From 337ebd0d9102a9959a055b1af295dbe746571260 Mon Sep 17 00:00:00 2001
From: Gregor Wuest <wuestgr61132@th-nuernberg.de>
Date: Fri, 19 Feb 2021 10:29:27 +0100
Subject: [PATCH] added stepper includes

---
 RTC/Core/Inc/main.h               |  6 +++
 RTC/Core/Inc/stm32f4xx_hal_conf.h |  2 +-
 RTC/Core/Src/main.c               | 68 +++++++++++++++++++++++++++++--
 3 files changed, 72 insertions(+), 4 deletions(-)

diff --git a/RTC/Core/Inc/main.h b/RTC/Core/Inc/main.h
index 2987eb0..f033501 100644
--- a/RTC/Core/Inc/main.h
+++ b/RTC/Core/Inc/main.h
@@ -29,6 +29,12 @@ extern "C" {
 
 /* Includes ------------------------------------------------------------------*/
 #include "stm32f4xx_hal.h"
+#include "x_nucleo_ihmxx.h"
+#include "l6208.h"
+#include "x_nucleo_ihm05a1_stm32f4xx.h"
+#ifdef USE_STM32F4XX_NUCLEO
+#include "x_nucleo_ihm05a1_stm32f4xx.h"
+#endif
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
diff --git a/RTC/Core/Inc/stm32f4xx_hal_conf.h b/RTC/Core/Inc/stm32f4xx_hal_conf.h
index e58843b..f5aa67c 100644
--- a/RTC/Core/Inc/stm32f4xx_hal_conf.h
+++ b/RTC/Core/Inc/stm32f4xx_hal_conf.h
@@ -62,7 +62,7 @@
 /* #define HAL_SD_MODULE_ENABLED   */
 /* #define HAL_MMC_MODULE_ENABLED   */
 /* #define HAL_SPI_MODULE_ENABLED   */
-/* #define HAL_TIM_MODULE_ENABLED   */
+#define HAL_TIM_MODULE_ENABLED
 #define HAL_UART_MODULE_ENABLED
 /* #define HAL_USART_MODULE_ENABLED   */
 /* #define HAL_IRDA_MODULE_ENABLED   */
diff --git a/RTC/Core/Src/main.c b/RTC/Core/Src/main.c
index dbe4c44..d190487 100644
--- a/RTC/Core/Src/main.c
+++ b/RTC/Core/Src/main.c
@@ -50,6 +50,9 @@ UART_HandleTypeDef huart2;
 RTC_TimeTypeDef sTime;
 RTC_DateTypeDef sDate;
 RTC_AlarmTypeDef sAlarmA, sAlarmB;
+static volatile uint16_t gLastError;
+static volatile bool gButtonPressed = FALSE;
+static volatile float sunWindow;
 
 //Nuremberg coordinates
 int latitude_nbg = 49;
@@ -73,6 +76,7 @@ typedef struct {
 	int day;
 	int year;
 } timeAndDate;
+
 /* USER CODE END PV */
 
 /* Private function prototypes -----------------------------------------------*/
@@ -80,6 +84,8 @@ void SystemClock_Config(void);
 static void MX_GPIO_Init(void);
 static void MX_USART2_UART_Init(void);
 static void MX_RTC_Init(void);
+static void MyFlagInterruptHandler(void);
+void ButtonHandler(void);
 /* USER CODE BEGIN PFP */
 
 /* USER CODE END PFP */
@@ -418,7 +424,20 @@ int main(void)
   HAL_Init();
 
   /* USER CODE BEGIN Init */
-
+  //----- Init of the Motor control library
+  /* Set the L6208 library to use 1 device */
+  BSP_MotorControl_SetNbDevices(BSP_MOTOR_CONTROL_BOARD_ID_L6208