);
/// Function pointer to SetStopMode
void (*SetStopMode)(uint8_t, motorStopMode_t);
/// Function pointer to GetStopMode
motorStopMode_t (*GetStopMode)(uint8_t);
/// Function pointer to SetDecayMode
void (*SetDecayMode)(uint8_t, motorDecayMode_t);
/// Function pointer to GetDecayMode
motorDecayMode_t (*GetDecayMode)(uint8_t);
/// Function pointer to GetStepMode
motorStepMode_t (*GetStepMode)(uint8_t);
/// Function pointer to GetDirection
motorDir_t (*GetDirection)(uint8_t);
/// Function pointer to ExitDeviceFromReset
void (*ExitDeviceFromReset)(uint8_t);
/// Function pointer to SetTorque
void (*SetTorque)(uint8_t, motorTorqueMode_t, uint8_t);
/// Function pointer to GetTorque
uint8_t (*GetTorque)(uint8_t, motorTorqueMode_t);
/// Function pointer to SetVRefFreq
void (*SetRefFreq)(uint8_t, uint32_t);
/// Function pointer to GetVRefFreq
uint32_t (*GetRefFreq)(uint8_t);
/// Function pointer to SetVRefDc
void (*SetRefDc)(uint8_t, uint8_t);
/// Function pointer to GetVRefDc
uint8_t (*GetRefDc)(uint8_t);
/// Function pointer to SetNbDevices
bool (*SetNbDevices)(uint8_t);
/// Function pointer to SetAnalogValue
bool (*SetAnalogValue)(uint8_t, uint32_t, float);
/// Function pointer to GetAnalogValue
float (*GetAnalogValue)(uint8_t, uint32_t);
/// Function pointer to SetTorqueBoostEnable
void (*SetTorqueBoostEnable) (uint8_t, bool);
/// Function pointer to GetTorqueBoostEnable
bool (*GetTorqueBoostEnable) (uint8_t);
/// Function pointer to SetTorqueBoostThreshold
void (*SetTorqueBoostThreshold) (uint8_t, uint16_t);
/// Function pointer to GetTorqueBoostThreshold
uint16_t (*GetTorqueBoostThreshold) (uint8_t);
/// Function pointer to GetDualFullBridgeConfig
uint8_t (*GetDualFullBridgeConfig) (void);
}motorDrv_t;
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
#ifdef __cplusplus
}
#endif
#endif /* __MOTOR_H */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

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/**
******************************************************************************
* @file stm32l1xx_hal_conf.h
* @brief HAL configuration file.
******************************************************************************
* @attention
*
* <h2><center>&copy; COPYRIGHT(c) 2020 STMicroelectronics</center></h2>
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __STM32L1xx_HAL_CONF_H
#define __STM32L1xx_HAL_CONF_H
#ifdef __cplusplus
extern "C" {
#endif
/* Exported types ------------------------------------------------------------*/
/* Exported constants --------------------------------------------------------*/
/* ########################## Module Selection ############################## */
/**
* @brief This is the list of modules to be used in the HAL driver
*/
#define HAL_MODULE_ENABLED
/*#define HAL_ADC_MODULE_ENABLED */
/*#define HAL_CRYP_MODULE_ENABLED */
/*#define HAL_COMP_MODULE_ENABLED */
/*#define HAL_CRC_MODULE_ENABLED */
/*#define HAL_CRYP_MODULE_ENABLED */
/*#define HAL_DAC_MODULE_ENABLED */
/*#define HAL_I2C_MODULE_ENABLED */
/*#define HAL_I2S_MODULE_ENABLED */
/*#define HAL_IRDA_MODULE_ENABLED */
/*#define HAL_IWDG_MODULE_ENABLED */
/*#define HAL_LCD_MODULE_ENABLED */
/*#define HAL_NOR_MODULE_ENABLED */
/*#define HAL_OPAMP_MODULE_ENABLED */
/*#define HAL_PCD_MODULE_ENABLED */
/*#define HAL_RTC_MODULE_ENABLED */
/*#define HAL_SD_MODULE_ENABLED */
/*#define HAL_SMARTCARD_MODULE_ENABLED */
/*#define HAL_SPI_MODULE_ENABLED */
/*#define HAL_SRAM_MODULE_ENABLED */
#define HAL_TIM_MODULE_ENABLED */
#define HAL_UART_MODULE_ENABLED
/*#define HAL_USART_MODULE_ENABLED */
/*#define HAL_WWDG_MODULE_ENABLED */
#define HAL_GPIO_MODULE_ENABLED
#define HAL_EXTI_MODULE_ENABLED
#define HAL_DMA_MODULE_ENABLED
#define HAL_RCC_MODULE_ENABLED
#define HAL_FLASH_MODULE_ENABLED
#define HAL_PWR_MODULE_ENABLED
#define HAL_CORTEX_MODULE_ENABLED
/* ########################## Oscillator Values adaptation ####################*/
/**
* @brief Adjust the value of External High Speed oscillator (HSE) used in your application.
* This value is used by the RCC HAL module to compute the system frequency
* (when HSE is used as system clock source, directly or through the PLL).
*/
#if !defined (HSE_VALUE)
#define HSE_VALUE ((uint32_t)8000000) /*!< Value of the External oscillator in Hz */
#endif /* HSE_VALUE */
#if !defined (HSE_STARTUP_TIMEOUT)
#define HSE_STARTUP_TIMEOUT ((uint32_t)100) /*!< Time out for HSE start up, in ms */
#endif /* HSE_STARTUP_TIMEOUT */
/**
* @brief Internal Multiple Speed oscillator (MSI) default value.
* This value is the default MSI range value after Reset.
*/
#if !defined (MSI_VALUE)
#define MSI_VALUE ((uint32_t)16000000) /*!< Value of the Internal oscillator in Hz*/
#endif /* MSI_VALUE */
/**
* @brief Internal High Speed oscillator (HSI) value.
* This value is used by the RCC HAL module to compute the system frequency
* (when HSI is used as system clock source, directly or through the PLL).
*/
#if !defined (HSI_VALUE)
#define HSI_VALUE ((uint32_t)16000000) /*!< Value of the Internal oscillator in Hz*/
#endif /* HSI_VALUE */
/**
* @brief Internal Low Speed oscillator (LSI) value.
*/
#if !defined (LSI_VALUE)
#define LSI_VALUE (37000U) /*!< LSI Typical Value in Hz*/
#endif /* LSI_VALUE */ /*!< Value of the Internal Low Speed oscillator in Hz
The real value may vary depending on the variations
in voltage and temperature.*/
/**
* @brief External Low Speed oscillator (LSE) value.
* This value is used by the UART, RTC HAL module to compute the system frequency
*/
#if !defined (LSE_VALUE)
#define LSE_VALUE ((uint32_t)32768) /*!< Value of the External oscillator in Hz*/
#endif /* LSE_VALUE */
#if !defined (LSE_STARTUP_TIMEOUT)
#define LSE_STARTUP_TIMEOUT ((uint32_t)5000) /*!< Time out for LSE start up, in ms */
#endif /* HSE_STARTUP_TIMEOUT */
/* Tip: To avoid modifying this file each time you need to use different HSE,
=== you can define the HSE value in your toolchain compiler preprocessor. */
/* ########################### System Configuration ######################### */
/**
* @brief This is the HAL system configuration section
*/
#define VDD_VALUE ((uint32_t)3300) /*!< Value of VDD in mv */
#define TICK_INT_PRIORITY ((uint32_t)0) /*!< tick interrupt priority */
#define USE_RTOS 0
#define PREFETCH_ENABLE 0
#define INSTRUCTION_CACHE_ENABLE 1
#define DATA_CACHE_ENABLE 1
/* ########################## Assert Selection ############################## */
/**
* @brief Uncomment the line below to expanse the "assert_param" macro in the
* HAL drivers code
*/
/* #define USE_FULL_ASSERT 1U */
/* ################## Register callback feature configuration ############### */
/**
* @brief Set below the peripheral configuration to "1U" to add the support
* of HAL callback registration/deregistration feature for the HAL
* driver(s). This allows user application to provide specific callback
* functions thanks to HAL_PPP_RegisterCallback() rather than overwriting
* the default weak callback functions (see each stm32l0xx_hal_ppp.h file
* for possible callback identifiers defined in HAL_PPP_CallbackIDTypeDef
* for each PPP peripheral).
*/
#define USE_HAL_ADC_REGISTER_CALLBACKS 0U
#define USE_HAL_COMP_REGISTER_CALLBACKS 0U
#define USE_HAL_DAC_REGISTER_CALLBACKS 0U
#define USE_HAL_I2C_REGISTER_CALLBACKS 0U
#define USE_HAL_I2S_REGISTER_CALLBACKS 0U
#define USE_HAL_IRDA_REGISTER_CALLBACKS 0U
#define USE_HAL_OPAMP_REGISTER_CALLBACKS 0U
#define USE_HAL_PCD_REGISTER_CALLBACKS 0U
#define USE_HAL_RTC_REGISTER_CALLBACKS 0U
#define USE_HAL_SDMMC_REGISTER_CALLBACKS 0U
#define USE_HAL_SMARTCARD_REGISTER_CALLBACKS 0U
#define USE_HAL_SPI_REGISTER_CALLBACKS 0U
#define USE_HAL_TIM_REGISTER_CALLBACKS 0U
#define USE_HAL_UART_REGISTER_CALLBACKS 0U
#define USE_HAL_USART_REGISTER_CALLBACKS 0U
#define USE_HAL_WWDG_REGISTER_CALLBACKS 0U
/* ################## SPI peripheral configuration ########################## */
/* CRC FEATURE: Use to activate CRC feature inside HAL SPI Driver
* Activated: CRC code is present inside driver
* Deactivated: CRC code cleaned from driver
*/
#define USE_SPI_CRC 0U
/* Includes ------------------------------------------------------------------*/
/**
* @brief Include module's header file
*/
#ifdef HAL_RCC_MODULE_ENABLED
#include "stm32l1xx_hal_rcc.h"
#endif /* HAL_RCC_MODULE_ENABLED */
#ifdef HAL_GPIO_MODULE_ENABLED
#include "stm32l1xx_hal_gpio.h"
#endif /* HAL_GPIO_MODULE_ENABLED */
#ifdef HAL_DMA_MODULE_ENABLED
#include "stm32l1xx_hal_dma.h"
#endif /* HAL_DMA_MODULE_ENABLED */
#ifdef HAL_CORTEX_MODULE_ENABLED
#include "stm32l1xx_hal_cortex.h"
#endif /* HAL_CORTEX_MODULE_ENABLED */
#ifdef HAL_ADC_MODULE_ENABLED
#include "stm32l1xx_hal_adc.h"
#endif /* HAL_ADC_MODULE_ENABLED */
#ifdef HAL_COMP_MODULE_ENABLED
#include "stm32l1xx_hal_comp.h"
#endif /* HAL_COMP_MODULE_ENABLED */
#ifdef HAL_CRC_MODULE_ENABLED
#include "stm32l1xx_hal_crc.h"
#endif /* HAL_CRC_MODULE_ENABLED */
#ifdef HAL_CRYP_MODULE_ENABLED
#include "stm32l1xx_hal_cryp.h"
#endif /* HAL_CRYP_MODULE_ENABLED */
#ifdef HAL_DAC_MODULE_ENABLED
#include "stm32l1xx_hal_dac.h"
#endif /* HAL_DAC_MODULE_ENABLED */
#ifdef HAL_FLASH_MODULE_ENABLED
#include "stm32l1xx_hal_flash.h"
#endif /* HAL_FLASH_MODULE_ENABLED */
#ifdef HAL_SRAM_MODULE_ENABLED
#include "stm32l1xx_hal_sram.h"
#endif /* HAL_SRAM_MODULE_ENABLED */
#ifdef HAL_NOR_MODULE_ENABLED
#include "stm32l1xx_hal_nor.h"
#endif /* HAL_NOR_MODULE_ENABLED */
#ifdef HAL_I2C_MODULE_ENABLED
#include "stm32l1xx_hal_i2c.h"
#endif /* HAL_I2C_MODULE_ENABLED */
#ifdef HAL_I2S_MODULE_ENABLED
#include "stm32l1xx_hal_i2s.h"
#endif /* HAL_I2S_MODULE_ENABLED */
#ifdef HAL_IWDG_MODULE_ENABLED
#include "stm32l1xx_hal_iwdg.h"
#endif /* HAL_IWDG_MODULE_ENABLED */
#ifdef HAL_LCD_MODULE_ENABLED
#include "stm32l1xx_hal_lcd.h"
#endif /* HAL_LCD_MODULE_ENABLED */
#ifdef HAL_OPAMP_MODULE_ENABLED
#include "stm32l1xx_hal_opamp.h"
#endif /* HAL_OPAMP_MODULE_ENABLED */
#ifdef HAL_PWR_MODULE_ENABLED
#include "stm32l1xx_hal_pwr.h"
#endif /* HAL_PWR_MODULE_ENABLED */
#ifdef HAL_RTC_MODULE_ENABLED
#include "stm32l1xx_hal_rtc.h"
#endif /* HAL_RTC_MODULE_ENABLED */
#ifdef HAL_SD_MODULE_ENABLED
#include "stm32l1xx_hal_sd.h"
#endif /* HAL_SD_MODULE_ENABLED */
#ifdef HAL_SPI_MODULE_ENABLED
#include "stm32l1xx_hal_spi.h"
#endif /* HAL_SPI_MODULE_ENABLED */
#ifdef HAL_TIM_MODULE_ENABLED
#include "stm32l1xx_hal_tim.h"
#endif /* HAL_TIM_MODULE_ENABLED */
#ifdef HAL_UART_MODULE_ENABLED
#include "stm32l1xx_hal_uart.h"
#endif /* HAL_UART_MODULE_ENABLED */
#ifdef HAL_USART_MODULE_ENABLED
#include "stm32l1xx_hal_usart.h"
#endif /* HAL_USART_MODULE_ENABLED */
#ifdef HAL_IRDA_MODULE_ENABLED
#include "stm32l1xx_hal_irda.h"
#endif /* HAL_IRDA_MODULE_ENABLED */
#ifdef HAL_SMARTCARD_MODULE_ENABLED
#include "stm32l1xx_hal_smartcard.h"
#endif /* HAL_SMARTCARD_MODULE_ENABLED */
#ifdef HAL_WWDG_MODULE_ENABLED
#include "stm32l1xx_hal_wwdg.h"
#endif /* HAL_WWDG_MODULE_ENABLED */
#ifdef HAL_PCD_MODULE_ENABLED
#include "stm32l1xx_hal_pcd.h"
#endif /* HAL_PCD_MODULE_ENABLED */
#ifdef HAL_EXTI_MODULE_ENABLED
#include "stm32l1xx_hal_exti.h"
#endif /* HAL_EXTI_MODULE_ENABLED */
/* Exported macro ------------------------------------------------------------*/
#ifdef USE_FULL_ASSERT
/**
* @brief The assert_param macro is used for function's parameters check.
* @param expr: If expr is false, it calls assert_failed function
* which reports the name of the source file and the source
* line number of the call that failed.
* If expr is true, it returns no value.
* @retval None
*/
#define assert_param(expr) ((expr) ? (void)0U : assert_failed((uint8_t *)__FILE__, __LINE__))
/* Exported functions ------------------------------------------------------- */
void assert_failed(uint8_t* file, uint32_t line);
#else
#define assert_param(expr) ((void)0U)
#endif /* USE_FULL_ASSERT */
#ifdef __cplusplus
}
#endif
#endif /* __STM32L1xx_HAL_CONF_H */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file stm32l1xx_it.h
* @brief This file contains the headers of the interrupt handlers.
******************************************************************************
* @attention
*
* <h2><center>&copy; Copyright (c) 2020 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under BSD 3-Clause license,
* the "License"; You may not use this file except in compliance with the
* License. You may obtain a copy of the License at:
* opensource.org/licenses/BSD-3-Clause
*
******************************************************************************
*/
/* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __STM32L1xx_IT_H
#define __STM32L1xx_IT_H
#ifdef __cplusplus
extern "C" {
#endif
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Exported types ------------------------------------------------------------*/
/* USER CODE BEGIN ET */
/* USER CODE END ET */
/* Exported constants --------------------------------------------------------*/
/* USER CODE BEGIN EC */
/* USER CODE END EC */
/* Exported macro ------------------------------------------------------------*/
/* USER CODE BEGIN EM */
/* USER CODE END EM */
/* Exported functions prototypes ---------------------------------------------*/
void NMI_Handler(void);
void HardFault_Handler(void);
void MemManage_Handler(void);
void BusFault_Handler(void);
void UsageFault_Handler(void);
void SVC_Handler(void);
void DebugMon_Handler(void);
void PendSV_Handler(void);
void SysTick_Handler(void);
/* USER CODE BEGIN EFP */
/* USER CODE END EFP */
#ifdef __cplusplus
}
#endif
#endif /* __STM32L1xx_IT_H */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

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/**
******************************************************************************
* @file stm32l1xx_nucleo.h
* @author MCD Application Team
* @brief This file contains definitions for:
* - LEDs and push-button available on STM32L1XX-Nucleo Kit
* from STMicroelectronics
* - LCD, joystick and microSD available on Adafruit 1.8 TFT LCD
* shield (reference ID 802)
******************************************************************************
* @attention
*
* <h2><center>&copy; Copyright (c) 2017 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under BSD 3-Clause license,
* the "License"; You may not use this file except in compliance with the
* License. You may obtain a copy of the License at:
* opensource.org/licenses/BSD-3-Clause
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __STM32L1XX_NUCLEO_H
#define __STM32L1XX_NUCLEO_H
#ifdef __cplusplus
extern "C" {
#endif
/** @addtogroup BSP
* @{
*/
/** @addtogroup STM32L1XX_NUCLEO
* @{
*/
/* Includes ------------------------------------------------------------------*/
#include "stm32l1xx_hal.h"
/** @defgroup STM32L1XX_NUCLEO_Exported_Types Exported Types
* @{
*/
typedef enum
{
LED2 = 0,
LED_GREEN = LED2
} Led_TypeDef;
typedef enum
{
BUTTON_USER = 0,
/* Alias */
BUTTON_KEY = BUTTON_USER
} Button_TypeDef;
typedef enum
{
BUTTON_MODE_GPIO = 0,
BUTTON_MODE_EXTI = 1
} ButtonMode_TypeDef;
typedef enum
{
JOY_NONE = 0,
JOY_SEL = 1,
JOY_DOWN = 2,
JOY_LEFT = 3,
JOY_RIGHT = 4,
JOY_UP = 5
} JOYState_TypeDef;
/**
* @}
*/
/** @defgroup STM32L1XX_NUCLEO_Exported_Constants Exported Constants
* @{
*/
/**
* @brief Define for STM32L1xx_NUCLEO board
*/
#if !defined (USE_STM32L1xx_NUCLEO)
#define USE_STM32L1xx_NUCLEO
#endif
/** @defgroup STM32L1XX_NUCLEO_LED LED Constants
* @{
*/
#define LEDn 1
#define LED2_PIN GPIO_PIN_5
#define LED2_GPIO_PORT GPIOA
#define LED2_GPIO_CLK_ENABLE() __HAL_RCC_GPIOA_CLK_ENABLE()
#define LED2_GPIO_CLK_DISABLE() __HAL_RCC_GPIOA_CLK_DISABLE()
#define LEDx_GPIO_CLK_ENABLE(__INDEX__) do { if((__INDEX__) == 0) LED2_GPIO_CLK_ENABLE();} while(0)
#define LEDx_GPIO_CLK_DISABLE(__INDEX__) (((__INDEX__) == 0) ? LED2_GPIO_CLK_DISABLE() : 0)
/**
* @}
*/
/** @defgroup STM32L1XX_NUCLEO_BUTTON BUTTON Constants
* @{
*/
#define BUTTONn 1
/**
* @brief User push-button
*/
#define USER_BUTTON_PIN GPIO_PIN_13
#define USER_BUTTON_GPIO_PORT GPIOC
#define USER_BUTTON_GPIO_CLK_ENABLE() __HAL_RCC_GPIOC_CLK_ENABLE()
#define USER_BUTTON_GPIO_CLK_DISABLE() __HAL_RCC_GPIOC_CLK_DISABLE()
#define USER_BUTTON_EXTI_IRQn EXTI15_10_IRQn
/* Aliases */
#define KEY_BUTTON_PIN USER_BUTTON_PIN
#define KEY_BUTTON_GPIO_PORT USER_BUTTON_GPIO_PORT
#define KEY_BUTTON_GPIO_CLK_ENABLE() USER_BUTTON_GPIO_CLK_ENABLE()
#define KEY_BUTTON_GPIO_CLK_DISABLE() USER_BUTTON_GPIO_CLK_DISABLE()
#define KEY_BUTTON_EXTI_IRQn USER_BUTTON_EXTI_IRQn
#define BUTTONx_GPIO_CLK_ENABLE(__INDEX__) do { if((__INDEX__) == 0) USER_BUTTON_GPIO_CLK_ENABLE();} while(0)
#define BUTTONx_GPIO_CLK_DISABLE(__INDEX__) (((__INDEX__) == 0) ? USER_BUTTON_GPIO_CLK_DISABLE() : 0)
/**
* @}
*/
/** @addtogroup STM32L1XX_NUCLEO_BUS BUS Constants
* @{
*/
/*###################### SPI1 ###################################*/
#define NUCLEO_SPIx SPI1
#define NUCLEO_SPIx_CLK_ENABLE() __HAL_RCC_SPI1_CLK_ENABLE()
#define NUCLEO_SPIx_SCK_AF GPIO_AF5_SPI1
#define NUCLEO_SPIx_SCK_GPIO_PORT GPIOA
#define NUCLEO_SPIx_SCK_PIN GPIO_PIN_5
#define NUCLEO_SPIx_SCK_GPIO_CLK_ENABLE() __HAL_RCC_GPIOA_CLK_ENABLE()
#define NUCLEO_SPIx_SCK_GPIO_CLK_DISABLE() __HAL_RCC_GPIOA_CLK_DISABLE()
#define NUCLEO_SPIx_MISO_MOSI_AF GPIO_AF5_SPI1
#define NUCLEO_SPIx_MISO_MOSI_GPIO_PORT GPIOA
#define NUCLEO_SPIx_MISO_MOSI_GPIO_CLK_ENABLE() __HAL_RCC_GPIOA_CLK_ENABLE()
#define NUCLEO_SPIx_MISO_MOSI_GPIO_CLK_DISABLE() __HAL_RCC_GPIOA_CLK_DISABLE()
#define NUCLEO_SPIx_MISO_PIN GPIO_PIN_6
#define NUCLEO_SPIx_MOSI_PIN GPIO_PIN_7
/* Maximum Timeout values for flags waiting loops. These timeouts are not based
on accurate values, they just guarantee that the application will not remain
stuck if the SPI communication is corrupted.
You may modify these timeout values depending on CPU frequency and application
conditions (interrupts routines ...). */
#define NUCLEO_SPIx_TIMEOUT_MAX 1000
/**
* @brief SD Control Lines management
*/
#define SD_CS_LOW() HAL_GPIO_WritePin(SD_CS_GPIO_PORT, SD_CS_PIN, GPIO_PIN_RESET)
#define SD_CS_HIGH() HAL_GPIO_WritePin(SD_CS_GPIO_PORT, SD_CS_PIN, GPIO_PIN_SET)
/**
* @brief LCD Control Lines management
*/
#define LCD_CS_LOW() HAL_GPIO_WritePin(LCD_CS_GPIO_PORT, LCD_CS_PIN, GPIO_PIN_RESET)
#define LCD_CS_HIGH() HAL_GPIO_WritePin(LCD_CS_GPIO_PORT, LCD_CS_PIN, GPIO_PIN_SET)
#define LCD_DC_LOW() HAL_GPIO_WritePin(LCD_DC_GPIO_PORT, LCD_DC_PIN, GPIO_PIN_RESET)
#define LCD_DC_HIGH() HAL_GPIO_WritePin(LCD_DC_GPIO_PORT, LCD_DC_PIN, GPIO_PIN_SET)
/**
* @brief SD Control Interface pins (shield D4)
*/
#define SD_CS_PIN GPIO_PIN_5
#define SD_CS_GPIO_PORT GPIOB
#define SD_CS_GPIO_CLK_ENABLE() __HAL_RCC_GPIOB_CLK_ENABLE()
#define SD_CS_GPIO_CLK_DISABLE() __HAL_RCC_GPIOB_CLK_DISABLE()
/**
* @brief LCD Control Interface pins (shield D10)
*/
#define LCD_CS_PIN GPIO_PIN_6
#define LCD_CS_GPIO_PORT GPIOB
#define LCD_CS_GPIO_CLK_ENABLE() __HAL_RCC_GPIOB_CLK_ENABLE()
#define LCD_CS_GPIO_CLK_DISABLE() __HAL_RCC_GPIOB_CLK_DISABLE()
/**
* @brief LCD Data/Command Interface pins
*/
#define LCD_DC_PIN GPIO_PIN_9
#define LCD_DC_GPIO_PORT GPIOA
#define LCD_DC_GPIO_CLK_ENABLE() __HAL_RCC_GPIOA_CLK_ENABLE()
#define LCD_DC_GPIO_CLK_DISABLE() __HAL_RCC_GPIOA_CLK_DISABLE()
/*##################### ADC1 ###################################*/
/**
* @brief ADC Interface pins
* used to detect motion of Joystick available on Adafruit 1.8 TFT shield
*/
#define NUCLEO_ADCx ADC1
#define NUCLEO_ADCx_CLK_ENABLE() __HAL_RCC_ADC1_CLK_ENABLE()
#define NUCLEO_ADCx_CLK_DISABLE() __HAL_RCC_ADC1_CLK_DISABLE()
#define NUCLEO_ADCx_GPIO_PORT GPIOB
#define NUCLEO_ADCx_GPIO_PIN GPIO_PIN_0
#define NUCLEO_ADCx_GPIO_CLK_ENABLE() __HAL_RCC_GPIOB_CLK_ENABLE()
#define NUCLEO_ADCx_GPIO_CLK_DISABLE() __HAL_RCC_GPIOB_CLK_DISABLE()
/**
* @}
*/
/**
* @}
*/
/** @addtogroup STM32L1XX_NUCLEO_Exported_Functions
* @{
*/
uint32_t BSP_GetVersion(void);
/** @addtogroup STM32L1XX_NUCLEO_LED_Functions
* @{
*/
void BSP_LED_Init(Led_TypeDef Led);
void BSP_LED_DeInit(Led_TypeDef Led);
void BSP_LED_On(Led_TypeDef Led);
void BSP_LED_Off(Led_TypeDef Led);
void BSP_LED_Toggle(Led_TypeDef Led);
/**
* @}
*/
/** @addtogroup STM32L1XX_NUCLEO_BUTTON_Functions
* @{
*/
void BSP_PB_Init(Button_TypeDef Button, ButtonMode_TypeDef ButtonMode);
void BSP_PB_DeInit(Button_TypeDef Button);
uint32_t BSP_PB_GetState(Button_TypeDef Button);
#if defined(HAL_ADC_MODULE_ENABLED)
uint8_t BSP_JOY_Init(void);
JOYState_TypeDef BSP_JOY_GetState(void);
void BSP_JOY_DeInit(void);
#endif /* HAL_ADC_MODULE_ENABLED */
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
#ifdef __cplusplus
}
#endif
#endif /* __STM32L1XX_NUCLEO_H */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

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/**
******************************************************************************
* @file x_nucleo_ihm05a1_stm32l0xx.h
* @author IPC Rennes
* @version V1.5.0
* @date June 1st, 2018
* @brief Header for BSP driver for x-nucleo-ihm05a1 Nucleo extension board
* (based on L6208)
******************************************************************************
* @attention
*
* <h2><center>&copy; COPYRIGHT(c) 2018 STMicroelectronics</center></h2>
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef X_NUCLEO_IHM05A1_STM32L0XX_H
#define X_NUCLEO_IHM05A1_STM32L0XX_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "stm32l1xx_nucleo.h"
/** @addtogroup BSP
* @{
*/
/** @addtogroup X_NUCLEO_IHM05A1_STM32L0XX
* @{
*/
/* Exported Constants --------------------------------------------------------*/
/** @defgroup IHM05A1_Exported_Constants IHM05A1 Exported Constants
* @{
*/
/******************************************************************************/
/* USE_STM32L0XX_NUCLEO */
/******************************************************************************/
/** @defgroup Constants_For_STM32L0XX_NUCLEO Constants For STM32L0XX NUCLEO
* @{
*/
/// GPIO Pin used for the VREFA
#define BSP_MOTOR_CONTROL_BOARD_VREFA_PIN (GPIO_PIN_3)
/// GPIO port used for the VREFA
#define BSP_MOTOR_CONTROL_BOARD_VREFA_PORT (GPIOB)
/// Interrupt line used for L6208 OCD and OVT
#define FLAG_EXTI_LINE_IRQn (EXTI4_15_IRQn)
/// Timer used to generate the VREFA PWM
#define BSP_MOTOR_CONTROL_BOARD_TIMER_VREFA_PWM (TIM2)
/// Timer used to generate the VREFB PWM
#define BSP_MOTOR_CONTROL_BOARD_TIMER_VREFB_PWM (TIM22)
/// Channel Timer used for the VREFA PWM
#define BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_VREFA_PWM (TIM_CHANNEL_2)
/// Channel Timer used for the VREFB PWM
#define BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_VREFB_PWM (TIM_CHANNEL_2)
/// HAL Active Channel Timer used for the VREFA PWM
#define BSP_MOTOR_CONTROL_BOARD_HAL_ACT_CHAN_TIMER_VREFA_PWM (HAL_TIM_ACTIVE_CHANNEL_2)
/// HAL Active Channel Timer used for the VREFB PWM
#define BSP_MOTOR_CONTROL_BOARD_HAL_ACT_CHAN_TIMER_VREFB_PWM (HAL_TIM_ACTIVE_CHANNEL_2)
/// Timer Clock Enable for the VREFA PWM
#define __BSP_MOTOR_CONTROL_BOARD_TIMER_VREFA_PWM_CLCK_ENABLE() __TIM2_CLK_ENABLE()
/// Timer Clock Disable for the VREFA PWM
#define __BSP_MOTOR_CONTROL_BOARD_TIMER_VREFA_PWM_CLCK_DISABLE() __TIM2_CLK_DISABLE()
/// Timer Clock Enable for the VREFB PWMs
#define __BSP_MOTOR_CONTROL_BOARD_TIMER_VREFB_PWM_CLCK_ENABLE() __TIM22_CLK_ENABLE()
/// Timer Clock Disable for the VREFB PWMs
#define __BSP_MOTOR_CONTROL_BOARD_TIMER_VREFB_PWM_CLCK_DISABLE() __TIM22_CLK_DISABLE()
/// VREFA PWM GPIO alternate function
#define BSP_MOTOR_CONTROL_BOARD_AFx_TIMx_VREFA_PWM (GPIO_AF2_TIM2)
/// VREFB PWM GPIO alternate function
#define BSP_MOTOR_CONTROL_BOARD_AFx_TIMx_VREFB_PWM (GPIO_AF0_TIM22)
/// Timer used to generate the tick
#define BSP_MOTOR_CONTROL_BOARD_TIMER_TICK (TIM21)
/// tick timer global interrupt
#define BSP_MOTOR_CONTROL_BOARD_TIMER_TICK_IRQn (TIM21_IRQn)
/// Channel Timer used for the tick
#define BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_TICK (TIM_CHANNEL_1)
/// Timer Clock Enable for the tick
#define __BSP_MOTOR_CONTROL_BOARD_TIMER_TICK_CLCK_ENABLE() __TIM21_CLK_ENABLE()
/// Timer Clock Disable for the tick
#define __BSP_MOTOR_CONTROL_BOARD_TIMER_TICK_CLCK_DISABLE() __TIM21_CLK_DISABLE()
/// HAL Active Channel Timer used for the tick
#define BSP_MOTOR_CONTROL_BOARD_HAL_ACT_CHAN_TIMER_TICK (HAL_TIM_ACTIVE_CHANNEL_1)
/// Flag interrupt priority
#define BSP_MOTOR_CONTROL_BOARD_EN_AND_FLAG_PRIORITY (1)
/// tick timer priority (lower than flag interrupt priority)
#define BSP_MOTOR_CONTROL_BOARD_TIMER_TICK_PRIORITY (BSP_MOTOR_CONTROL_BOARD_EN_AND_FLAG_PRIORITY + 1)
/**
* @}
*/
/******************************************************************************/
/* Independent plateform definitions */
/******************************************************************************/
/** @defgroup Constants_For_All_Nucleo_Platforms Constants For All Nucleo Platforms
* @{
*/
/// GPIO Pin used for the VREFB
#define BSP_MOTOR_CONTROL_BOARD_VREFB_PIN (GPIO_PIN_7)
/// GPIO Port used for the VREFB
#define BSP_MOTOR_CONTROL_BOARD_VREFB_PORT (GPIOC)
/// GPIO Pin used for the L6208 clock pin (step clock input)
#define BSP_MOTOR_CONTROL_BOARD_CLOCK_PIN (GPIO_PIN_10)
/// GPIO port used for the L6208 clock pin (step clock input)
#define BSP_MOTOR_CONTROL_BOARD_CLOCK_PORT (GPIOB)
/// GPIO Pin used for the L6208 CW/CCW pin (direction)
#define BSP_MOTOR_CONTROL_BOARD_DIR_PIN (GPIO_PIN_8)
/// GPIO port used for the L6208 CW/CCW pin (direction)
#define BSP_MOTOR_CONTROL_BOARD_DIR_PORT (GPIOA)
/// GPIO Pin used for the L6208 HALF/FULL pin (step mode selector)
#define BSP_MOTOR_CONTROL_BOARD_HALF_FULL_PIN (GPIO_PIN_5)
/// GPIO port used for the L6208 HALF/FULL pin (step mode selector)
#define BSP_MOTOR_CONTROL_BOARD_HALF_FULL_PORT (GPIOB)
/// GPIO Pin used for the L6208 control pin (decay mode selector)
#define BSP_MOTOR_CONTROL_BOARD_CONTROL_PIN (GPIO_PIN_4)
/// GPIO port used for the L6208 control pin (decay mode selector)
#define BSP_MOTOR_CONTROL_BOARD_CONTROL_PORT (GPIOB)
/// GPIO Pin used for the L6208 reset pin
#define BSP_MOTOR_CONTROL_BOARD_RESET_PIN (GPIO_PIN_9)
/// GPIO port used for the L6208 reset pin
#define BSP_MOTOR_CONTROL_BOARD_RESET_PORT (GPIOA)
/// GPIO Pin used for the L6208 EN pin (chip enable) and OCD and OVT alarms
#define BSP_MOTOR_CONTROL_BOARD_EN_AND_FLAG_PIN (GPIO_PIN_10)
/// GPIO port used for the L6208 EN pin (chip enable) OCD and OVT alarms
#define BSP_MOTOR_CONTROL_BOARD_EN_AND_FLAG_PORT (GPIOA)
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
#ifdef __cplusplus
}
#endif
#endif /* X_NUCLEO_IHM05A1_STM32L0XX_H */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

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/**
******************************************************************************
* @file x_nucleo_ihmxx.h
* @author IPC Rennes
* @version V1.7.0
* @date March 16th, 2018
* @brief This file provides common definitions for motor control
******************************************************************************
* @attention
*
* <h2><center>&copy; COPYRIGHT(c) 2018 STMicroelectronics</center></h2>
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef X_NUCLEO_IHMXX_H
#define X_NUCLEO_IHMXX_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "motor.h"
/** @addtogroup BSP
* @{
*/
/** @addtogroup MOTOR_CONTROL
* @{
*/
/** @defgroup MOTOR_CONTROL_Exported_Types MOTOR CONTROL Exported Types
* @{
*/
/**
* @}
*/
/** @defgroup MOTOR_CONTROL_Exported_Constants MOTOR CONTROL Exported Constants
* @{
*/
/// Motor control error tag (used when trying to call undefined functions via motorDrvHandle)
#define MOTOR_CONTROL_ERROR_TAG (0x0800)
///Motor control board id for L6474
#define BSP_MOTOR_CONTROL_BOARD_ID_L6474 (6474)
///Motor control board id for L6470
#define BSP_MOTOR_CONTROL_BOARD_ID_L6470 (6470)
///Motor control board id for L6472
#define BSP_MOTOR_CONTROL_BOARD_ID_L6472 (6472)
///Motor control board id for L6480
#define BSP_MOTOR_CONTROL_BOARD_ID_L6480 (6480)
///Motor control board id for L6482
#define BSP_MOTOR_CONTROL_BOARD_ID_L6482 (6482)
///Motor control board id for L6474
#define BSP_MOTOR_CONTROL_BOARD_ID_L6474 (6474)
///Motor control board id for Powerstep01
#define BSP_MOTOR_CONTROL_BOARD_ID_POWERSTEP01 (0001)
///Motor control board id for L6206
#define BSP_MOTOR_CONTROL_BOARD_ID_L6206 (6206)
///Motor control board id for L6208
#define BSP_MOTOR_CONTROL_BOARD_ID_L6208 (6208)
///Motor control board id for STSPIN220
#define BSP_MOTOR_CONTROL_BOARD_ID_STSPIN220 (220)
///Motor control board id for STSPIN240
#define BSP_MOTOR_CONTROL_BOARD_ID_STSPIN240 (240)
///Motor control board id for STSPIN250
#define BSP_MOTOR_CONTROL_BOARD_ID_STSPIN250 (250)
/**
* @}
*/
/** @defgroup MOTOR_CONTROL_Exported_Macros MOTOR CONTROL Exported Macros
* @{
*/
#if defined ( __GNUC__ )
#ifndef __weak
#define __weak __attribute__((weak))
#endif /* __weak */
#endif /* __GNUC__ */
/**
* @}
*/
/** @defgroup MOTOR_CONTROL_Weak_Function_Prototypes MOTOR CONTROL Weak Function Prototypes
* @{
*/
__weak motorDrv_t* L6474_GetMotorHandle(void);
__weak motorDrv_t* l647x_GetMotorHandle(void);
__weak motorDrv_t* l648x_GetMotorHandle(void);
__weak motorDrv_t* Powerstep01_GetMotorHandle(void);
__weak motorDrv_t* L6206_GetMotorHandle(void);
__weak motorDrv_t* L6208_GetMotorHandle(void);
__weak motorDrv_t* Stspin220_GetMotorHandle(void);
__weak motorDrv_t* Stspin240_250_GetMotorHandle(void);
/**
* @}
*/
/** @defgroup MOTOR_CONTROL_Exported_Functions MOTOR CONTROL Exported Functions
* @{
*/
void BSP_MotorControl_AttachErrorHandler(void (*callback)(uint16_t));
void BSP_MotorControl_AttachFlagInterrupt(void (*callback)(void));
void BSP_MotorControl_AttachBusyInterrupt(void (*callback)(void));
void BSP_MotorControl_ErrorHandler(uint16_t error);
void BSP_MotorControl_Init(uint16_t id, void* initDeviceParameters);
void BSP_MotorControl_FlagInterruptHandler(void);
uint16_t BSP_MotorControl_GetAcceleration(uint8_t deviceId);
uint16_t BSP_MotorControl_GetBoardId(void);
uint16_t BSP_MotorControl_GetCurrentSpeed(uint8_t deviceId);
uint16_t BSP_MotorControl_GetDeceleration(uint8_t deviceId);
motorState_t BSP_MotorControl_GetDeviceState(uint8_t deviceId);
uint32_t BSP_MotorControl_GetFwVersion(void);
int32_t BSP_MotorControl_GetMark(uint8_t deviceId);
uint16_t BSP_MotorControl_GetMaxSpeed(uint8_t deviceId);
uint16_t BSP_MotorControl_GetMinSpeed(uint8_t deviceId);
int32_t BSP_MotorControl_GetPosition(uint8_t deviceId);
void BSP_MotorControl_GoHome(uint8_t deviceId);
void BSP_MotorControl_GoMark(uint8_t deviceId);
void BSP_MotorControl_GoTo(uint8_t deviceId, int32_t targetPosition);
void BSP_MotorControl_HardStop(uint8_t deviceId);
void BSP_MotorControl_Move(uint8_t deviceId, motorDir_t direction, uint32_t stepCount);
void BSP_MotorControl_ResetAllDevices(void);
void BSP_MotorControl_Run(uint8_t deviceId, motorDir_t direction);
bool BSP_MotorControl_SetAcceleration(uint8_t deviceId,uint16_t newAcc);
bool BSP_MotorControl_SetDeceleration(uint8_t deviceId, uint16_t newDec);
void BSP_MotorControl_SetHome(uint8_t deviceId, int32_t homePosition);
void BSP_MotorControl_SetMark(uint8_t deviceId, int32_t markPosition);
bool BSP_MotorControl_SetMaxSpeed(uint8_t deviceId, uint16_t newMaxSpeed);
bool BSP_MotorControl_SetMinSpeed(uint8_t deviceId, uint16_t newMinSpeed);
bool BSP_MotorControl_SoftStop(uint8_t deviceId);
void BSP_MotorControl_StepClockHandler(uint8_t deviceId);
void BSP_MotorControl_WaitWhileActive(uint8_t deviceId);
void BSP_MotorControl_CmdDisable(uint8_t deviceId);
void BSP_MotorControl_CmdEnable(uint8_t deviceId);
uint32_t BSP_MotorControl_CmdGetParam(uint8_t deviceId, uint32_t param);
uint16_t BSP_MotorControl_CmdGetStatus(uint8_t deviceId);
void BSP_MotorControl_CmdNop(uint8_t deviceId);
void BSP_MotorControl_CmdSetParam(uint8_t deviceId, uint32_t param, uint32_t value);
uint16_t BSP_MotorControl_ReadStatusRegister(uint8_t deviceId);
void BSP_MotorControl_ReleaseReset(uint8_t deviceId);
void BSP_MotorControl_Reset(uint8_t deviceId);
bool BSP_MotorControl_SelectStepMode(uint8_t deviceId, motorStepMode_t stepMode);
void BSP_MotorControl_SetDirection(uint8_t deviceId, motorDir_t dir);
void BSP_MotorControl_CmdGoToDir(uint8_t deviceId, motorDir_t dir, int32_t abs_pos);
uint8_t BSP_MotorControl_CheckBusyHw(void);
uint8_t BSP_MotorControl_CheckStatusHw(void);
void BSP_MotorControl_CmdGoUntil(uint8_t deviceId, motorAction_t action, motorDir_t dir, uint32_t speed);
void BSP_MotorControl_CmdHardHiZ(uint8_t deviceId);
void BSP_MotorControl_CmdReleaseSw(uint8_t deviceId, motorAction_t action, motorDir_t dir);
void BSP_MotorControl_CmdResetDevice(uint8_t deviceId);
void BSP_MotorControl_CmdResetPos(uint8_t deviceId);
void BSP_MotorControl_CmdRun(uint8_t deviceId, motorDir_t dir, uint32_t speed);
void BSP_MotorControl_CmdSoftHiZ(uint8_t deviceId);
void BSP_MotorControl_CmdStepClock(uint8_t deviceId, motorDir_t dir);
void BSP_MotorControl_FetchAndClearAllStatus(void);
uint16_t BSP_MotorControl_GetFetchedStatus(uint8_t deviceId);
uint8_t BSP_MotorControl_GetNbDevices(void);
bool BSP_MotorControl_IsDeviceBusy(uint8_t deviceId);
void BSP_MotorControl_SendQueuedCommands(void);
void BSP_MotorControl_QueueCommands(uint8_t deviceId, uint8_t command, int32_t value);
void BSP_MotorControl_WaitForAllDevicesNotBusy(void);
void BSP_MotorControl_BusyInterruptHandler(void);
void BSP_MotorControl_CmdSoftStop(uint8_t deviceId);
void BSP_MotorControl_StartStepClock(uint16_t newFreq);
void BSP_MotorControl_StopStepClock(void);
void BSP_MotorControl_SetDualFullBridgeConfig(uint8_t config);
uint32_t BSP_MotorControl_GetBridgeInputPwmFreq(uint8_t bridgeId);
void BSP_MotorControl_SetBridgeInputPwmFreq(uint8_t bridgeId, uint32_t newFreq);
void BSP_MotorControl_SetStopMode(uint8_t deviceId, motorStopMode_t stopMode);
motorStopMode_t BSP_MotorControl_GetStopMode(uint8_t deviceId);
void BSP_MotorControl_SetDecayMode(uint8_t deviceId, motorDecayMode_t decayMode);
motorDecayMode_t BSP_MotorControl_GetDecayMode(uint8_t deviceId);
motorStepMode_t BSP_MotorControl_GetStepMode(uint8_t deviceId);
motorDir_t BSP_MotorControl_GetDirection(uint8_t deviceId);
void BSP_MotorControl_ExitDeviceFromReset(uint8_t deviceId);
uint8_t BSP_MotorControl_GetTorque(uint8_t deviceId, motorTorqueMode_t torqueMode);
void BSP_MotorControl_SetTorque(uint8_t deviceId, motorTorqueMode_t torqueMode, uint8_t torqueValue);
void BSP_MotorControl_SetRefFreq(uint8_t refId, uint32_t newFreq);
uint32_t BSP_MotorControl_GetRefFreq(uint8_t refId);
void BSP_MotorControl_SetRefDc(uint8_t refId, uint8_t newDc);
uint8_t BSP_MotorControl_GetRefDc(uint8_t refId);
bool BSP_MotorControl_SetNbDevices(uint16_t id, uint8_t nbDevices);
bool BSP_MotorControl_SetAnalogValue(uint8_t deviceId, uint32_t param, float value);
float BSP_MotorControl_GetAnalogValue(uint8_t deviceId, uint32_t param);
void BSP_MotorControl_SetTorqueBoostEnable(uint8_t deviceId, bool enable);
bool BSP_MotorControl_GetTorqueBoostEnable(uint8_t deviceId);
void BSP_MotorControl_SetTorqueBoostThreshold(uint8_t deviceId, uint16_t speedThreshold);
uint16_t BSP_MotorControl_GetTorqueBoostThreshold(uint8_t deviceId);
uint8_t BSP_MotorControl_GetDualFullBridgeConfig(void);
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
#ifdef __cplusplus
}
#endif
#endif /* X_NUCLEO_IHMXX_H */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* <h2><center>&copy; Copyright (c) 2020 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under BSD 3-Clause license,
* the "License"; You may not use this file except in compliance with the
* License. You may obtain a copy of the License at:
* opensource.org/licenses/BSD-3-Clause
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
UART_HandleTypeDef huart2;
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_USART2_UART_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_USART2_UART_Init();
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/** Configure the main internal regulator output voltage
*/
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL6;
RCC_OscInitStruct.PLL.PLLDIV = RCC_PLL_DIV3;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
/** Initializes the CPU, AHB and APB buses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1) != HAL_OK)
{
Error_Handler();
}
}
/**
* @brief USART2 Initialization Function
* @param None
* @retval None
*/
static void MX_USART2_UART_Init(void)
{
/* USER CODE BEGIN USART2_Init 0 */
/* USER CODE END USART2_Init 0 */
/* USER CODE BEGIN USART2_Init 1 */
/* USER CODE END USART2_Init 1 */
huart2.Instance = USART2;
huart2.Init.BaudRate = 115200;
huart2.Init.WordLength = UART_WORDLENGTH_8B;
huart2.Init.StopBits = UART_STOPBITS_1;
huart2.Init.Parity = UART_PARITY_NONE;
huart2.Init.Mode = UART_MODE_TX_RX;
huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart2.Init.OverSampling = UART_OVERSAMPLING_16;
if (HAL_UART_Init(&huart2) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN USART2_Init 2 */
/* USER CODE END USART2_Init 2 */
}
/**
* @brief GPIO Initialization Function
* @param None
* @retval None
*/
static void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOH_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(LD2_GPIO_Port, LD2_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin : B1_Pin */
GPIO_InitStruct.Pin = B1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(B1_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : LD2_Pin */
GPIO_InitStruct.Pin = LD2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(LD2_GPIO_Port, &GPIO_InitStruct);
}
/* USER CODE BEGIN 4 */
/* USER CODE END 4 */
/**
* @brief This function is executed in case of error occurrence.
* @retval None
*/
void Error_Handler(void)
{
/* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL error return state */
__disable_irq();
while (1)
{
}
/* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* @param file: pointer to the source file name
* @param line: assert_param error line source number
* @retval None
*/
void assert_failed(uint8_t *file, uint32_t line)
{
/* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number,
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file stm32l1xx_hal_msp.c
* @brief This file provides code for the MSP Initialization
* and de-Initialization codes.
******************************************************************************
* @attention
*
* <h2><center>&copy; Copyright (c) 2020 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under BSD 3-Clause license,
* the "License"; You may not use this file except in compliance with the
* License. You may obtain a copy of the License at:
* opensource.org/licenses/BSD-3-Clause
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN TD */
/* USER CODE END TD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN Define */
/* USER CODE END Define */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN Macro */
/* USER CODE END Macro */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* External functions --------------------------------------------------------*/
/* USER CODE BEGIN ExternalFunctions */
/* USER CODE END ExternalFunctions */
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/**
* Initializes the Global MSP.
*/
void HAL_MspInit(void)
{
/* USER CODE BEGIN MspInit 0 */
/* USER CODE END MspInit 0 */
__HAL_RCC_COMP_CLK_ENABLE();
__HAL_RCC_SYSCFG_CLK_ENABLE();
__HAL_RCC_PWR_CLK_ENABLE();
HAL_NVIC_SetPriorityGrouping(NVIC_PRIORITYGROUP_0);
/* System interrupt init*/
/* USER CODE BEGIN MspInit 1 */
/* USER CODE END MspInit 1 */
}
/**
* @brief UART MSP Initialization
* This function configures the hardware resources used in this example
* @param huart: UART handle pointer
* @retval None
*/
void HAL_UART_MspInit(UART_HandleTypeDef* huart)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
if(huart->Instance==USART2)
{
/* USER CODE BEGIN USART2_MspInit 0 */
/* USER CODE END USART2_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_USART2_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
/**USART2 GPIO Configuration
PA2 ------> USART2_TX
PA3 ------> USART2_RX
*/
GPIO_InitStruct.Pin = USART_TX_Pin|USART_RX_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF7_USART2;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USER CODE BEGIN USART2_MspInit 1 */
/* USER CODE END USART2_MspInit 1 */
}
}
/**
* @brief UART MSP De-Initialization
* This function freeze the hardware resources used in this example
* @param huart: UART handle pointer
* @retval None
*/
void HAL_UART_MspDeInit(UART_HandleTypeDef* huart)
{
if(huart->Instance==USART2)
{
/* USER CODE BEGIN USART2_MspDeInit 0 */
/* USER CODE END USART2_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_USART2_CLK_DISABLE();
/**USART2 GPIO Configuration
PA2 ------> USART2_TX
PA3 ------> USART2_RX
*/
HAL_GPIO_DeInit(GPIOA, USART_TX_Pin|USART_RX_Pin);
/* USER CODE BEGIN USART2_MspDeInit 1 */
/* USER CODE END USART2_MspDeInit 1 */
}
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file stm32l1xx_it.c
* @brief Interrupt Service Routines.
******************************************************************************
* @attention
*
* <h2><center>&copy; Copyright (c) 2020 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under BSD 3-Clause license,
* the "License"; You may not use this file except in compliance with the
* License. You may obtain a copy of the License at:
* opensource.org/licenses/BSD-3-Clause
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "stm32l1xx_it.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN TD */
/* USER CODE END TD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/* External variables --------------------------------------------------------*/
/* USER CODE BEGIN EV */
/* USER CODE END EV */
/******************************************************************************/
/* Cortex-M3 Processor Interruption and Exception Handlers */
/******************************************************************************/
/**
* @brief This function handles Non maskable interrupt.
*/
void NMI_Handler(void)
{
/* USER CODE BEGIN NonMaskableInt_IRQn 0 */
/* USER CODE END NonMaskableInt_IRQn 0 */
/* USER CODE BEGIN NonMaskableInt_IRQn 1 */
while (1)
{
}
/* USER CODE END NonMaskableInt_IRQn 1 */
}
/**
* @brief This function handles Hard fault interrupt.
*/
void HardFault_Handler(void)
{
/* USER CODE BEGIN HardFault_IRQn 0 */
/* USER CODE END HardFault_IRQn 0 */
while (1)
{
/* USER CODE BEGIN W1_HardFault_IRQn 0 */
/* USER CODE END W1_HardFault_IRQn 0 */
}
}
/**
* @brief This function handles Memory management fault.
*/
void MemManage_Handler(void)
{
/* USER CODE BEGIN MemoryManagement_IRQn 0 */
/* USER CODE END MemoryManagement_IRQn 0 */
while (1)
{
/* USER CODE BEGIN W1_MemoryManagement_IRQn 0 */
/* USER CODE END W1_MemoryManagement_IRQn 0 */
}
}
/**
* @brief This function handles Pre-fetch fault, memory access fault.
*/
void BusFault_Handler(void)
{
/* USER CODE BEGIN BusFault_IRQn 0 */
/* USER CODE END BusFault_IRQn 0 */
while (1)
{
/* USER CODE BEGIN W1_BusFault_IRQn 0 */
/* USER CODE END W1_BusFault_IRQn 0 */
}
}
/**
* @brief This function handles Undefined instruction or illegal state.
*/
void UsageFault_Handler(void)
{
/* USER CODE BEGIN UsageFault_IRQn 0 */
/* USER CODE END UsageFault_IRQn 0 */
while (1)
{
/* USER CODE BEGIN W1_UsageFault_IRQn 0 */
/* USER CODE END W1_UsageFault_IRQn 0 */
}
}
/**
* @brief This function handles System service call via SWI instruction.
*/
void SVC_Handler(void)
{
/* USER CODE BEGIN SVC_IRQn 0 */
/* USER CODE END SVC_IRQn 0 */
/* USER CODE BEGIN SVC_IRQn 1 */
/* USER CODE END SVC_IRQn 1 */
}
/**
* @brief This function handles Debug monitor.
*/
void DebugMon_Handler(void)
{
/* USER CODE BEGIN DebugMonitor_IRQn 0 */
/* USER CODE END DebugMonitor_IRQn 0 */
/* USER CODE BEGIN DebugMonitor_IRQn 1 */
/* USER CODE END DebugMonitor_IRQn 1 */
}
/**
* @brief This function handles Pendable request for system service.
*/
void PendSV_Handler(void)
{
/* USER CODE BEGIN PendSV_IRQn 0 */
/* USER CODE END PendSV_IRQn 0 */
/* USER CODE BEGIN PendSV_IRQn 1 */
/* USER CODE END PendSV_IRQn 1 */
}
/**
* @brief This function handles System tick timer.
*/
void SysTick_Handler(void)
{
/* USER CODE BEGIN SysTick_IRQn 0 */
/* USER CODE END SysTick_IRQn 0 */
HAL_IncTick();
/* USER CODE BEGIN SysTick_IRQn 1 */
/* USER CODE END SysTick_IRQn 1 */
}
/******************************************************************************/
/* STM32L1xx Peripheral Interrupt Handlers */
/* Add here the Interrupt Handlers for the used peripherals. */
/* For the available peripheral interrupt handler names, */
/* please refer to the startup file (startup_stm32l1xx.s). */
/******************************************************************************/
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

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/**
******************************************************************************
* @file stm32l1xx_nucleo.c
* @author MCD Application Team
* @brief This file provides set of firmware functions to manage:
* - LEDs and push-button available on STM32L1XX-Nucleo Kit
* from STMicroelectronics
* - LCD, joystick and microSD available on Adafruit 1.8" TFT LCD
* shield (reference ID 802)
******************************************************************************
* @attention
*
* <h2><center>&copy; Copyright (c) 2017 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under BSD 3-Clause license,
* the "License"; You may not use this file except in compliance with the
* License. You may obtain a copy of the License at:
* opensource.org/licenses/BSD-3-Clause
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "stm32l1xx_nucleo.h"
/** @addtogroup BSP
* @{
*/
/** @defgroup STM32L1XX_NUCLEO STM32L152RE-Nucleo
* @brief This file provides set of firmware functions to manage Leds and push-button
* available on STM32L1XX-Nucleo Kit from STMicroelectronics.
* It provides also LCD, joystick and uSD functions to communicate with
* Adafruit 1.8" TFT LCD shield (reference ID 802)
* @{
*/
/** @defgroup STM32L1XX_NUCLEO_Private_Defines Private Defines
* @{
*/
/**
* @brief STM32L152RE NUCLEO BSP Driver version
*/
#define __STM32L1XX_NUCLEO_BSP_VERSION_MAIN (0x01) /*!< [31:24] main version */
#define __STM32L1XX_NUCLEO_BSP_VERSION_SUB1 (0x01) /*!< [23:16] sub1 version */
#define __STM32L1XX_NUCLEO_BSP_VERSION_SUB2 (0x03) /*!< [15:8] sub2 version */
#define __STM32L1XX_NUCLEO_BSP_VERSION_RC (0x00) /*!< [7:0] release candidate */
#define __STM32L1XX_NUCLEO_BSP_VERSION ((__STM32L1XX_NUCLEO_BSP_VERSION_MAIN << 24)\
|(__STM32L1XX_NUCLEO_BSP_VERSION_SUB1 << 16)\
|(__STM32L1XX_NUCLEO_BSP_VERSION_SUB2 << 8 )\
|(__STM32L1XX_NUCLEO_BSP_VERSION_RC))
/**
* @brief LINK SD Card
*/
#define SD_DUMMY_BYTE 0xFF
#define SD_NO_RESPONSE_EXPECTED 0x80
/**
* @}
*/
/** @defgroup STM32L1XX_NUCLEO_Private_Variables Private Variables
* @{
*/
GPIO_TypeDef* LED_PORT[LEDn] = {LED2_GPIO_PORT};
const uint16_t LED_PIN[LEDn] = {LED2_PIN};
GPIO_TypeDef* BUTTON_PORT[BUTTONn] = {USER_BUTTON_GPIO_PORT};
const uint16_t BUTTON_PIN[BUTTONn] = {USER_BUTTON_PIN};
const uint8_t BUTTON_IRQn[BUTTONn] = {USER_BUTTON_EXTI_IRQn };
/**
* @brief BUS variables
*/
#ifdef HAL_SPI_MODULE_ENABLED
uint32_t SpixTimeout = NUCLEO_SPIx_TIMEOUT_MAX; /*<! Value of Timeout when SPI communication fails */
static SPI_HandleTypeDef hnucleo_Spi;
#endif /* HAL_SPI_MODULE_ENABLED */
#ifdef HAL_ADC_MODULE_ENABLED
static ADC_HandleTypeDef hnucleo_Adc;
/* ADC channel configuration structure declaration */
static ADC_ChannelConfTypeDef sConfig;
#endif /* HAL_ADC_MODULE_ENABLED */
/**
* @}
*/
/** @defgroup STM32L1XX_NUCLEO_Private_Functions Private Functions
* @{
*/
#ifdef HAL_SPI_MODULE_ENABLED
static void SPIx_Init(void);
static void SPIx_Write(uint8_t Value);
static void SPIx_WriteData(uint8_t *DataIn, uint16_t DataLength);
static void SPIx_WriteReadData(const uint8_t *DataIn, uint8_t *DataOut, uint16_t DataLegnth);
static void SPIx_Error (void);
static void SPIx_MspInit(void);
/* SD IO functions */
void SD_IO_Init(void);
void SD_IO_CSState(uint8_t state);
void SD_IO_WriteReadData(const uint8_t *DataIn, uint8_t *DataOut, uint16_t DataLength);
void SD_IO_ReadData(uint8_t *DataOut, uint16_t DataLength);
void SD_IO_WriteData(const uint8_t *Data, uint16_t DataLength);
uint8_t SD_IO_WriteByte(uint8_t Data);
uint8_t SD_IO_ReadByte(void);
/* LCD IO functions */
void LCD_IO_Init(void);
void LCD_IO_WriteData(uint8_t Data);
void LCD_IO_WriteMultipleData(uint8_t *pData, uint32_t Size);
void LCD_IO_WriteReg(uint8_t LCDReg);
void LCD_Delay(uint32_t delay);
#endif /* HAL_SPI_MODULE_ENABLED */
#ifdef HAL_ADC_MODULE_ENABLED
static HAL_StatusTypeDef ADCx_Init(void);
static void ADCx_DeInit(void);
static void ADCx_MspInit(ADC_HandleTypeDef *hadc);
static void ADCx_MspDeInit(ADC_HandleTypeDef *hadc);
#endif /* HAL_ADC_MODULE_ENABLED */
/**
* @}
*/
/** @defgroup STM32L1XX_NUCLEO_Exported_Functions Exported Functions
* @{
*/
/**
* @brief This method returns the STM32L1XX NUCLEO BSP Driver revision
* @retval version : 0xXYZR (8bits for each decimal, R for RC)
*/
uint32_t BSP_GetVersion(void)
{
return __STM32L1XX_NUCLEO_BSP_VERSION;
}
/** @defgroup STM32L1XX_NUCLEO_LED_Functions LED Functions
* @{
*/
/**
* @brief Configures LED GPIO.
* @param Led: Led to be configured.
* This parameter can be one of the following values:
* @arg LED2
* @retval None
*/
void BSP_LED_Init(Led_TypeDef Led)
{
GPIO_InitTypeDef gpioinitstruct;
/* Enable the GPIO_LED Clock */
LEDx_GPIO_CLK_ENABLE(Led);
/* Configure the GPIO_LED pin */
gpioinitstruct.Pin = LED_PIN[Led];
gpioinitstruct.Mode = GPIO_MODE_OUTPUT_PP;
gpioinitstruct.Pull = GPIO_NOPULL;
gpioinitstruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(LED_PORT[Led], &gpioinitstruct);
/* Reset PIN to switch off the LED */
HAL_GPIO_WritePin(LED_PORT[Led],LED_PIN[Led], GPIO_PIN_RESET);
}
/**
* @brief DeInit LEDs.
* @param Led: LED to be de-init.
* This parameter can be one of the following values:
* @arg LED2
* @note Led DeInit does not disable the GPIO clock nor disable the Mfx
* @retval None
*/
void BSP_LED_DeInit(Led_TypeDef Led)
{
GPIO_InitTypeDef gpio_init_structure;
/* Turn off LED */
HAL_GPIO_WritePin(LED_PORT[Led],LED_PIN[Led], GPIO_PIN_RESET);
/* DeInit the GPIO_LED pin */
gpio_init_structure.Pin = LED_PIN[Led];
HAL_GPIO_DeInit(LED_PORT[Led], gpio_init_structure.Pin);
}
/**
* @brief Turns selected LED On.
* @param Led: Specifies the Led to be set on.
* This parameter can be one of following parameters:
* @arg LED2
* @retval None
*/
void BSP_LED_On(Led_TypeDef Led)
{
HAL_GPIO_WritePin(LED_PORT[Led], LED_PIN[Led], GPIO_PIN_SET);
}
/**
* @brief Turns selected LED Off.
* @param Led: Specifies the Led to be set off.
* This parameter can be one of following parameters:
* @arg LED2
* @retval None
*/
void BSP_LED_Off(Led_TypeDef Led)
{
HAL_GPIO_WritePin(LED_PORT[Led], LED_PIN[Led], GPIO_PIN_RESET);
}
/**
* @brief Toggles the selected LED.
* @param Led: Specifies the Led to be toggled.
* This parameter can be one of following parameters:
* @arg LED2
* @retval None
*/
void BSP_LED_Toggle(Led_TypeDef Led)
{
HAL_GPIO_TogglePin(LED_PORT[Led], LED_PIN[Led]);
}
/**
* @}
*/
/** @defgroup STM32L1XX_NUCLEO_BUTTON_Functions BUTTON Functions
* @{
*/
/**
* @brief Configures Button GPIO and EXTI Line.
* @param Button: Specifies the Button to be configured.
* This parameter should be: BUTTON_USER
* @param ButtonMode: Specifies Button mode.
* This parameter can be one of following parameters:
* @arg BUTTON_MODE_GPIO: Button will be used as simple IO
* @arg BUTTON_MODE_EXTI: Button will be connected to EXTI line with interrupt
* generation capability
* @retval None
*/
void BSP_PB_Init(Button_TypeDef Button, ButtonMode_TypeDef ButtonMode)
{
GPIO_InitTypeDef gpioinitstruct;
/* Enable the BUTTON Clock */
BUTTONx_GPIO_CLK_ENABLE(Button);
gpioinitstruct.Pin = BUTTON_PIN[Button];
gpioinitstruct.Pull = GPIO_NOPULL;
gpioinitstruct.Speed = GPIO_SPEED_FREQ_MEDIUM;
if (ButtonMode == BUTTON_MODE_GPIO)
{
/* Configure Button pin as input */
gpioinitstruct.Mode = GPIO_MODE_INPUT;
HAL_GPIO_Init(BUTTON_PORT[Button], &gpioinitstruct);
}
if (ButtonMode == BUTTON_MODE_EXTI)
{
/* Configure Button pin as input with External interrupt */
gpioinitstruct.Mode = GPIO_MODE_IT_FALLING;
HAL_GPIO_Init(BUTTON_PORT[Button], &gpioinitstruct);
/* Enable and set Button EXTI Interrupt to the lowest priority */
HAL_NVIC_SetPriority((IRQn_Type)(BUTTON_IRQn[Button]), 0x0F, 0);
HAL_NVIC_EnableIRQ((IRQn_Type)(BUTTON_IRQn[Button]));
}
}
/**
* @brief Push Button DeInit.
* @param Button: Button to be configured
* This parameter should be: BUTTON_USER
* @note PB DeInit does not disable the GPIO clock
* @retval None
*/
void BSP_PB_DeInit(Button_TypeDef Button)
{
GPIO_InitTypeDef gpio_init_structure;
gpio_init_structure.Pin = BUTTON_PIN[Button];
HAL_NVIC_DisableIRQ((IRQn_Type)(BUTTON_IRQn[Button]));
HAL_GPIO_DeInit(BUTTON_PORT[Button], gpio_init_structure.Pin);
}
/**
* @brief Returns the selected Button state.
* @param Button: Specifies the Button to be checked.
* This parameter should be: BUTTON_USER
* @retval Button state.
*/
uint32_t BSP_PB_GetState(Button_TypeDef Button)
{
return HAL_GPIO_ReadPin(BUTTON_PORT[Button], BUTTON_PIN[Button]);
}
/**
* @}
*/
/**
* @}
*/
/** @addtogroup STM32L1XX_NUCLEO_Private_Functions
* @{
*/
#ifdef HAL_SPI_MODULE_ENABLED
/******************************************************************************
BUS OPERATIONS
*******************************************************************************/
/**
* @brief Initialize SPI MSP.
* @retval None
*/
static void SPIx_MspInit(void)
{
GPIO_InitTypeDef gpioinitstruct = {0};
/*** Configure the GPIOs ***/
/* Enable GPIO clock */
NUCLEO_SPIx_SCK_GPIO_CLK_ENABLE();
NUCLEO_SPIx_MISO_MOSI_GPIO_CLK_ENABLE();
/* Configure SPI SCK */
gpioinitstruct.Pin = NUCLEO_SPIx_SCK_PIN;
gpioinitstruct.Mode = GPIO_MODE_AF_PP;
gpioinitstruct.Pull = GPIO_PULLUP;
gpioinitstruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
gpioinitstruct.Alternate = NUCLEO_SPIx_SCK_AF;
HAL_GPIO_Init(NUCLEO_SPIx_SCK_GPIO_PORT, &gpioinitstruct);
/* Configure SPI MISO and MOSI */
gpioinitstruct.Pin = NUCLEO_SPIx_MOSI_PIN;
gpioinitstruct.Alternate = NUCLEO_SPIx_MISO_MOSI_AF;
gpioinitstruct.Pull = GPIO_PULLDOWN;
HAL_GPIO_Init(NUCLEO_SPIx_MISO_MOSI_GPIO_PORT, &gpioinitstruct);
gpioinitstruct.Pin = NUCLEO_SPIx_MISO_PIN;
HAL_GPIO_Init(NUCLEO_SPIx_MISO_MOSI_GPIO_PORT, &gpioinitstruct);
/*** Configure the SPI peripheral ***/
/* Enable SPI clock */
NUCLEO_SPIx_CLK_ENABLE();
}
/**
* @brief Initialize SPI HAL.
* @retval None
*/
static void SPIx_Init(void)
{
if(HAL_SPI_GetState(&hnucleo_Spi) == HAL_SPI_STATE_RESET)
{
/* SPI Config */
hnucleo_Spi.Instance = NUCLEO_SPIx;
/* SPI baudrate is set to 8 MHz maximum (PCLK2/SPI_BaudRatePrescaler = 64/8 = 8 MHz)
to verify these constraints:
- ST7735 LCD SPI interface max baudrate is 15MHz for write and 6.66MHz for read
Since the provided driver doesn't use read capability from LCD, only constraint
on write baudrate is considered.
- SD card SPI interface max baudrate is 25MHz for write/read
- PCLK2 max frequency is 32 MHz
*/
hnucleo_Spi.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_8;
hnucleo_Spi.Init.Direction = SPI_DIRECTION_2LINES;
hnucleo_Spi.Init.CLKPhase = SPI_PHASE_1EDGE;
hnucleo_Spi.Init.CLKPolarity = SPI_POLARITY_LOW;
hnucleo_Spi.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
hnucleo_Spi.Init.CRCPolynomial = 7;
hnucleo_Spi.Init.DataSize = SPI_DATASIZE_8BIT;
hnucleo_Spi.Init.FirstBit = SPI_FIRSTBIT_MSB;
hnucleo_Spi.Init.NSS = SPI_NSS_SOFT;
hnucleo_Spi.Init.TIMode = SPI_TIMODE_DISABLE;
hnucleo_Spi.Init.Mode = SPI_MODE_MASTER;
SPIx_MspInit();
HAL_SPI_Init(&hnucleo_Spi);
}
}
/**
* @brief SPI Write a byte to device
* @param DataIn value to be written
* @param DataLength number of bytes to write
* @param DataOut read value
* @retval None
*/
static void SPIx_WriteReadData(const uint8_t *DataIn, uint8_t *DataOut, uint16_t DataLength)
{
HAL_StatusTypeDef status = HAL_OK;
status = HAL_SPI_TransmitReceive(&hnucleo_Spi, (uint8_t*) DataIn, DataOut, DataLength, SpixTimeout);
/* Check the communication status */
if(status != HAL_OK)
{
/* Execute user timeout callback */
SPIx_Error();
}
}
/**
* @brief SPI Write an amount of data to device
* @param DataIn value to be written
* @param DataLength number of bytes to write
* @retval None
*/
static void SPIx_WriteData(uint8_t *DataIn, uint16_t DataLength)
{
HAL_StatusTypeDef status = HAL_OK;
status = HAL_SPI_Transmit(&hnucleo_Spi, DataIn, DataLength, SpixTimeout);
/* Check the communication status */
if(status != HAL_OK)
{
/* Execute user timeout callback */
SPIx_Error();
}
}
/**
* @brief SPI Write a byte to device
* @param Value: value to be written
* @retval None
*/
static void SPIx_Write(uint8_t Value)
{
HAL_StatusTypeDef status = HAL_OK;
uint8_t data;
status = HAL_SPI_TransmitReceive(&hnucleo_Spi, (uint8_t*) &Value, &data, 1, SpixTimeout);
/* Check the communication status */
if(status != HAL_OK)
{
/* Execute user timeout callback */
SPIx_Error();
}
}
/**
* @brief SPI error treatment function
* @retval None
*/
static void SPIx_Error (void)
{
/* De-initialize the SPI communication BUS */
HAL_SPI_DeInit(&hnucleo_Spi);
/* Re-Initiaize the SPI communication BUS */
SPIx_Init();
}
/******************************************************************************
LINK OPERATIONS
*******************************************************************************/
/********************************* LINK SD ************************************/
/**
* @brief Initialize the SD Card and put it into StandBy State (Ready for
* data transfer).
* @retval None
*/
void SD_IO_Init(void)
{
GPIO_InitTypeDef gpioinitstruct = {0};
uint8_t counter = 0;
/* SD_CS_GPIO Periph clock enable */
SD_CS_GPIO_CLK_ENABLE();
/* Configure SD_CS_PIN pin: SD Card CS pin */
gpioinitstruct.Pin = SD_CS_PIN;
gpioinitstruct.Mode = GPIO_MODE_OUTPUT_PP;
gpioinitstruct.Pull = GPIO_PULLUP;
gpioinitstruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(SD_CS_GPIO_PORT, &gpioinitstruct);
/* Configure LCD_CS_PIN pin: LCD Card CS pin */
gpioinitstruct.Pin = LCD_CS_PIN;
gpioinitstruct.Mode = GPIO_MODE_OUTPUT_PP;
gpioinitstruct.Pull = GPIO_NOPULL;
gpioinitstruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(SD_CS_GPIO_PORT, &gpioinitstruct);
LCD_CS_HIGH();
/*------------Put SD in SPI mode--------------*/
/* SD SPI Config */
SPIx_Init();
/* SD chip select high */
SD_CS_HIGH();
/* Send dummy byte 0xFF, 10 times with CS high */
/* Rise CS and MOSI for 80 clocks cycles */
for (counter = 0; counter <= 9; counter++)
{
/* Send dummy byte 0xFF */
SD_IO_WriteByte(SD_DUMMY_BYTE);
}
}
/**
* @brief Set the SD_CS pin.
* @param val pin value.
* @retval None
*/
void SD_IO_CSState(uint8_t val)
{
if(val == 1)
{
SD_CS_HIGH();
}
else
{
SD_CS_LOW();
}
}
/**
* @brief Write byte(s) on the SD
* @param DataIn: Pointer to data buffer to write
* @param DataOut: Pointer to data buffer for read data
* @param DataLength: number of bytes to write
* @retval None
*/
void SD_IO_WriteReadData(const uint8_t *DataIn, uint8_t *DataOut, uint16_t DataLength)
{
/* Send the byte */
SPIx_WriteReadData(DataIn, DataOut, DataLength);
}
/**
* @brief Write a byte on the SD.
* @param Data byte to send.
* @retval Data written
*/
uint8_t SD_IO_WriteByte(uint8_t Data)
{
uint8_t tmp;
/* Send the byte */
SPIx_WriteReadData(&Data,&tmp,1);
return tmp;
}
/**
* @brief Write an amount of data on the SD.
* @param DataOut byte to send.
* @param DataLength number of bytes to write
* @retval none
*/
void SD_IO_ReadData(uint8_t *DataOut, uint16_t DataLength)
{
/* Send the byte */
SD_IO_WriteReadData(DataOut, DataOut, DataLength);
}
/**
* @brief Write an amount of data on the SD.
* @param Data byte to send.
* @param DataLength number of bytes to write
* @retval none
*/
void SD_IO_WriteData(const uint8_t *Data, uint16_t DataLength)
{
/* Send the byte */
SPIx_WriteData((uint8_t *)Data, DataLength);
}
/********************************* LINK LCD ***********************************/
/**
* @brief Initialize the LCD
* @retval None
*/
void LCD_IO_Init(void)
{
GPIO_InitTypeDef gpioinitstruct = {0};
/* LCD_CS_GPIO and LCD_DC_GPIO Periph clock enable */
LCD_CS_GPIO_CLK_ENABLE();
LCD_DC_GPIO_CLK_ENABLE();
/* Configure LCD_CS_PIN pin: LCD Card CS pin */
gpioinitstruct.Pin = LCD_CS_PIN;
gpioinitstruct.Mode = GPIO_MODE_OUTPUT_PP;
gpioinitstruct.Pull = GPIO_NOPULL;
gpioinitstruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
HAL_GPIO_Init(SD_CS_GPIO_PORT, &gpioinitstruct);
/* Configure LCD_DC_PIN pin: LCD Card DC pin */
gpioinitstruct.Pin = LCD_DC_PIN;
HAL_GPIO_Init(LCD_DC_GPIO_PORT, &gpioinitstruct);
/* LCD chip select high */
LCD_CS_HIGH();
/* LCD SPI Config */
SPIx_Init();
}
/**
* @brief Write command to select the LCD register.
* @param LCDReg: Address of the selected register.
* @retval None
*/
void LCD_IO_WriteReg(uint8_t LCDReg)
{
/* Reset LCD control line CS */
LCD_CS_LOW();
/* Set LCD data/command line DC to Low */
LCD_DC_LOW();
/* Send Command */
SPIx_Write(LCDReg);
/* Deselect : Chip Select high */
LCD_CS_HIGH();
}
/**
* @brief Write register value.
* @param pData Pointer on the register value
* @param Size Size of byte to transmit to the register
* @retval None
*/
void LCD_IO_WriteMultipleData(uint8_t *pData, uint32_t Size)
{
uint32_t counter = 0;
/* Reset LCD control line CS */
LCD_CS_LOW();
/* Set LCD data/command line DC to High */
LCD_DC_HIGH();
if (Size == 1)
{
/* Only 1 byte to be sent to LCD - general interface can be used */
/* Send Data */
SPIx_Write(*pData);
}
else
{
/* Several data should be sent in a raw */
/* Direct SPI accesses for optimization */
for (counter = Size; counter != 0; counter--)
{
while(((hnucleo_Spi.Instance->SR) & SPI_FLAG_TXE) != SPI_FLAG_TXE)
{
}
/* Need to invert bytes for LCD*/
*((__IO uint8_t*)&hnucleo_Spi.Instance->DR) = *(pData+1);
while(((hnucleo_Spi.Instance->SR) & SPI_FLAG_TXE) != SPI_FLAG_TXE)
{
}
*((__IO uint8_t*)&hnucleo_Spi.Instance->DR) = *pData;
counter--;
pData += 2;
}
/* Wait until the bus is ready before releasing Chip select */
while(((hnucleo_Spi.Instance->SR) & SPI_FLAG_BSY) != RESET)
{
}
}
/* Deselect : Chip Select high */
LCD_CS_HIGH();
}
/**
* @brief Wait for loop in ms.
* @param Delay in ms.
* @retval None
*/
void LCD_Delay(uint32_t Delay)
{
HAL_Delay(Delay);
}
#endif /* HAL_SPI_MODULE_ENABLED */
#ifdef HAL_ADC_MODULE_ENABLED
/******************************* LINK JOYSTICK ********************************/
/**
* @brief Initialize ADC MSP.
* @param hadc ADC peripheral
* @retval None
*/
static void ADCx_MspInit(ADC_HandleTypeDef *hadc)
{
GPIO_InitTypeDef gpioinitstruct = {0};
/*** Configure the GPIOs ***/
/* Enable GPIO clock */
NUCLEO_ADCx_GPIO_CLK_ENABLE();
/* Configure ADC1 Channel8 as analog input */
gpioinitstruct.Pin = NUCLEO_ADCx_GPIO_PIN ;
gpioinitstruct.Mode = GPIO_MODE_ANALOG;
gpioinitstruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(NUCLEO_ADCx_GPIO_PORT, &gpioinitstruct);
/*** Configure the ADC peripheral ***/
/* Enable ADC clock */
NUCLEO_ADCx_CLK_ENABLE();
}
/**
* @brief DeInitializes ADC MSP.
* @param hadc ADC peripheral
* @note ADC DeInit does not disable the GPIO clock
* @retval None
*/
static void ADCx_MspDeInit(ADC_HandleTypeDef *hadc)
{
GPIO_InitTypeDef gpioinitstruct;
/*** DeInit the ADC peripheral ***/
/* Disable ADC clock */
NUCLEO_ADCx_CLK_DISABLE();
/* Configure the selected ADC Channel as analog input */
gpioinitstruct.Pin = NUCLEO_ADCx_GPIO_PIN ;
HAL_GPIO_DeInit(NUCLEO_ADCx_GPIO_PORT, gpioinitstruct.Pin);
/* Disable GPIO clock has to be done by the application*/
/* NUCLEO_ADCx_GPIO_CLK_DISABLE(); */
}
/**
* @brief Initializes ADC HAL.
* @retval None
*/
static HAL_StatusTypeDef ADCx_Init(void)
{
/* Set ADC instance */
hnucleo_Adc.Instance = NUCLEO_ADCx;
if(HAL_ADC_GetState(&hnucleo_Adc) == HAL_ADC_STATE_RESET)
{
/* ADC Config */
hnucleo_Adc.Instance = NUCLEO_ADCx;
hnucleo_Adc.Init.ClockPrescaler = ADC_CLOCK_ASYNC_DIV2; /* ADC clock must not exceed 16MHz */
hnucleo_Adc.Init.Resolution = ADC_RESOLUTION_12B;
hnucleo_Adc.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hnucleo_Adc.Init.ScanConvMode = ADC_SCAN_DISABLE; /* Sequencer disabled (ADC conversion on only 1 channel: channel set on rank 1) */
hnucleo_Adc.Init.EOCSelection = ADC_EOC_SEQ_CONV;
hnucleo_Adc.Init.LowPowerAutoWait = ADC_AUTOWAIT_UNTIL_DATA_READ;
hnucleo_Adc.Init.LowPowerAutoPowerOff = ADC_AUTOPOWEROFF_DISABLE;
hnucleo_Adc.Init.ChannelsBank = ADC_CHANNELS_BANK_A;
hnucleo_Adc.Init.ContinuousConvMode = DISABLE; /* Continuous mode disabled to have only 1 conversion at each conversion trig */
hnucleo_Adc.Init.NbrOfConversion = 1; /* Parameter discarded because sequencer is disabled */
hnucleo_Adc.Init.DiscontinuousConvMode = DISABLE; /* Parameter discarded because sequencer is disabled */
hnucleo_Adc.Init.NbrOfDiscConversion = 1; /* Parameter discarded because sequencer is disabled */
hnucleo_Adc.Init.ExternalTrigConv = ADC_SOFTWARE_START; /* Trig of conversion start done manually by software, without external event */
hnucleo_Adc.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE; /* Parameter discarded because trig by software start */
hnucleo_Adc.Init.DMAContinuousRequests = DISABLE;
/* Initialize MSP related to ADC */
ADCx_MspInit(&hnucleo_Adc);
/* Initialize ADC */
if (HAL_ADC_Init(&hnucleo_Adc) != HAL_OK)
{
return HAL_ERROR;
}
}
return HAL_OK;
}
/**
* @brief Initializes ADC HAL.
* @retval None
*/
static void ADCx_DeInit(void)
{
hnucleo_Adc.Instance = NUCLEO_ADCx;
HAL_ADC_DeInit(&hnucleo_Adc);
ADCx_MspDeInit(&hnucleo_Adc);
}
/******************************* LINK JOYSTICK ********************************/
/**
* @brief Configures joystick available on adafruit 1.8" TFT shield
* managed through ADC to detect motion.
* @retval Joystickstatus (0=> success, 1=> fail)
*/
uint8_t BSP_JOY_Init(void)
{
if (ADCx_Init() != HAL_OK)
{
return (uint8_t) HAL_ERROR;
}
/* Select Channel 8 to be converted */
sConfig.Channel = ADC_CHANNEL_8;
sConfig.SamplingTime = ADC_SAMPLETIME_16CYCLES;
sConfig.Rank = ADC_REGULAR_RANK_1;
/* Return Joystick initialization status */
return (uint8_t)HAL_ADC_ConfigChannel(&hnucleo_Adc, &sConfig);
}
/**
* @brief DeInit joystick GPIOs.
* @note JOY DeInit does not disable the Mfx, just set the Mfx pins in Off mode
* @retval None.
*/
void BSP_JOY_DeInit(void)
{
ADCx_DeInit();
}
/**
* @brief Returns the Joystick key pressed.
* @note To know which Joystick key is pressed we need to detect the voltage
* level on each key output
* - None : 3.3 V / 4095
* - SEL : 1.055 V / 1308
* - DOWN : 0.71 V / 88
* - LEFT : 3.0 V / 3720
* - RIGHT : 0.595 V / 737
* - UP : 1.65 V / 2046
* @retval JOYState_TypeDef: Code of the Joystick key pressed.
*/
JOYState_TypeDef BSP_JOY_GetState(void)
{
JOYState_TypeDef state = JOY_NONE;
uint16_t keyconvertedvalue = 0;
/* Start the conversion process */
HAL_ADC_Start(&hnucleo_Adc);
/* Wait for the end of conversion */
if (HAL_ADC_PollForConversion(&hnucleo_Adc, 10) != HAL_TIMEOUT)
{
/* Get the converted value of regular channel */
keyconvertedvalue = HAL_ADC_GetValue(&hnucleo_Adc);
}
if((keyconvertedvalue > 2010) && (keyconvertedvalue < 2090))
{
state = JOY_UP;
}
else if((keyconvertedvalue > 680) && (keyconvertedvalue < 780))
{
state = JOY_RIGHT;
}
else if((keyconvertedvalue > 1270) && (keyconvertedvalue < 1350))
{
state = JOY_SEL;
}
else if((keyconvertedvalue > 50) && (keyconvertedvalue < 130))
{
state = JOY_DOWN;
}
else if((keyconvertedvalue > 3680) && (keyconvertedvalue < 3760))
{
state = JOY_LEFT;
}
else
{
state = JOY_NONE;
}
/* Return the code of the Joystick key pressed*/
return state;
}
#endif /* HAL_ADC_MODULE_ENABLED */
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

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stepper/steppermotor/Core/Src/syscalls.c Normal file
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@ -0,0 +1,159 @@
/**
******************************************************************************
* @file syscalls.c
* @author Auto-generated by STM32CubeIDE
* @brief STM32CubeIDE Minimal System calls file
*
* For more information about which c-functions
* need which of these lowlevel functions
* please consult the Newlib libc-manual
******************************************************************************
* @attention
*
* <h2><center>&copy; Copyright (c) 2020 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under BSD 3-Clause license,
* the "License"; You may not use this file except in compliance with the
* License. You may obtain a copy of the License at:
* opensource.org/licenses/BSD-3-Clause
*
******************************************************************************
*/
/* Includes */
#include <sys/stat.h>
#include <stdlib.h>
#include <errno.h>
#include <stdio.h>
#include <signal.h>
#include <time.h>
#include <sys/time.h>
#include <sys/times.h>
/* Variables */
//#undef errno
extern int errno;
extern int __io_putchar(int ch) __attribute__((weak));
extern int __io_getchar(void) __attribute__((weak));
register char * stack_ptr asm("sp");
char *__env[1] = { 0 };
char **environ = __env;
/* Functions */
void initialise_monitor_handles()
{
}
int _getpid(void)
{
return 1;
}
int _kill(int pid, int sig)
{
errno = EINVAL;
return -1;
}
void _exit (int status)
{
_kill(status, -1);
while (1) {} /* Make sure we hang here */
}
__attribute__((weak)) int _read(int file, char *ptr, int len)
{
int DataIdx;
for (DataIdx = 0; DataIdx < len; DataIdx++)
{
*ptr++ = __io_getchar();
}
return len;
}
__attribute__((weak)) int _write(int file, char *ptr, int len)
{
int DataIdx;
for (DataIdx = 0; DataIdx < len; DataIdx++)
{
__io_putchar(*ptr++);
}
return len;
}
int _close(int file)
{
return -1;
}
int _fstat(int file, struct stat *st)
{
st->st_mode = S_IFCHR;
return 0;
}
int _isatty(int file)
{
return 1;
}
int _lseek(int file, int ptr, int dir)
{
return 0;
}
int _open(char *path, int flags, ...)
{
/* Pretend like we always fail */
return -1;
}
int _wait(int *status)
{
errno = ECHILD;
return -1;
}
int _unlink(char *name)
{
errno = ENOENT;
return -1;
}
int _times(struct tms *buf)
{
return -1;
}
int _stat(char *file, struct stat *st)
{
st->st_mode = S_IFCHR;
return 0;
}
int _link(char *old, char *new)
{
errno = EMLINK;
return -1;
}
int _fork(void)
{
errno = EAGAIN;
return -1;
}
int _execve(char *name, char **argv, char **env)
{
errno = ENOMEM;
return -1;
}

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stepper/steppermotor/Core/Src/sysmem.c Normal file
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/**
******************************************************************************
* @file sysmem.c
* @author Generated by STM32CubeIDE
* @brief STM32CubeIDE System Memory calls file
*
* For more information about which C functions
* need which of these lowlevel functions
* please consult the newlib libc manual
******************************************************************************
* @attention
*
* <h2><center>&copy; Copyright (c) 2020 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under BSD 3-Clause license,
* the "License"; You may not use this file except in compliance with the
* License. You may obtain a copy of the License at:
* opensource.org/licenses/BSD-3-Clause
*
******************************************************************************
*/
/* Includes */
#include <errno.h>
#include <stdint.h>
/**
* Pointer to the current high watermark of the heap usage
*/
static uint8_t *__sbrk_heap_end = NULL;
/**
* @brief _sbrk() allocates memory to the newlib heap and is used by malloc
* and others from the C library
*
* @verbatim
* ############################################################################
* # .data # .bss # newlib heap # MSP stack #
* # # # # Reserved by _Min_Stack_Size #
* ############################################################################
* ^-- RAM start ^-- _end _estack, RAM end --^
* @endverbatim
*
* This implementation starts allocating at the '_end' linker symbol
* The '_Min_Stack_Size' linker symbol reserves a memory for the MSP stack
* The implementation considers '_estack' linker symbol to be RAM end
* NOTE: If the MSP stack, at any point during execution, grows larger than the
* reserved size, please increase the '_Min_Stack_Size'.
*
* @param incr Memory size
* @return Pointer to allocated memory
*/
void *_sbrk(ptrdiff_t incr)
{
extern uint8_t _end; /* Symbol defined in the linker script */
extern uint8_t _estack; /* Symbol defined in the linker script */
extern uint32_t _Min_Stack_Size; /* Symbol defined in the linker script */
const uint32_t stack_limit = (uint32_t)&_estack - (uint32_t)&_Min_Stack_Size;
const uint8_t *max_heap = (uint8_t *)stack_limit;
uint8_t *prev_heap_end;
/* Initialize heap end at first call */
if (NULL == __sbrk_heap_end)
{
__sbrk_heap_end = &_end;
}
/* Protect heap from growing into the reserved MSP stack */
if (__sbrk_heap_end + incr > max_heap)
{
errno = ENOMEM;
return (void *)-1;
}
prev_heap_end = __sbrk_heap_end;
__sbrk_heap_end += incr;
return (void *)prev_heap_end;
}

408
stepper/steppermotor/Core/Src/system_stm32l1xx.c Normal file
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/**
******************************************************************************
* @file system_stm32l1xx.c
* @author MCD Application Team
* @brief CMSIS Cortex-M3 Device Peripheral Access Layer System Source File.
*
* This file provides two functions and one global variable to be called from
* user application:
* - SystemInit(): This function is called at startup just after reset and
* before branch to main program. This call is made inside
* the "startup_stm32l1xx.s" file.
*
* - SystemCoreClock variable: Contains the core clock (HCLK), it can be used
* by the user application to setup the SysTick
* timer or configure other parameters.
*
* - SystemCoreClockUpdate(): Updates the variable SystemCoreClock and must
* be called whenever the core clock is changed
* during program execution.
*
******************************************************************************
* @attention
*
* <h2><center>&copy; Copyright (c) 2017 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under BSD 3-Clause license,
* the "License"; You may not use this file except in compliance with the
* License. You may obtain a copy of the License at:
* opensource.org/licenses/BSD-3-Clause
*
******************************************************************************
*/
/** @addtogroup CMSIS
* @{
*/
/** @addtogroup stm32l1xx_system
* @{
*/
/** @addtogroup STM32L1xx_System_Private_Includes
* @{
*/
#include "stm32l1xx.h"
/**
* @}
*/
/** @addtogroup STM32L1xx_System_Private_TypesDefinitions
* @{
*/
/**
* @}
*/
/** @addtogroup STM32L1xx_System_Private_Defines
* @{
*/
#if !defined (HSE_VALUE)
#define HSE_VALUE ((uint32_t)8000000U) /*!< Default value of the External oscillator in Hz.
This value can be provided and adapted by the user application. */
#endif /* HSE_VALUE */
#if !defined (HSI_VALUE)
#define HSI_VALUE ((uint32_t)8000000U) /*!< Default value of the Internal oscillator in Hz.
This value can be provided and adapted by the user application. */
#endif /* HSI_VALUE */
/*!< Uncomment the following line if you need to use external SRAM mounted
on STM32L152D_EVAL board as data memory */
/* #define DATA_IN_ExtSRAM */
/*!< Uncomment the following line if you need to relocate your vector Table in
Internal SRAM. */
/* #define VECT_TAB_SRAM */
#define VECT_TAB_OFFSET 0x00U /*!< Vector Table base offset field.
This value must be a multiple of 0x200. */
/**
* @}
*/
/** @addtogroup STM32L1xx_System_Private_Macros
* @{
*/
/**
* @}
*/
/** @addtogroup STM32L1xx_System_Private_Variables
* @{
*/
/* This variable is updated in three ways:
1) by calling CMSIS function SystemCoreClockUpdate()
2) by calling HAL API function HAL_RCC_GetHCLKFreq()
3) each time HAL_RCC_ClockConfig() is called to configure the system clock frequency
Note: If you use this function to configure the system clock; then there
is no need to call the 2 first functions listed above, since SystemCoreClock
variable is updated automatically.
*/
uint32_t SystemCoreClock = 2097000U;
const uint8_t PLLMulTable[9] = {3U, 4U, 6U, 8U, 12U, 16U, 24U, 32U, 48U};
const uint8_t AHBPrescTable[16] = {0U, 0U, 0U, 0U, 0U, 0U, 0U, 0U, 1U, 2U, 3U, 4U, 6U, 7U, 8U, 9U};
const uint8_t APBPrescTable[8] = {0U, 0U, 0U, 0U, 1U, 2U, 3U, 4U};
/**
* @}
*/
/** @addtogroup STM32L1xx_System_Private_FunctionPrototypes
* @{
*/
#if defined (STM32L151xD) || defined (STM32L152xD) || defined (STM32L162xD)
#ifdef DATA_IN_ExtSRAM
static void SystemInit_ExtMemCtl(void);
#endif /* DATA_IN_ExtSRAM */
#endif /* STM32L151xD || STM32L152xD || STM32L162xD */
/**
* @}
*/
/** @addtogroup STM32L1xx_System_Private_Functions
* @{
*/
/**
* @brief Setup the microcontroller system.
* Initialize the Embedded Flash Interface, the PLL and update the
* SystemCoreClock variable.
* @param None
* @retval None
*/
void SystemInit (void)
{
#ifdef DATA_IN_ExtSRAM
SystemInit_ExtMemCtl();
#endif /* DATA_IN_ExtSRAM */
#ifdef VECT_TAB_SRAM
SCB->VTOR = SRAM_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal SRAM. */
#else
SCB->VTOR = FLASH_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal FLASH. */
#endif
}
/**
* @brief Update SystemCoreClock according to Clock Register Values
* The SystemCoreClock variable contains the core clock (HCLK), it can
* be used by the user application to setup the SysTick timer or configure
* other parameters.
*
* @note Each time the core clock (HCLK) changes, this function must be called
* to update SystemCoreClock variable value. Otherwise, any configuration
* based on this variable will be incorrect.
*
* @note - The system frequency computed by this function is not the real
* frequency in the chip. It is calculated based on the predefined
* constant and the selected clock source:
*
* - If SYSCLK source is MSI, SystemCoreClock will contain the MSI
* value as defined by the MSI range.
*
* - If SYSCLK source is HSI, SystemCoreClock will contain the HSI_VALUE(*)
*
* - If SYSCLK source is HSE, SystemCoreClock will contain the HSE_VALUE(**)
*
* - If SYSCLK source is PLL, SystemCoreClock will contain the HSE_VALUE(**)
* or HSI_VALUE(*) multiplied/divided by the PLL factors.
*
* (*) HSI_VALUE is a constant defined in stm32l1xx.h file (default value
* 16 MHz) but the real value may vary depending on the variations
* in voltage and temperature.
*
* (**) HSE_VALUE is a constant defined in stm32l1xx.h file (default value
* 8 MHz), user has to ensure that HSE_VALUE is same as the real
* frequency of the crystal used. Otherwise, this function may
* have wrong result.
*
* - The result of this function could be not correct when using fractional
* value for HSE crystal.
* @param None
* @retval None
*/
void SystemCoreClockUpdate (void)
{
uint32_t tmp = 0, pllmul = 0, plldiv = 0, pllsource = 0, msirange = 0;
/* Get SYSCLK source -------------------------------------------------------*/
tmp = RCC->CFGR & RCC_CFGR_SWS;
switch (tmp)
{
case 0x00: /* MSI used as system clock */
msirange = (RCC->ICSCR & RCC_ICSCR_MSIRANGE) >> 13;
SystemCoreClock = (32768 * (1 << (msirange + 1)));
break;
case 0x04: /* HSI used as system clock */
SystemCoreClock = HSI_VALUE;
break;
case 0x08: /* HSE used as system clock */
SystemCoreClock = HSE_VALUE;
break;
case 0x0C: /* PLL used as system clock */
/* Get PLL clock source and multiplication factor ----------------------*/
pllmul = RCC->CFGR & RCC_CFGR_PLLMUL;
plldiv = RCC->CFGR & RCC_CFGR_PLLDIV;
pllmul = PLLMulTable[(pllmul >> 18)];
plldiv = (plldiv >> 22) + 1;
pllsource = RCC->CFGR & RCC_CFGR_PLLSRC;
if (pllsource == 0x00)
{
/* HSI oscillator clock selected as PLL clock entry */
SystemCoreClock = (((HSI_VALUE) * pllmul) / plldiv);
}
else
{
/* HSE selected as PLL clock entry */
SystemCoreClock = (((HSE_VALUE) * pllmul) / plldiv);
}
break;
default: /* MSI used as system clock */
msirange = (RCC->ICSCR & RCC_ICSCR_MSIRANGE) >> 13;
SystemCoreClock = (32768 * (1 << (msirange + 1)));
break;
}
/* Compute HCLK clock frequency --------------------------------------------*/
/* Get HCLK prescaler */
tmp = AHBPrescTable[((RCC->CFGR & RCC_CFGR_HPRE) >> 4)];
/* HCLK clock frequency */
SystemCoreClock >>= tmp;
}
#if defined (STM32L151xD) || defined (STM32L152xD) || defined (STM32L162xD)
#ifdef DATA_IN_ExtSRAM
/**
* @brief Setup the external memory controller.
* Called in SystemInit() function before jump to main.
* This function configures the external SRAM mounted on STM32L152D_EVAL board
* This SRAM will be used as program data memory (including heap and stack).
* @param None
* @retval None
*/
void SystemInit_ExtMemCtl(void)
{
__IO uint32_t tmpreg = 0;
/* Flash 1 wait state */
FLASH->ACR |= FLASH_ACR_LATENCY;
/* Power enable */
RCC->APB1ENR |= RCC_APB1ENR_PWREN;
/* Delay after an RCC peripheral clock enabling */
tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_PWREN);
/* Select the Voltage Range 1 (1.8 V) */
PWR->CR = PWR_CR_VOS_0;
/* Wait Until the Voltage Regulator is ready */
while((PWR->CSR & PWR_CSR_VOSF) != RESET)
{
}
/*-- GPIOs Configuration -----------------------------------------------------*/
/*
+-------------------+--------------------+------------------+------------------+
+ SRAM pins assignment +
+-------------------+--------------------+------------------+------------------+
| PD0 <-> FSMC_D2 | PE0 <-> FSMC_NBL0 | PF0 <-> FSMC_A0 | PG0 <-> FSMC_A10 |
| PD1 <-> FSMC_D3 | PE1 <-> FSMC_NBL1 | PF1 <-> FSMC_A1 | PG1 <-> FSMC_A11 |
| PD4 <-> FSMC_NOE | PE7 <-> FSMC_D4 | PF2 <-> FSMC_A2 | PG2 <-> FSMC_A12 |
| PD5 <-> FSMC_NWE | PE8 <-> FSMC_D5 | PF3 <-> FSMC_A3 | PG3 <-> FSMC_A13 |
| PD8 <-> FSMC_D13 | PE9 <-> FSMC_D6 | PF4 <-> FSMC_A4 | PG4 <-> FSMC_A14 |
| PD9 <-> FSMC_D14 | PE10 <-> FSMC_D7 | PF5 <-> FSMC_A5 | PG5 <-> FSMC_A15 |
| PD10 <-> FSMC_D15 | PE11 <-> FSMC_D8 | PF12 <-> FSMC_A6 | PG10<-> FSMC_NE2 |
| PD11 <-> FSMC_A16 | PE12 <-> FSMC_D9 | PF13 <-> FSMC_A7 |------------------+
| PD12 <-> FSMC_A17 | PE13 <-> FSMC_D10 | PF14 <-> FSMC_A8 |
| PD13 <-> FSMC_A18 | PE14 <-> FSMC_D11 | PF15 <-> FSMC_A9 |
| PD14 <-> FSMC_D0 | PE15 <-> FSMC_D12 |------------------+
| PD15 <-> FSMC_D1 |--------------------+
+-------------------+
*/
/* Enable GPIOD, GPIOE, GPIOF and GPIOG interface clock */
RCC->AHBENR = 0x000080D8;
/* Delay after an RCC peripheral clock enabling */
tmpreg = READ_BIT(RCC->AHBENR, RCC_AHBENR_GPIODEN);
/* Connect PDx pins to FSMC Alternate function */
GPIOD->AFR[0] = 0x00CC00CC;
GPIOD->AFR[1] = 0xCCCCCCCC;
/* Configure PDx pins in Alternate function mode */
GPIOD->MODER = 0xAAAA0A0A;
/* Configure PDx pins speed to 40 MHz */
GPIOD->OSPEEDR = 0xFFFF0F0F;
/* Configure PDx pins Output type to push-pull */
GPIOD->OTYPER = 0x00000000;
/* No pull-up, pull-down for PDx pins */
GPIOD->PUPDR = 0x00000000;
/* Connect PEx pins to FSMC Alternate function */
GPIOE->AFR[0] = 0xC00000CC;
GPIOE->AFR[1] = 0xCCCCCCCC;
/* Configure PEx pins in Alternate function mode */
GPIOE->MODER = 0xAAAA800A;
/* Configure PEx pins speed to 40 MHz */
GPIOE->OSPEEDR = 0xFFFFC00F;
/* Configure PEx pins Output type to push-pull */
GPIOE->OTYPER = 0x00000000;
/* No pull-up, pull-down for PEx pins */
GPIOE->PUPDR = 0x00000000;
/* Connect PFx pins to FSMC Alternate function */
GPIOF->AFR[0] = 0x00CCCCCC;
GPIOF->AFR[1] = 0xCCCC0000;
/* Configure PFx pins in Alternate function mode */
GPIOF->MODER = 0xAA000AAA;
/* Configure PFx pins speed to 40 MHz */
GPIOF->OSPEEDR = 0xFF000FFF;
/* Configure PFx pins Output type to push-pull */
GPIOF->OTYPER = 0x00000000;
/* No pull-up, pull-down for PFx pins */
GPIOF->PUPDR = 0x00000000;
/* Connect PGx pins to FSMC Alternate function */
GPIOG->AFR[0] = 0x00CCCCCC;
GPIOG->AFR[1] = 0x00000C00;
/* Configure PGx pins in Alternate function mode */
GPIOG->MODER = 0x00200AAA;
/* Configure PGx pins speed to 40 MHz */
GPIOG->OSPEEDR = 0x00300FFF;
/* Configure PGx pins Output type to push-pull */
GPIOG->OTYPER = 0x00000000;
/* No pull-up, pull-down for PGx pins */
GPIOG->PUPDR = 0x00000000;
/*-- FSMC Configuration ------------------------------------------------------*/
/* Enable the FSMC interface clock */
RCC->AHBENR = 0x400080D8;
/* Delay after an RCC peripheral clock enabling */
tmpreg = READ_BIT(RCC->AHBENR, RCC_AHBENR_FSMCEN);
(void)(tmpreg);
/* Configure and enable Bank1_SRAM3 */
FSMC_Bank1->BTCR[4] = 0x00001011;
FSMC_Bank1->BTCR[5] = 0x00000300;
FSMC_Bank1E->BWTR[4] = 0x0FFFFFFF;
/*
Bank1_SRAM3 is configured as follow:
p.FSMC_AddressSetupTime = 0;
p.FSMC_AddressHoldTime = 0;
p.FSMC_DataSetupTime = 3;
p.FSMC_BusTurnAroundDuration = 0;
p.FSMC_CLKDivision = 0;
p.FSMC_DataLatency = 0;
p.FSMC_AccessMode = FSMC_AccessMode_A;
FSMC_NORSRAMInitStructure.FSMC_Bank = FSMC_Bank1_NORSRAM3;
FSMC_NORSRAMInitStructure.FSMC_DataAddressMux = FSMC_DataAddressMux_Disable;
FSMC_NORSRAMInitStructure.FSMC_MemoryType = FSMC_MemoryType_SRAM;
FSMC_NORSRAMInitStructure.FSMC_MemoryDataWidth = FSMC_MemoryDataWidth_16b;
FSMC_NORSRAMInitStructure.FSMC_BurstAccessMode = FSMC_BurstAccessMode_Disable;
FSMC_NORSRAMInitStructure.FSMC_AsynchronousWait = FSMC_AsynchronousWait_Disable;
FSMC_NORSRAMInitStructure.FSMC_WaitSignalPolarity = FSMC_WaitSignalPolarity_Low;
FSMC_NORSRAMInitStructure.FSMC_WrapMode = FSMC_WrapMode_Disable;
FSMC_NORSRAMInitStructure.FSMC_WaitSignalActive = FSMC_WaitSignalActive_BeforeWaitState;
FSMC_NORSRAMInitStructure.FSMC_WriteOperation = FSMC_WriteOperation_Enable;
FSMC_NORSRAMInitStructure.FSMC_WaitSignal = FSMC_WaitSignal_Disable;
FSMC_NORSRAMInitStructure.FSMC_ExtendedMode = FSMC_ExtendedMode_Disable;
FSMC_NORSRAMInitStructure.FSMC_WriteBurst = FSMC_WriteBurst_Disable;
FSMC_NORSRAMInitStructure.FSMC_ReadWriteTimingStruct = &p;
FSMC_NORSRAMInitStructure.FSMC_WriteTimingStruct = &p;
FSMC_NORSRAMInit(&FSMC_NORSRAMInitStructure);
FSMC_NORSRAMCmd(FSMC_Bank1_NORSRAM3, ENABLE);
*/
}
#endif /* DATA_IN_ExtSRAM */
#endif /* STM32L151xD || STM32L152xD || STM32L162xD */
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

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/**
******************************************************************************
* @file x_nucleo_ihm05a1_stm32l0xx.c
* @author IPC Rennes
* @version V1.5.0
* @date June 1st, 2018
* @brief BSP driver for x-nucleo-ihm05a1 Nucleo extension board
* (based on L6208)
******************************************************************************
* @attention
*
* <h2><center>&copy; COPYRIGHT(c) 2018 STMicroelectronics</center></h2>
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "x_nucleo_ihm05a1_stm32l1xx.h"
#include "motor.h"
/** @addtogroup BSP
* @{
*/
/** @defgroup X_NUCLEO_IHM05A1_STM32L0XX NUCLEO IHM05A1 STM32L0XX
* @{
*/
/* Private constants ---------------------------------------------------------*/
/** @defgroup IHM05A1_Private_Constants IHM05A1 Private Constants
* @{
*/
/// Tick frequency (Hz)
#define TIMER_TICK_FREQUENCY (10000)
/// Tick Timer Prescaler
#define TIMER_TICK_PRESCALER (64)
/// MCU wait time after power bridges are enabled
#define BRIDGE_TURN_ON_DELAY (10)
/**
* @}
*/
/* Private variables ---------------------------------------------------------*/
/** @defgroup IHM05A1_Board_Private_Variables IHM05A1 Board Private Variables
* @{
*/
/// L6208 timer handler for VREFA PWM
TIM_HandleTypeDef hTimVrefaPwm;
/// L6208 timer handler for VREFB PWM
TIM_HandleTypeDef hTimVrefbPwm;
/// L6208 timer handler for the tick
TIM_HandleTypeDef hTimTick;
/**
* @}
*/
/** @defgroup IHM05A1_Board_Private_Function_Prototypes IHM05A1 Board Private Function Prototypes
* @{
*/
void L6208_Board_CLOCK_PIN_Reset(void); //Reset the clock pin
void L6208_Board_CLOCK_PIN_Set(void); //Set the clock pin
void L6208_Board_CONTROL_PIN_Reset(void); //Reset the control pin
void L6208_Board_CONTROL_PIN_Set(void); //Set the control pin
void L6208_Board_Delay(uint32_t delay); //Delay of the requested number of milliseconds
void L6208_Board_DIR_PIN_Reset(void); //Reset the dir pin
void L6208_Board_DIR_PIN_Set(void); //Set the dir pin
void L6208_Board_Disable(void); //Disable the power bridges (leave the output bridges HiZ)
void L6208_Board_DisableIrq(void); //Disable Irq
void L6208_Board_Enable(void); //Enable the power bridges (leave the output bridges HiZ)
void L6208_Board_EnableIrq(void); //Disable Irq
uint32_t L6208_Board_FLAG_PIN_GetState(void); //Returns the EN pin state
void L6208_Board_GpioInit(void); //Initialise GPIOs used for L6208
void L6208_Board_HALF_FULL_PIN_Reset(void); //Reset the half full pin
void L6208_Board_HALF_FULL_PIN_Set(void); //Set the half full pin
bool L6208_Board_VrefPwmInit(uint8_t bridgeId, uint32_t pwmFreq); //Initialize the VREFA or VREFB PWM
void L6208_Board_ReleaseReset(void); //Release the reset pin
void L6208_Board_Reset(void); //Reset the reset pin
uint32_t L6208_Board_TickGetFreq(void); //Get the tick frequency in Hz
void L6208_Board_TickInit(void); //Initialize the tick
void L6208_Board_TickStart(void); //Start the timer for the tick by using the set tick frequency
void L6208_Board_TickStop(void); //Stop the timer for the tick
bool L6208_Board_VrefPwmFreqCheck(uint32_t newFreq); //Check that the new VREFA and VREFB PWM frequency is nor too low nor too high
uint32_t L6208_Board_VrefPwmGetPeriod(void); //Get current VREF PWM period duration
bool L6208_Board_VrefPwmSetDutyCycle(uint8_t bridgeId,\
uint16_t value,\
bool valueIsPwmDutyCycle); //Set duty cycle of VREFA or VREFB PWM
bool L6208_Board_VrefPwmStart(uint8_t bridgeId,\
uint32_t pwmFreq); //Start the timer for the VREFA or VREFB PWM
bool L6208_Board_VrefPwmStop(uint8_t bridgeId); //Stop the timer for the VREFA or VREFB PWM
/**
* @}
*/
/** @defgroup IHM05A1_Board_Private_Functions IHM05A1 Board Private Functions
* @{
*/
/******************************************************//**
* @brief This function provides an accurate delay in milliseconds
* @param[in] delay time length in milliseconds
* @retval None
**********************************************************/
void L6208_Board_Delay(uint32_t delay)
{
HAL_Delay(delay);
}
/******************************************************//**
* @brief This function disable the interruptions
* @retval None
**********************************************************/
void L6208_Board_DisableIrq(void)
{
//__disable_irq();
}
/******************************************************//**
* @brief This function enable the interruptions
* @retval None
**********************************************************/
void L6208_Board_EnableIrq(void)
{
//__enable_irq();
}
/******************************************************//**
* @brief Start the L6208 library
* @retval None
**********************************************************/
void L6208_Board_GpioInit(void)
{
GPIO_InitTypeDef GPIO_InitStruct;
/* GPIO Ports Clock Enable */
__GPIOC_CLK_ENABLE();
__GPIOA_CLK_ENABLE();
__GPIOB_CLK_ENABLE();
/* Configure L6208 - EN pin -------------------------------*/
/* When this pin is set low, it is configured just before as */
/* GPIO_MODE_OUTPUT_PP with GPIO_NOPULL */
/* When this pin is set high, it is just after configured for OCD and OVT */
/* as GPIO_MODE_IT_FALLING with GPIO_PULLUP */
L6208_Board_Disable();
/* Set Priority of External Line Interrupt used for the OCD OVT interrupt*/
HAL_NVIC_SetPriority(FLAG_EXTI_LINE_IRQn, BSP_MOTOR_CONTROL_BOARD_EN_AND_FLAG_PRIORITY, 0);
/* Enable the External Line Interrupt used for the OCD OVT interrupt*/
HAL_NVIC_EnableIRQ(FLAG_EXTI_LINE_IRQn);
/* Configure L6208 - CW/CCW pin ----------------------------*/
GPIO_InitStruct.Pin = BSP_MOTOR_CONTROL_BOARD_DIR_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_MEDIUM;
HAL_GPIO_Init(BSP_MOTOR_CONTROL_BOARD_DIR_PORT, &GPIO_InitStruct);
HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_DIR_PORT, BSP_MOTOR_CONTROL_BOARD_DIR_PIN, GPIO_PIN_RESET);
/* Configure L6208 - HALF/FULL pin -------------------------------------------*/
GPIO_InitStruct.Pin = BSP_MOTOR_CONTROL_BOARD_HALF_FULL_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_MEDIUM;
HAL_GPIO_Init(BSP_MOTOR_CONTROL_BOARD_HALF_FULL_PORT, &GPIO_InitStruct);
HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_HALF_FULL_PORT, BSP_MOTOR_CONTROL_BOARD_HALF_FULL_PIN, GPIO_PIN_RESET);
/* Configure L6208 - CONTROL pin -------------------------------------------*/
GPIO_InitStruct.Pin = BSP_MOTOR_CONTROL_BOARD_CONTROL_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_MEDIUM;
HAL_GPIO_Init(BSP_MOTOR_CONTROL_BOARD_CONTROL_PORT, &GPIO_InitStruct);
HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_CONTROL_PORT, BSP_MOTOR_CONTROL_BOARD_CONTROL_PIN, GPIO_PIN_RESET);
/* Configure L6208 - CLOCK pin -------------------------------------------*/
GPIO_InitStruct.Pin = BSP_MOTOR_CONTROL_BOARD_CLOCK_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_MEDIUM;
HAL_GPIO_Init(BSP_MOTOR_CONTROL_BOARD_CLOCK_PORT, &GPIO_InitStruct);
HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_CLOCK_PORT, BSP_MOTOR_CONTROL_BOARD_CLOCK_PIN, GPIO_PIN_RESET);
/* Configure L6208 - STBY/RESET pin -------------------------------------*/
GPIO_InitStruct.Pin = BSP_MOTOR_CONTROL_BOARD_RESET_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_MEDIUM;
HAL_GPIO_Init(BSP_MOTOR_CONTROL_BOARD_RESET_PORT, &GPIO_InitStruct);
L6208_Board_ReleaseReset();
}
/******************************************************//**
* @brief Initialize the tick
* @retval None
**********************************************************/
void L6208_Board_TickInit(void)
{
static TIM_OC_InitTypeDef sConfigOC;
static TIM_MasterConfigTypeDef sMasterConfig;
static TIM_ClockConfigTypeDef sClockSourceConfig;
hTimTick.Instance = BSP_MOTOR_CONTROL_BOARD_TIMER_TICK;
hTimTick.Init.Period = (HAL_RCC_GetSysClockFreq() / (TIMER_TICK_PRESCALER * TIMER_TICK_FREQUENCY)) - 1;
hTimTick.Init.Prescaler = TIMER_TICK_PRESCALER -1;
hTimTick.Init.ClockDivision = 0;
hTimTick.Init.CounterMode = TIM_COUNTERMODE_UP;
HAL_TIM_PWM_Init(&hTimTick);
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
HAL_TIM_ConfigClockSource(&hTimTick, &sClockSourceConfig);
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
HAL_TIM_PWM_ConfigChannel(&hTimTick, &sConfigOC, BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_TICK);
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
HAL_TIMEx_MasterConfigSynchronization(&hTimTick, &sMasterConfig);
}
/******************************************************//**
* @brief Start the timer for the tick by using the set tick frequency
* @retval None
**********************************************************/
void L6208_Board_TickStart(void)
{
uint32_t period = (HAL_RCC_GetSysClockFreq() / (TIMER_TICK_PRESCALER * TIMER_TICK_FREQUENCY)) - 1;
__HAL_TIM_SetAutoreload(&hTimTick, period);
__HAL_TIM_SetCompare(&hTimTick, BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_TICK, period >> 1);
HAL_TIM_PWM_Start_IT(&hTimTick, BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_TICK);
}
/******************************************************//**
* @brief Stop the timer for the tick
* @retval None
**********************************************************/
void L6208_Board_TickStop(void)
{
HAL_TIM_PWM_Stop_IT(&hTimTick, BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_TICK);
}
/******************************************************//**
* @brief Get the tick timer frequency in Hz
* @retval The tick timer frequency in Hz
**********************************************************/
uint32_t L6208_Board_TickGetFreq(void)
{
return TIMER_TICK_FREQUENCY;
}
/******************************************************//**
* @brief Check that the frequency for the VREFA and VREFB PWM
* is high enough to prevent overflow in the computation of the
* micro stepping waveform sample for a maximum torque.
* @param[in] newFreq frequency in Hz of the PWM used to generate
* the reference voltage for the bridge
* @retval FALSE if frequency is too low or too high, else TRUE
**********************************************************/
bool L6208_Board_VrefPwmFreqCheck(uint32_t newFreq)
{
if (newFreq<=(HAL_RCC_GetSysClockFreq()>>16))
{
return FALSE;
}
else
{
return TRUE;
}
}
/******************************************************//**
* @brief Initialize the VREFA or VREFB PWM
* @param[in] bridgeId
* 0 for BRIDGE_A
* 1 for BRIDGE_B
* @param[in] pwmFreq frequency in Hz of the PWM used to generate the reference
* voltage for the bridge
* @retval FALSE if wrong timer handle is used, else TRUE
* @note None
**********************************************************/
bool L6208_Board_VrefPwmInit(uint8_t bridgeId, uint32_t pwmFreq)
{
static TIM_OC_InitTypeDef sConfigOC;
static TIM_MasterConfigTypeDef sMasterConfig;
static TIM_ClockConfigTypeDef sClockSourceConfig;
TIM_HandleTypeDef *pHTim = NULL;
uint32_t channel;
if (bridgeId == 0)
{
pHTim = &hTimVrefaPwm;
pHTim->Instance = BSP_MOTOR_CONTROL_BOARD_TIMER_VREFA_PWM;
pHTim->Init.Prescaler = 0;
pHTim->Init.Period = (HAL_RCC_GetSysClockFreq() / pwmFreq) - 1;
channel = BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_VREFA_PWM;
}
else if (bridgeId == 1)
{
pHTim = &hTimVrefbPwm;
pHTim->Instance = BSP_MOTOR_CONTROL_BOARD_TIMER_VREFB_PWM;
pHTim->Init.Prescaler = 0;
pHTim->Init.Period = (HAL_RCC_GetSysClockFreq() / pwmFreq) - 1;
channel = BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_VREFB_PWM;
}
else
{
return FALSE;
}
pHTim->Init.CounterMode = TIM_COUNTERMODE_UP;
pHTim->Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
HAL_TIM_PWM_Init(pHTim);
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
HAL_TIM_ConfigClockSource(pHTim, &sClockSourceConfig);
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
HAL_TIM_PWM_ConfigChannel(pHTim, &sConfigOC, channel);
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
HAL_TIMEx_MasterConfigSynchronization(pHTim, &sMasterConfig);
return TRUE;
}
/******************************************************//**
* @brief Set duty cycle of VREFA or VREFB PWM
* @param[in] bridgeId
* 0 for BRIDGE_A
* 1 for BRIDGE_B
* @param[in] value pulse length or PWM duty cycle: 0 - 100 %
* @param[in] valueIsPwmDutyCycle must be TRUE if value is a PWM duty cycle
* @retval FALSE if wrong timer handle is used, else TRUE
**********************************************************/
bool L6208_Board_VrefPwmSetDutyCycle(uint8_t bridgeId, uint16_t value, bool valueIsPwmDutyCycle)
{
TIM_HandleTypeDef *pHTim = NULL;
uint32_t channel;
if (bridgeId == 0)
{
pHTim = &hTimVrefaPwm;
channel = BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_VREFA_PWM;
}
else if (bridgeId == 1)
{
pHTim = &hTimVrefbPwm;
channel = BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_VREFB_PWM;
}
else
{
return 0;
}
// PWM or OC Channel pulse length
if(valueIsPwmDutyCycle)
{
if (value > 100) value = 100;
value = (uint16_t)(((uint32_t)pHTim->Init.Period * (uint32_t)value) / 100);
}
__HAL_TIM_SetCompare(pHTim, channel, value);
return 1;
}
/******************************************************//**
* @brief Start the timer for the VREFA or VREFB PWM
* @param[in] bridgeId
* 0 for BRIDGE_A
* 1 for BRIDGE_B
* @param[in] pwmFreq frequency in Hz of the PWM used to generate the reference
* voltage for the bridge
* @retval FALSE if wrong timer handle is used, else TRUE
**********************************************************/
bool L6208_Board_VrefPwmStart(uint8_t bridgeId, uint32_t pwmFreq)
{
TIM_HandleTypeDef *pHTim = NULL;
uint32_t period;
uint32_t channel;
if (bridgeId == 0)
{
pHTim = &hTimVrefaPwm;
period = (HAL_RCC_GetSysClockFreq() / pwmFreq) - 1;
channel = BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_VREFA_PWM;
}
else if (bridgeId == 1)
{
pHTim = &hTimVrefbPwm;
period = (HAL_RCC_GetSysClockFreq() / pwmFreq) - 1;
channel = BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_VREFB_PWM;
}
else
{
return FALSE;
}
__HAL_TIM_SetAutoreload(pHTim, period);
HAL_TIM_PWM_Start(pHTim, channel);
return TRUE;
}
/******************************************************//**
* @brief Stop the VREFA or VREFB PWM
* @param[in] bridgeId
* 0 for BRIDGE_A
* 1 for BRIDGE_B
* @retval None
**********************************************************/
bool L6208_Board_VrefPwmStop(uint8_t bridgeId)
{
TIM_HandleTypeDef *pHTim = NULL;
uint32_t channel;
if (bridgeId == 0)
{
pHTim = &hTimVrefaPwm;
channel = BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_VREFA_PWM;
}
else if (bridgeId == 1)
{
pHTim = &hTimVrefbPwm;
channel = BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_VREFB_PWM;
}
else
{
return FALSE;
}
HAL_TIM_PWM_Stop(pHTim, channel);
return TRUE;
}
/******************************************************//**
* @brief Get current VREF PWM period duration
* @retval the current VREF PWM period duration
* @note hTimVrefbPwm.Init.Period is the same as hTimVrefaPwm.Init.Period
**********************************************************/
uint32_t L6208_Board_VrefPwmGetPeriod(void)
{
return ((uint32_t)hTimVrefaPwm.Init.Period);
}
/******************************************************//**
* @brief Releases the L6208 reset (pin set to High) of all devices
* @retval None
**********************************************************/
void L6208_Board_ReleaseReset(void)
{
HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_RESET_PORT, BSP_MOTOR_CONTROL_BOARD_RESET_PIN, GPIO_PIN_SET);
}
/******************************************************//**
* @brief Resets the L6208 (reset pin set to low) of all devices
* @retval None
**********************************************************/
void L6208_Board_Reset(void)
{
HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_RESET_PORT, BSP_MOTOR_CONTROL_BOARD_RESET_PIN, GPIO_PIN_RESET);
}
/******************************************************//**
* @brief Set the L6208 CONTROL pin
* @retval None
**********************************************************/
void L6208_Board_CONTROL_PIN_Set(void)
{
HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_CONTROL_PORT, BSP_MOTOR_CONTROL_BOARD_CONTROL_PIN, GPIO_PIN_SET);
}
/******************************************************//**
* @brief Reset the L6208 CONTROL pin
* @retval None
**********************************************************/
void L6208_Board_CONTROL_PIN_Reset(void)
{
HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_CONTROL_PORT, BSP_MOTOR_CONTROL_BOARD_CONTROL_PIN, GPIO_PIN_RESET);
}
/******************************************************//**
* @brief Set the L6208 CLOCK pin
* @retval None
**********************************************************/
void L6208_Board_CLOCK_PIN_Set(void)
{
HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_CLOCK_PORT, BSP_MOTOR_CONTROL_BOARD_CLOCK_PIN, GPIO_PIN_SET);
}
/******************************************************//**
* @brief Reset the L6208 CLOCK pin
* @retval None
**********************************************************/
void L6208_Board_CLOCK_PIN_Reset(void)
{
HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_CLOCK_PORT, BSP_MOTOR_CONTROL_BOARD_CLOCK_PIN, GPIO_PIN_RESET);
}
/******************************************************//**
* @brief Set the L6208 HALF_FULL pin
* @retval None
**********************************************************/
void L6208_Board_HALF_FULL_PIN_Set(void)
{
HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_HALF_FULL_PORT, BSP_MOTOR_CONTROL_BOARD_HALF_FULL_PIN, GPIO_PIN_SET);
}
/******************************************************//**
* @brief Reset the L6208 HALF_FULL pin
* @retval None
**********************************************************/
void L6208_Board_HALF_FULL_PIN_Reset(void)
{
HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_HALF_FULL_PORT, BSP_MOTOR_CONTROL_BOARD_HALF_FULL_PIN, GPIO_PIN_RESET);
}
/******************************************************//**
* @brief Set the L6208 DIR pin
* @retval None
**********************************************************/
void L6208_Board_DIR_PIN_Set(void)
{
HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_DIR_PORT, BSP_MOTOR_CONTROL_BOARD_DIR_PIN, GPIO_PIN_SET);
}
/******************************************************//**
* @brief Reset the L6208 DIR pin
* @retval None
**********************************************************/
void L6208_Board_DIR_PIN_Reset(void)
{
HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_DIR_PORT, BSP_MOTOR_CONTROL_BOARD_DIR_PIN, GPIO_PIN_RESET);
}
/******************************************************//**
* @brief Returns the FLAG pin state.
* @retval The FLAG pin value.
**********************************************************/
uint32_t L6208_Board_FLAG_PIN_GetState(void)
{
return HAL_GPIO_ReadPin(BSP_MOTOR_CONTROL_BOARD_EN_AND_FLAG_PORT, BSP_MOTOR_CONTROL_BOARD_EN_AND_FLAG_PIN);
}
/******************************************************//**
* @brief Disable the power bridges (leave the output bridges HiZ)
* @retval None
**********************************************************/
void L6208_Board_Disable(void)
{
GPIO_InitTypeDef GPIO_InitStruct;
/* Configure the GPIO connected to EN pin as an output */
GPIO_InitStruct.Pin = BSP_MOTOR_CONTROL_BOARD_EN_AND_FLAG_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_MEDIUM;
HAL_GPIO_Init(BSP_MOTOR_CONTROL_BOARD_EN_AND_FLAG_PORT, &GPIO_InitStruct);
__disable_irq();
HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_EN_AND_FLAG_PORT, BSP_MOTOR_CONTROL_BOARD_EN_AND_FLAG_PIN, GPIO_PIN_RESET);
__HAL_GPIO_EXTI_CLEAR_IT(BSP_MOTOR_CONTROL_BOARD_EN_AND_FLAG_PIN);
__enable_irq();
}
/******************************************************//**
* @brief Enable the power bridges (leave the output bridges HiZ)
* @retval None
**********************************************************/
void L6208_Board_Enable(void)
{
GPIO_InitTypeDef GPIO_InitStruct;
HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_EN_AND_FLAG_PORT, BSP_MOTOR_CONTROL_BOARD_EN_AND_FLAG_PIN, GPIO_PIN_SET);
HAL_Delay(BRIDGE_TURN_ON_DELAY);
/* Configure the GPIO connected to EN pin to take interrupt */
GPIO_InitStruct.Pin = BSP_MOTOR_CONTROL_BOARD_EN_AND_FLAG_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_MEDIUM;
HAL_GPIO_Init(BSP_MOTOR_CONTROL_BOARD_EN_AND_FLAG_PORT, &GPIO_InitStruct);
__HAL_GPIO_EXTI_CLEAR_IT(BSP_MOTOR_CONTROL_BOARD_EN_AND_FLAG_PIN);
HAL_NVIC_ClearPendingIRQ(FLAG_EXTI_LINE_IRQn);
HAL_NVIC_EnableIRQ(FLAG_EXTI_LINE_IRQn);
}
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

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/**
******************************************************************************
* @file startup_stm32l152xe.s
* @author MCD Application Team
* @brief STM32L152XE Devices vector table for GCC toolchain.
* This module performs:
* - Set the initial SP
* - Set the initial PC == Reset_Handler,
* - Set the vector table entries with the exceptions ISR address
* - Configure the clock system
* - Branches to main in the C library (which eventually
* calls main()).
* After Reset the Cortex-M3 processor is in Thread mode,
* priority is Privileged, and the Stack is set to Main.
******************************************************************************
*
* @attention
*
* Copyright (c) 2017 STMicroelectronics. All rights reserved.
*
* This software component is licensed by ST under BSD 3-Clause license,
* the "License"; You may not use this file except in compliance with the
* License. You may obtain a copy of the License at:
* opensource.org/licenses/BSD-3-Clause
*
******************************************************************************
*/
.syntax unified
.cpu cortex-m3
.fpu softvfp
.thumb
.global g_pfnVectors
.global Default_Handler
/* start address for the initialization values of the .data section.
defined in linker script */
.word _sidata
/* start address for the .data section. defined in linker script */
.word _sdata
/* end address for the .data section. defined in linker script */
.word _edata
/* start address for the .bss section. defined in linker script */
.word _sbss
/* end address for the .bss section. defined in linker script */
.word _ebss
.equ BootRAM, 0xF108F85F
/**
* @brief This is the code that gets called when the processor first
* starts execution following a reset event. Only the absolutely
* necessary set is performed, after which the application
* supplied main() routine is called.
* @param None
* @retval : None
*/
.section .text.Reset_Handler
.weak Reset_Handler
.type Reset_Handler, %function
Reset_Handler:
/* Copy the data segment initializers from flash to SRAM */
movs r1, #0
b LoopCopyDataInit
CopyDataInit:
ldr r3, =_sidata
ldr r3, [r3, r1]
str r3, [r0, r1]
adds r1, r1, #4
LoopCopyDataInit:
ldr r0, =_sdata
ldr r3, =_edata
adds r2, r0, r1
cmp r2, r3
bcc CopyDataInit
ldr r2, =_sbss
b LoopFillZerobss
/* Zero fill the bss segment. */
FillZerobss:
movs r3, #0
str r3, [r2], #4
LoopFillZerobss:
ldr r3, = _ebss
cmp r2, r3
bcc FillZerobss
/* Call the clock system intitialization function.*/
bl SystemInit
/* Call static constructors */
bl __libc_init_array
/* Call the application's entry point.*/
bl main
bx lr
.size Reset_Handler, .-Reset_Handler
/**
* @brief This is the code that gets called when the processor receives an
* unexpected interrupt. This simply enters an infinite loop, preserving
* the system state for examination by a debugger.
*
* @param None
* @retval : None
*/
.section .text.Default_Handler,"ax",%progbits
Default_Handler:
Infinite_Loop:
b Infinite_Loop
.size Default_Handler, .-Default_Handler
/******************************************************************************
*
* The minimal vector table for a Cortex M3. Note that the proper constructs
* must be placed on this to ensure that it ends up at physical address
* 0x0000.0000.
*
******************************************************************************/
.section .isr_vector,"a",%progbits
.type g_pfnVectors, %object
.size g_pfnVectors, .-g_pfnVectors
g_pfnVectors:
.word _estack
.word Reset_Handler
.word NMI_Handler
.word HardFault_Handler
.word MemManage_Handler
.word BusFault_Handler
.word UsageFault_Handler
.word 0
.word 0
.word 0
.word 0
.word SVC_Handler
.word DebugMon_Handler
.word 0
.word PendSV_Handler
.word SysTick_Handler
.word WWDG_IRQHandler
.word PVD_IRQHandler
.word TAMPER_STAMP_IRQHandler
.word RTC_WKUP_IRQHandler
.word FLASH_IRQHandler
.word RCC_IRQHandler
.word EXTI0_IRQHandler
.word EXTI1_IRQHandler
.word EXTI2_IRQHandler
.word EXTI3_IRQHandler
.word EXTI4_IRQHandler
.word DMA1_Channel1_IRQHandler
.word DMA1_Channel2_IRQHandler
.word DMA1_Channel3_IRQHandler
.word DMA1_Channel4_IRQHandler
.word DMA1_Channel5_IRQHandler
.word DMA1_Channel6_IRQHandler
.word DMA1_Channel7_IRQHandler
.word ADC1_IRQHandler
.word USB_HP_IRQHandler
.word USB_LP_IRQHandler
.word DAC_IRQHandler
.word COMP_IRQHandler
.word EXTI9_5_IRQHandler
.word LCD_IRQHandler
.word TIM9_IRQHandler
.word TIM10_IRQHandler
.word TIM11_IRQHandler
.word TIM2_IRQHandler
.word TIM3_IRQHandler
.word TIM4_IRQHandler
.word I2C1_EV_IRQHandler
.word I2C1_ER_IRQHandler
.word I2C2_EV_IRQHandler
.word I2C2_ER_IRQHandler
.word SPI1_IRQHandler
.word SPI2_IRQHandler
.word USART1_IRQHandler
.word USART2_IRQHandler
.word USART3_IRQHandler
.word EXTI15_10_IRQHandler
.word RTC_Alarm_IRQHandler
.word USB_FS_WKUP_IRQHandler
.word TIM6_IRQHandler
.word TIM7_IRQHandler
.word 0
.word TIM5_IRQHandler
.word SPI3_IRQHandler
.word UART4_IRQHandler
.word UART5_IRQHandler
.word DMA2_Channel1_IRQHandler
.word DMA2_Channel2_IRQHandler
.word DMA2_Channel3_IRQHandler
.word DMA2_Channel4_IRQHandler
.word DMA2_Channel5_IRQHandler
.word 0
.word COMP_ACQ_IRQHandler
.word 0
.word 0
.word 0
.word 0
.word 0
.word BootRAM /* @0x108. This is for boot in RAM mode for
STM32L152XE devices. */
/*******************************************************************************
*
* Provide weak aliases for each Exception handler to the Default_Handler.
* As they are weak aliases, any function with the same name will override
* this definition.
*
*******************************************************************************/
.weak NMI_Handler
.thumb_set NMI_Handler,Default_Handler
.weak HardFault_Handler
.thumb_set HardFault_Handler,Default_Handler
.weak MemManage_Handler
.thumb_set MemManage_Handler,Default_Handler
.weak BusFault_Handler
.thumb_set BusFault_Handler,Default_Handler
.weak UsageFault_Handler
.thumb_set UsageFault_Handler,Default_Handler
.weak SVC_Handler
.thumb_set SVC_Handler,Default_Handler
.weak DebugMon_Handler
.thumb_set DebugMon_Handler,Default_Handler
.weak PendSV_Handler
.thumb_set PendSV_Handler,Default_Handler
.weak SysTick_Handler
.thumb_set SysTick_Handler,Default_Handler
.weak WWDG_IRQHandler
.thumb_set WWDG_IRQHandler,Default_Handler
.weak PVD_IRQHandler
.thumb_set PVD_IRQHandler,Default_Handler
.weak TAMPER_STAMP_IRQHandler
.thumb_set TAMPER_STAMP_IRQHandler,Default_Handler
.weak RTC_WKUP_IRQHandler
.thumb_set RTC_WKUP_IRQHandler,Default_Handler
.weak FLASH_IRQHandler
.thumb_set FLASH_IRQHandler,Default_Handler
.weak RCC_IRQHandler
.thumb_set RCC_IRQHandler,Default_Handler
.weak EXTI0_IRQHandler
.thumb_set EXTI0_IRQHandler,Default_Handler
.weak EXTI1_IRQHandler
.thumb_set EXTI1_IRQHandler,Default_Handler
.weak EXTI2_IRQHandler
.thumb_set EXTI2_IRQHandler,Default_Handler
.weak EXTI3_IRQHandler
.thumb_set EXTI3_IRQHandler,Default_Handler
.weak EXTI4_IRQHandler
.thumb_set EXTI4_IRQHandler,Default_Handler
.weak DMA1_Channel1_IRQHandler
.thumb_set DMA1_Channel1_IRQHandler,Default_Handler
.weak DMA1_Channel2_IRQHandler
.thumb_set DMA1_Channel2_IRQHandler,Default_Handler
.weak DMA1_Channel3_IRQHandler
.thumb_set DMA1_Channel3_IRQHandler,Default_Handler
.weak DMA1_Channel4_IRQHandler
.thumb_set DMA1_Channel4_IRQHandler,Default_Handler
.weak DMA1_Channel5_IRQHandler
.thumb_set DMA1_Channel5_IRQHandler,Default_Handler
.weak DMA1_Channel6_IRQHandler
.thumb_set DMA1_Channel6_IRQHandler,Default_Handler
.weak DMA1_Channel7_IRQHandler
.thumb_set DMA1_Channel7_IRQHandler,Default_Handler
.weak ADC1_IRQHandler
.thumb_set ADC1_IRQHandler,Default_Handler
.weak USB_HP_IRQHandler
.thumb_set USB_HP_IRQHandler,Default_Handler
.weak USB_LP_IRQHandler
.thumb_set USB_LP_IRQHandler,Default_Handler
.weak DAC_IRQHandler
.thumb_set DAC_IRQHandler,Default_Handler
.weak COMP_IRQHandler
.thumb_set COMP_IRQHandler,Default_Handler
.weak EXTI9_5_IRQHandler
.thumb_set EXTI9_5_IRQHandler,Default_Handler
.weak LCD_IRQHandler
.thumb_set LCD_IRQHandler,Default_Handler
.weak TIM9_IRQHandler
.thumb_set TIM9_IRQHandler,Default_Handler
.weak TIM10_IRQHandler
.thumb_set TIM10_IRQHandler,Default_Handler
.weak TIM11_IRQHandler
.thumb_set TIM11_IRQHandler,Default_Handler
.weak TIM2_IRQHandler
.thumb_set TIM2_IRQHandler,Default_Handler
.weak TIM3_IRQHandler
.thumb_set TIM3_IRQHandler,Default_Handler
.weak TIM4_IRQHandler
.thumb_set TIM4_IRQHandler,Default_Handler
.weak I2C1_EV_IRQHandler
.thumb_set I2C1_EV_IRQHandler,Default_Handler
.weak I2C1_ER_IRQHandler
.thumb_set I2C1_ER_IRQHandler,Default_Handler
.weak I2C2_EV_IRQHandler
.thumb_set I2C2_EV_IRQHandler,Default_Handler
.weak I2C2_ER_IRQHandler
.thumb_set I2C2_ER_IRQHandler,Default_Handler
.weak SPI1_IRQHandler
.thumb_set SPI1_IRQHandler,Default_Handler
.weak SPI2_IRQHandler
.thumb_set SPI2_IRQHandler,Default_Handler
.weak USART1_IRQHandler
.thumb_set USART1_IRQHandler,Default_Handler
.weak USART2_IRQHandler
.thumb_set USART2_IRQHandler,Default_Handler
.weak USART3_IRQHandler
.thumb_set USART3_IRQHandler,Default_Handler
.weak EXTI15_10_IRQHandler
.thumb_set EXTI15_10_IRQHandler,Default_Handler
.weak RTC_Alarm_IRQHandler
.thumb_set RTC_Alarm_IRQHandler,Default_Handler
.weak USB_FS_WKUP_IRQHandler
.thumb_set USB_FS_WKUP_IRQHandler,Default_Handler
.weak TIM6_IRQHandler
.thumb_set TIM6_IRQHandler,Default_Handler
.weak TIM7_IRQHandler
.thumb_set TIM7_IRQHandler,Default_Handler
.weak TIM5_IRQHandler
.thumb_set TIM5_IRQHandler,Default_Handler
.weak SPI3_IRQHandler
.thumb_set SPI3_IRQHandler,Default_Handler
.weak UART4_IRQHandler
.thumb_set UART4_IRQHandler,Default_Handler
.weak UART5_IRQHandler
.thumb_set UART5_IRQHandler,Default_Handler
.weak DMA2_Channel1_IRQHandler
.thumb_set DMA2_Channel1_IRQHandler,Default_Handler
.weak DMA2_Channel2_IRQHandler
.thumb_set DMA2_Channel2_IRQHandler,Default_Handler
.weak DMA2_Channel3_IRQHandler
.thumb_set DMA2_Channel3_IRQHandler,Default_Handler
.weak DMA2_Channel4_IRQHandler
.thumb_set DMA2_Channel4_IRQHandler,Default_Handler
.weak DMA2_Channel5_IRQHandler
.thumb_set DMA2_Channel5_IRQHandler,Default_Handler
.weak COMP_ACQ_IRQHandler
.thumb_set COMP_ACQ_IRQHandler,Default_Handler
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

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Core/Src/l6208.o: ../Core/Src/l6208.c ../Core/Inc/l6208.h \
../Core/Inc/l6208_target_config.h ../Core/Inc/motor.h
../Core/Inc/l6208.h:
../Core/Inc/l6208_target_config.h:
../Core/Inc/motor.h:

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stepper/steppermotor/Debug/Core/Src/l6208.o Normal file
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stepper/steppermotor/Debug/Core/Src/l6208.su Normal file
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l6208.c:259:13:L6208_GetMotorHandle 4 static
l6208.c:269:6:L6208_Init 16 static
l6208.c:308:10:L6208_ReadId 4 static
l6208.c:321:6:L6208_AttachErrorHandler 16 static
l6208.c:335:6:L6208_AttachFlagInterrupt 16 static
l6208.c:344:9:L6208_CheckStatusHw 8 static
l6208.c:361:6:L6208_Disable 16 static
l6208.c:372:6:L6208_ErrorHandler 16 static
l6208.c:392:6:L6208_Enable 16 static
l6208.c:402:6:L6208_FlagInterruptHandler 8 static
l6208.c:424:10:L6208_GetAcceleration 16 static
l6208.c:437:10:L6208_GetCurrentSpeed 40 static
l6208.c:458:18:L6208_GetDecayMode 16 static
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l6208.c:482:12:L6208_GetDirection 16 static
l6208.c:498:10:L6208_GetFwVersion 4 static
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l6208.c:534:10:L6208_GetMinSpeed 16 static
l6208.c:544:14:L6208_GetMotionState 16 static
l6208.c:555:9:L6208_GetPosition 16 static
l6208.c:565:17:L6208_GetStepMode 16 static
l6208.c:575:17:L6208_GetStopMode 16 static
l6208.c:594:9:L6208_GetTorque 24 static
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l6208.c:702:6:L6208_GoToDir 24 static
l6208.c:741:6:L6208_HardHiZ 16 static
l6208.c:765:6:L6208_HardStop 16 static
l6208.c:793:6:L6208_Move 16 static
l6208.c:821:6:L6208_ReleaseReset 16 static
l6208.c:831:6:L6208_Reset 16 static
l6208.c:841:6:L6208_ResetDevice 8 static
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l6208.c:1666:10:L6208_ConvertAcceDecelRateValue 40 static
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l6208.c:1748:9:L6208_GetMicrostepSample2Scale 4 static
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l6208.c:1849:10:L6208_ScaleWaveformSample 24 static
l6208.c:1868:6:L6208_ScaleWaveformTable 16 static
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l6208.c:2017:13:L6208_SetSysFlag 16 static
l6208.c:2026:6:L6208_StartMovement 16 static
l6208.c:2095:6:L6208_UpdateScanWaveformTable 16 static
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Core/Src/main.o: ../Core/Src/main.c ../Core/Inc/main.h \
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Core/Src/stm32l1xx_hal_msp.o: ../Core/Src/stm32l1xx_hal_msp.c \
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Core/Src/stm32l1xx_it.o: ../Core/Src/stm32l1xx_it.c ../Core/Inc/main.h \
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../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_gpio.h \
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_gpio_ex.h \
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_dma.h \
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_cortex.h \
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_flash.h \
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_flash_ex.h \
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_flash_ramfunc.h \
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_pwr.h \
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_pwr_ex.h \
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_tim.h \
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_tim_ex.h \
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_uart.h \
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_exti.h
../Core/Inc/stm32l1xx_nucleo.h:
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal.h:
../Core/Inc/stm32l1xx_hal_conf.h:
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_rcc.h:
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_def.h:
../Drivers/CMSIS/Device/ST/STM32L1xx/Include/stm32l1xx.h:
../Drivers/CMSIS/Device/ST/STM32L1xx/Include/stm32l152xe.h:
../Drivers/CMSIS/Include/core_cm3.h:
../Drivers/CMSIS/Include/cmsis_version.h:
../Drivers/CMSIS/Include/cmsis_compiler.h:
../Drivers/CMSIS/Include/cmsis_gcc.h:
../Drivers/CMSIS/Include/mpu_armv7.h:
../Drivers/CMSIS/Device/ST/STM32L1xx/Include/system_stm32l1xx.h:
../Drivers/STM32L1xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h:
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_rcc_ex.h:
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_gpio.h:
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_gpio_ex.h:
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_dma.h:
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_cortex.h:
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_flash.h:
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_flash_ex.h:
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_flash_ramfunc.h:
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_pwr.h:
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_pwr_ex.h:
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_tim.h:
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_tim_ex.h:
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_uart.h:
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_exti.h:

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stm32l1xx_nucleo.c:143:10:BSP_GetVersion 4 static
stm32l1xx_nucleo.c:159:6:BSP_LED_Init 40 static
stm32l1xx_nucleo.c:186:6:BSP_LED_DeInit 40 static
stm32l1xx_nucleo.c:204:6:BSP_LED_On 16 static
stm32l1xx_nucleo.c:216:6:BSP_LED_Off 16 static
stm32l1xx_nucleo.c:228:6:BSP_LED_Toggle 16 static
stm32l1xx_nucleo.c:252:6:BSP_PB_Init 40 static
stm32l1xx_nucleo.c:290:6:BSP_PB_DeInit 40 static
stm32l1xx_nucleo.c:305:10:BSP_PB_GetState 16 static

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################################################################################
# Automatically-generated file. Do not edit!
################################################################################
# Add inputs and outputs from these tool invocations to the build variables
C_SRCS += \
../Core/Src/l6208.c \
../Core/Src/main.c \
../Core/Src/stm32l1xx_hal_msp.c \
../Core/Src/stm32l1xx_it.c \
../Core/Src/stm32l1xx_nucleo.c \
../Core/Src/syscalls.c \
../Core/Src/sysmem.c \
../Core/Src/system_stm32l1xx.c \
../Core/Src/x_nucleo_ihm05a1_stm32l1xx.c \
../Core/Src/x_nucleo_ihmxx.c
OBJS += \
./Core/Src/l6208.o \
./Core/Src/main.o \
./Core/Src/stm32l1xx_hal_msp.o \
./Core/Src/stm32l1xx_it.o \
./Core/Src/stm32l1xx_nucleo.o \
./Core/Src/syscalls.o \
./Core/Src/sysmem.o \
./Core/Src/system_stm32l1xx.o \
./Core/Src/x_nucleo_ihm05a1_stm32l1xx.o \
./Core/Src/x_nucleo_ihmxx.o
C_DEPS += \
./Core/Src/l6208.d \
./Core/Src/main.d \
./Core/Src/stm32l1xx_hal_msp.d \
./Core/Src/stm32l1xx_it.d \
./Core/Src/stm32l1xx_nucleo.d \
./Core/Src/syscalls.d \
./Core/Src/sysmem.d \
./Core/Src/system_stm32l1xx.d \
./Core/Src/x_nucleo_ihm05a1_stm32l1xx.d \
./Core/Src/x_nucleo_ihmxx.d
# Each subdirectory must supply rules for building sources it contributes
Core/Src/l6208.o: ../Core/Src/l6208.c
arm-none-eabi-gcc "$<" -mcpu=cortex-m3 -std=gnu11 -g3 -DUSE_HAL_DRIVER -DSTM32L152xE -DDEBUG -c -I../Core/Inc -I../Drivers/STM32L1xx_HAL_Driver/Inc -I../Drivers/STM32L1xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32L1xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -MMD -MP -MF"Core/Src/l6208.d" -MT"$@" --specs=nano.specs -mfloat-abi=soft -mthumb -o "$@"
Core/Src/main.o: ../Core/Src/main.c
arm-none-eabi-gcc "$<" -mcpu=cortex-m3 -std=gnu11 -g3 -DUSE_HAL_DRIVER -DSTM32L152xE -DDEBUG -c -I../Core/Inc -I../Drivers/STM32L1xx_HAL_Driver/Inc -I../Drivers/STM32L1xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32L1xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -MMD -MP -MF"Core/Src/main.d" -MT"$@" --specs=nano.specs -mfloat-abi=soft -mthumb -o "$@"
Core/Src/stm32l1xx_hal_msp.o: ../Core/Src/stm32l1xx_hal_msp.c
arm-none-eabi-gcc "$<" -mcpu=cortex-m3 -std=gnu11 -g3 -DUSE_HAL_DRIVER -DSTM32L152xE -DDEBUG -c -I../Core/Inc -I../Drivers/STM32L1xx_HAL_Driver/Inc -I../Drivers/STM32L1xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32L1xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -MMD -MP -MF"Core/Src/stm32l1xx_hal_msp.d" -MT"$@" --specs=nano.specs -mfloat-abi=soft -mthumb -o "$@"
Core/Src/stm32l1xx_it.o: ../Core/Src/stm32l1xx_it.c
arm-none-eabi-gcc "$<" -mcpu=cortex-m3 -std=gnu11 -g3 -DUSE_HAL_DRIVER -DSTM32L152xE -DDEBUG -c -I../Core/Inc -I../Drivers/STM32L1xx_HAL_Driver/Inc -I../Drivers/STM32L1xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32L1xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -MMD -MP -MF"Core/Src/stm32l1xx_it.d" -MT"$@" --specs=nano.specs -mfloat-abi=soft -mthumb -o "$@"
Core/Src/stm32l1xx_nucleo.o: ../Core/Src/stm32l1xx_nucleo.c
arm-none-eabi-gcc "$<" -mcpu=cortex-m3 -std=gnu11 -g3 -DUSE_HAL_DRIVER -DSTM32L152xE -DDEBUG -c -I../Core/Inc -I../Drivers/STM32L1xx_HAL_Driver/Inc -I../Drivers/STM32L1xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32L1xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -MMD -MP -MF"Core/Src/stm32l1xx_nucleo.d" -MT"$@" --specs=nano.specs -mfloat-abi=soft -mthumb -o "$@"
Core/Src/syscalls.o: ../Core/Src/syscalls.c
arm-none-eabi-gcc "$<" -mcpu=cortex-m3 -std=gnu11 -g3 -DUSE_HAL_DRIVER -DSTM32L152xE -DDEBUG -c -I../Core/Inc -I../Drivers/STM32L1xx_HAL_Driver/Inc -I../Drivers/STM32L1xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32L1xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -MMD -MP -MF"Core/Src/syscalls.d" -MT"$@" --specs=nano.specs -mfloat-abi=soft -mthumb -o "$@"
Core/Src/sysmem.o: ../Core/Src/sysmem.c
arm-none-eabi-gcc "$<" -mcpu=cortex-m3 -std=gnu11 -g3 -DUSE_HAL_DRIVER -DSTM32L152xE -DDEBUG -c -I../Core/Inc -I../Drivers/STM32L1xx_HAL_Driver/Inc -I../Drivers/STM32L1xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32L1xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -MMD -MP -MF"Core/Src/sysmem.d" -MT"$@" --specs=nano.specs -mfloat-abi=soft -mthumb -o "$@"
Core/Src/system_stm32l1xx.o: ../Core/Src/system_stm32l1xx.c
arm-none-eabi-gcc "$<" -mcpu=cortex-m3 -std=gnu11 -g3 -DUSE_HAL_DRIVER -DSTM32L152xE -DDEBUG -c -I../Core/Inc -I../Drivers/STM32L1xx_HAL_Driver/Inc -I../Drivers/STM32L1xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32L1xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -MMD -MP -MF"Core/Src/system_stm32l1xx.d" -MT"$@" --specs=nano.specs -mfloat-abi=soft -mthumb -o "$@"
Core/Src/x_nucleo_ihm05a1_stm32l1xx.o: ../Core/Src/x_nucleo_ihm05a1_stm32l1xx.c
arm-none-eabi-gcc "$<" -mcpu=cortex-m3 -std=gnu11 -g3 -DUSE_HAL_DRIVER -DSTM32L152xE -DDEBUG -c -I../Core/Inc -I../Drivers/STM32L1xx_HAL_Driver/Inc -I../Drivers/STM32L1xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32L1xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -MMD -MP -MF"Core/Src/x_nucleo_ihm05a1_stm32l1xx.d" -MT"$@" --specs=nano.specs -mfloat-abi=soft -mthumb -o "$@"
Core/Src/x_nucleo_ihmxx.o: ../Core/Src/x_nucleo_ihmxx.c
arm-none-eabi-gcc "$<" -mcpu=cortex-m3 -std=gnu11 -g3 -DUSE_HAL_DRIVER -DSTM32L152xE -DDEBUG -c -I../Core/Inc -I../Drivers/STM32L1xx_HAL_Driver/Inc -I../Drivers/STM32L1xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32L1xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -MMD -MP -MF"Core/Src/x_nucleo_ihmxx.d" -MT"$@" --specs=nano.specs -mfloat-abi=soft -mthumb -o "$@"

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Core/Src/syscalls.o: ../Core/Src/syscalls.c

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syscalls.c:48:6:initialise_monitor_handles 4 static
syscalls.c:52:5:_getpid 4 static
syscalls.c:57:5:_kill 16 static
syscalls.c:63:6:_exit 16 static
syscalls.c:69:27:_read 32 static
syscalls.c:81:27:_write 32 static
syscalls.c:92:5:_close 16 static
syscalls.c:98:5:_fstat 16 static
syscalls.c:104:5:_isatty 16 static
syscalls.c:109:5:_lseek 24 static
syscalls.c:114:5:_open 12 static
syscalls.c:120:5:_wait 16 static
syscalls.c:126:5:_unlink 16 static
syscalls.c:132:5:_times 16 static
syscalls.c:137:5:_stat 16 static
syscalls.c:143:5:_link 16 static
syscalls.c:149:5:_fork 8 static
syscalls.c:155:5:_execve 24 static

1
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Core/Src/sysmem.o: ../Core/Src/sysmem.c

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sysmem.c:54:7:_sbrk 32 static

82
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Core/Src/system_stm32l1xx.o: ../Core/Src/system_stm32l1xx.c \
../Drivers/CMSIS/Device/ST/STM32L1xx/Include/stm32l1xx.h \
../Drivers/CMSIS/Device/ST/STM32L1xx/Include/stm32l152xe.h \
../Drivers/CMSIS/Include/core_cm3.h \
../Drivers/CMSIS/Include/cmsis_version.h \
../Drivers/CMSIS/Include/cmsis_compiler.h \
../Drivers/CMSIS/Include/cmsis_gcc.h \
../Drivers/CMSIS/Include/mpu_armv7.h \
../Drivers/CMSIS/Device/ST/STM32L1xx/Include/system_stm32l1xx.h \
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal.h \
../Core/Inc/stm32l1xx_hal_conf.h \
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_rcc.h \
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_def.h \
../Drivers/STM32L1xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h \
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_rcc_ex.h \
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_gpio.h \
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_gpio_ex.h \
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_dma.h \
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_cortex.h \
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_flash.h \
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_flash_ex.h \
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_flash_ramfunc.h \
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_pwr.h \
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_pwr_ex.h \
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_tim.h \
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_tim_ex.h \
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_uart.h \
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_exti.h
../Drivers/CMSIS/Device/ST/STM32L1xx/Include/stm32l1xx.h:
../Drivers/CMSIS/Device/ST/STM32L1xx/Include/stm32l152xe.h:
../Drivers/CMSIS/Include/core_cm3.h:
../Drivers/CMSIS/Include/cmsis_version.h:
../Drivers/CMSIS/Include/cmsis_compiler.h:
../Drivers/CMSIS/Include/cmsis_gcc.h:
../Drivers/CMSIS/Include/mpu_armv7.h:
../Drivers/CMSIS/Device/ST/STM32L1xx/Include/system_stm32l1xx.h:
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal.h:
../Core/Inc/stm32l1xx_hal_conf.h:
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_rcc.h:
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_def.h:
../Drivers/STM32L1xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h:
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_rcc_ex.h:
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_gpio.h:
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_gpio_ex.h:
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_dma.h:
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_cortex.h:
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_flash.h:
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_flash_ex.h:
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_flash_ramfunc.h:
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_pwr.h:
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_pwr_ex.h:
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_tim.h:
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_tim_ex.h:
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_uart.h:
../Drivers/STM32L1xx_HAL_Driver/Inc/stm32l1xx_hal_exti.h:

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system_stm32l1xx.c:140:6:SystemInit 4 static
system_stm32l1xx.c:191:6:SystemCoreClockUpdate 32 static

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Core/Src/x_nucleo_ihmxx.o: ../Core/Src/x_nucleo_ihmxx.c \
../Core/Inc/x_nucleo_ihmxx.h ../Core/Inc/motor.h
../Core/Inc/x_nucleo_ihmxx.h:
../Core/Inc/motor.h:

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x_nucleo_ihmxx.c:98:20:L6474_GetMotorHandle 4 static
x_nucleo_ihmxx.c:100:20:l647x_GetMotorHandle 4 static
x_nucleo_ihmxx.c:102:20:l648x_GetMotorHandle 4 static
x_nucleo_ihmxx.c:104:20:Powerstep01_GetMotorHandle 4 static
x_nucleo_ihmxx.c:106:20:L6206_GetMotorHandle 4 static
x_nucleo_ihmxx.c:108:20:L6208_GetMotorHandle 4 static
x_nucleo_ihmxx.c:110:20:Stspin220_GetMotorHandle 4 static
x_nucleo_ihmxx.c:112:20:Stspin240_250_GetMotorHandle 4 static
x_nucleo_ihmxx.c:129:6:BSP_MotorControl_AttachErrorHandler 16 static
x_nucleo_ihmxx.c:149:6:BSP_MotorControl_AttachFlagInterrupt 16 static
x_nucleo_ihmxx.c:169:6:BSP_MotorControl_AttachBusyInterrupt 16 static
x_nucleo_ihmxx.c:186:6:BSP_MotorControl_ErrorHandler 16 static
x_nucleo_ihmxx.c:209:6:BSP_MotorControl_Init 16 static
x_nucleo_ihmxx.c:225:6:BSP_MotorControl_FlagInterruptHandler 8 static
x_nucleo_ihmxx.c:242:10:BSP_MotorControl_GetAcceleration 24 static
x_nucleo_ihmxx.c:261:10:BSP_MotorControl_GetBoardId 4 static
x_nucleo_ihmxx.c:273:10:BSP_MotorControl_GetCurrentSpeed 24 static
x_nucleo_ihmxx.c:293:10:BSP_MotorControl_GetDeceleration 24 static
x_nucleo_ihmxx.c:316:14:BSP_MotorControl_GetDeviceState 24 static
x_nucleo_ihmxx.c:337:10:BSP_MotorControl_GetFwVersion 16 static
x_nucleo_ihmxx.c:358:9:BSP_MotorControl_GetMark 24 static
x_nucleo_ihmxx.c:381:10:BSP_MotorControl_GetMaxSpeed 24 static
x_nucleo_ihmxx.c:401:10:BSP_MotorControl_GetMinSpeed 24 static
x_nucleo_ihmxx.c:422:9:BSP_MotorControl_GetPosition 24 static
x_nucleo_ihmxx.c:443:6:BSP_MotorControl_GoHome 16 static
x_nucleo_ihmxx.c:461:6:BSP_MotorControl_GoMark 16 static
x_nucleo_ihmxx.c:480:6:BSP_MotorControl_GoTo 16 static
x_nucleo_ihmxx.c:499:6:BSP_MotorControl_HardStop 16 static
x_nucleo_ihmxx.c:519:6:BSP_MotorControl_Move 16 static
x_nucleo_ihmxx.c:535:6:BSP_MotorControl_ResetAllDevices 8 static
x_nucleo_ihmxx.c:558:6:BSP_MotorControl_Run 16 static
x_nucleo_ihmxx.c:578:6:BSP_MotorControl_SetAcceleration 24 static
x_nucleo_ihmxx.c:601:6:BSP_MotorControl_SetDeceleration 24 static
x_nucleo_ihmxx.c:622:6:BSP_MotorControl_SetHome 16 static
x_nucleo_ihmxx.c:641:6:BSP_MotorControl_SetMark 16 static
x_nucleo_ihmxx.c:664:6:BSP_MotorControl_SetMaxSpeed 24 static
x_nucleo_ihmxx.c:687:6:BSP_MotorControl_SetMinSpeed 24 static
x_nucleo_ihmxx.c:710:6:BSP_MotorControl_SoftStop 24 static
x_nucleo_ihmxx.c:732:6:BSP_MotorControl_StepClockHandler 16 static
x_nucleo_ihmxx.c:749:6:BSP_MotorControl_WaitWhileActive 16 static
x_nucleo_ihmxx.c:779:6:BSP_MotorControl_CmdDisable 16 static
x_nucleo_ihmxx.c:801:6:BSP_MotorControl_CmdEnable 16 static
x_nucleo_ihmxx.c:819:10:BSP_MotorControl_CmdGetParam 24 static
x_nucleo_ihmxx.c:847:10:BSP_MotorControl_CmdGetStatus 24 static
x_nucleo_ihmxx.c:866:6:BSP_MotorControl_CmdNop 16 static
x_nucleo_ihmxx.c:885:6:BSP_MotorControl_CmdSetParam 24 static
x_nucleo_ihmxx.c:906:10:BSP_MotorControl_ReadStatusRegister 24 static
x_nucleo_ihmxx.c:925:6:BSP_MotorControl_ReleaseReset 16 static
x_nucleo_ihmxx.c:941:6:BSP_MotorControl_Reset 16 static
x_nucleo_ihmxx.c:961:6:BSP_MotorControl_SelectStepMode 24 static
x_nucleo_ihmxx.c:987:6:BSP_MotorControl_SetDirection 16 static
x_nucleo_ihmxx.c:1007:6:BSP_MotorControl_CmdGoToDir 16 static
x_nucleo_ihmxx.c:1025:9:BSP_MotorControl_CheckBusyHw 16 static
x_nucleo_ihmxx.c:1046:9:BSP_MotorControl_CheckStatusHw 16 static
x_nucleo_ihmxx.c:1068:6:BSP_MotorControl_CmdGoUntil 24 static
x_nucleo_ihmxx.c:1089:6:BSP_MotorControl_CmdHardHiZ 16 static
x_nucleo_ihmxx.c:1108:6:BSP_MotorControl_CmdReleaseSw 16 static
x_nucleo_ihmxx.c:1125:6:BSP_MotorControl_CmdResetDevice 16 static
x_nucleo_ihmxx.c:1142:6:BSP_MotorControl_CmdResetPos 16 static
x_nucleo_ihmxx.c:1161:6:BSP_MotorControl_CmdRun 16 static
x_nucleo_ihmxx.c:1178:6:BSP_MotorControl_CmdSoftHiZ 16 static
x_nucleo_ihmxx.c:1196:6:BSP_MotorControl_CmdStepClock 16 static
x_nucleo_ihmxx.c:1218:6:BSP_MotorControl_FetchAndClearAllStatus 8 static
x_nucleo_ihmxx.c:1238:10:BSP_MotorControl_GetFetchedStatus 24 static
x_nucleo_ihmxx.c:1256:9:BSP_MotorControl_GetNbDevices 16 static
x_nucleo_ihmxx.c:1276:6:BSP_MotorControl_IsDeviceBusy 24 static
x_nucleo_ihmxx.c:1295:6:BSP_MotorControl_SendQueuedCommands 8 static
x_nucleo_ihmxx.c:1321:6:BSP_MotorControl_QueueCommands 16 static
x_nucleo_ihmxx.c:1337:6:BSP_MotorControl_WaitForAllDevicesNotBusy 8 static
x_nucleo_ihmxx.c:1353:6:BSP_MotorControl_BusyInterruptHandler 8 static
x_nucleo_ihmxx.c:1370:6:BSP_MotorControl_CmdSoftStop 16 static
x_nucleo_ihmxx.c:1388:6:BSP_MotorControl_StartStepClock 16 static
x_nucleo_ihmxx.c:1404:6:BSP_MotorControl_StopStepClock 8 static
x_nucleo_ihmxx.c:1424:6:BSP_MotorControl_SetDualFullBridgeConfig 16 static
x_nucleo_ihmxx.c:1442:10:BSP_MotorControl_GetBridgeInputPwmFreq 24 static
x_nucleo_ihmxx.c:1464:6:BSP_MotorControl_SetBridgeInputPwmFreq 16 static
x_nucleo_ihmxx.c:1485:6:BSP_MotorControl_SetStopMode 16 static
x_nucleo_ihmxx.c:1503:17:BSP_MotorControl_GetStopMode 24 static
x_nucleo_ihmxx.c:1525:6:BSP_MotorControl_SetDecayMode 16 static
x_nucleo_ihmxx.c:1543:18:BSP_MotorControl_GetDecayMode 24 static
x_nucleo_ihmxx.c:1564:17:BSP_MotorControl_GetStepMode 24 static
x_nucleo_ihmxx.c:1585:12:BSP_MotorControl_GetDirection 24 static
x_nucleo_ihmxx.c:1605:6:BSP_MotorControl_ExitDeviceFromReset 16 static
x_nucleo_ihmxx.c:1623:9:BSP_MotorControl_GetTorque 24 static
x_nucleo_ihmxx.c:1645:6:BSP_MotorControl_SetTorque 16 static
x_nucleo_ihmxx.c:1663:6:BSP_MotorControl_SetRefFreq 16 static
x_nucleo_ihmxx.c:1680:10:BSP_MotorControl_GetRefFreq 24 static
x_nucleo_ihmxx.c:1700:6:BSP_MotorControl_SetRefDc 16 static
x_nucleo_ihmxx.c:1717:9:BSP_MotorControl_GetRefDc 24 static
x_nucleo_ihmxx.c:1739:6:BSP_MotorControl_SetNbDevices 24 static
x_nucleo_ihmxx.c:1798:6:BSP_MotorControl_SetAnalogValue 32 static
x_nucleo_ihmxx.c:1818:7:BSP_MotorControl_GetAnalogValue 24 static
x_nucleo_ihmxx.c:1838:6:BSP_MotorControl_SetTorqueBoostEnable 16 static
x_nucleo_ihmxx.c:1855:6:BSP_MotorControl_GetTorqueBoostEnable 24 static
x_nucleo_ihmxx.c:1876:6:BSP_MotorControl_SetTorqueBoostThreshold 16 static
x_nucleo_ihmxx.c:1894:10:BSP_MotorControl_GetTorqueBoostThreshold 24 static
x_nucleo_ihmxx.c:1915:9:BSP_MotorControl_GetDualFullBridgeConfig 16 static

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Core/Startup/startup_stm32l152retx.o: \
../Core/Startup/startup_stm32l152retx.s

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################################################################################
# Automatically-generated file. Do not edit!
################################################################################
# Add inputs and outputs from these tool invocations to the build variables
S_SRCS += \
../Core/Startup/startup_stm32l152retx.s
OBJS += \
./Core/Startup/startup_stm32l152retx.o
S_DEPS += \
./Core/Startup/startup_stm32l152retx.d
# Each subdirectory must supply rules for building sources it contributes
Core/Startup/startup_stm32l152retx.o: ../Core/Startup/startup_stm32l152retx.s
arm-none-eabi-gcc -mcpu=cortex-m3 -g3 -c -x assembler-with-cpp -MMD -MP -MF"Core/Startup/startup_stm32l152retx.d" -MT"$@" --specs=nano.specs -mfloat-abi=soft -mthumb -o "$@" "$<"

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Drivers/STM32L1xx_HAL_Driver/Src/stm32l1xx_hal.o: \
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stm32l1xx_hal.c:140:19:HAL_Init 16 static
stm32l1xx_hal.c:173:19:HAL_DeInit 8 static
stm32l1xx_hal.c:196:13:HAL_MspInit 4 static
stm32l1xx_hal.c:207:13:HAL_MspDeInit 4 static
stm32l1xx_hal.c:230:26:HAL_InitTick 24 static
stm32l1xx_hal.c:298:13:HAL_IncTick 4 static
stm32l1xx_hal.c:309:17:HAL_GetTick 4 static
stm32l1xx_hal.c:318:10:HAL_GetTickPrio 4 static
stm32l1xx_hal.c:328:19:HAL_SetTickFreq 24 static
stm32l1xx_hal.c:350:10:HAL_GetTickFreq 4 static
stm32l1xx_hal.c:366:13:HAL_Delay 24 static
stm32l1xx_hal.c:392:13:HAL_SuspendTick 4 static
stm32l1xx_hal.c:408:13:HAL_ResumeTick 4 static
stm32l1xx_hal.c:418:10:HAL_GetHalVersion 4 static
stm32l1xx_hal.c:427:10:HAL_GetREVID 4 static
stm32l1xx_hal.c:436:10:HAL_GetDEVID 4 static
stm32l1xx_hal.c:445:10:HAL_GetUIDw0 4 static
stm32l1xx_hal.c:454:10:HAL_GetUIDw1 4 static
stm32l1xx_hal.c:463:10:HAL_GetUIDw2 4 static
stm32l1xx_hal.c:492:6:HAL_DBGMCU_EnableDBGSleepMode 4 static
stm32l1xx_hal.c:501:6:HAL_DBGMCU_DisableDBGSleepMode 4 static
stm32l1xx_hal.c:510:6:HAL_DBGMCU_EnableDBGStopMode 4 static
stm32l1xx_hal.c:519:6:HAL_DBGMCU_DisableDBGStopMode 4 static
stm32l1xx_hal.c:528:6:HAL_DBGMCU_EnableDBGStandbyMode 4 static
stm32l1xx_hal.c:537:6:HAL_DBGMCU_DisableDBGStandbyMode 4 static

83
stepper/steppermotor/Debug/Drivers/STM32L1xx_HAL_Driver/Src/stm32l1xx_hal_adc.d Normal file
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Drivers/STM32L1xx_HAL_Driver/Src/stm32l1xx_hal_adc.o: \
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stepper/steppermotor/Debug/Drivers/STM32L1xx_HAL_Driver/Src/stm32l1xx_hal_adc_ex.d Normal file
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Drivers/STM32L1xx_HAL_Driver/Src/stm32l1xx_hal_flash.o: \
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stm32l1xx_hal_flash.c:231:19:HAL_FLASH_Program 32 static
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stm32l1xx_hal_flash_ex.c:790:19:HAL_FLASHEx_DATAEEPROM_Erase 24 static
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stm32l1xx_hal_flash_ex.c:1022:26:FLASH_OB_BORConfig 32 static
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stm32l1xx_hal_flash_ex.c:1074:16:FLASH_OB_GetRDP 16 static
stm32l1xx_hal_flash_ex.c:1092:16:FLASH_OB_GetBOR 4 static
stm32l1xx_hal_flash_ex.c:1106:26:FLASH_OB_WRPConfig 24 static
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stm32l1xx_hal_flash_ex.c:1283:13:FLASH_OB_WRPConfigWRP2OrPCROP2 32 static
stm32l1xx_hal_flash_ex.c:1329:13:FLASH_OB_WRPConfigWRP3 32 static
stm32l1xx_hal_flash_ex.c:1374:13:FLASH_OB_WRPConfigWRP4 32 static
stm32l1xx_hal_flash_ex.c:1424:26:FLASH_OB_UserConfig 32 static
stm32l1xx_hal_flash_ex.c:1477:26:FLASH_OB_BootConfig 32 static
stm32l1xx_hal_flash_ex.c:1526:26:FLASH_DATAEEPROM_FastProgramByte 24 static
stm32l1xx_hal_flash_ex.c:1586:26:FLASH_DATAEEPROM_FastProgramHalfWord 24 static
stm32l1xx_hal_flash_ex.c:1654:26:FLASH_DATAEEPROM_FastProgramWord 24 static
stm32l1xx_hal_flash_ex.c:1685:26:FLASH_DATAEEPROM_ProgramByte 24 static
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Drivers/STM32L1xx_HAL_Driver/Src/stm32l1xx_hal_flash_ramfunc.o: \
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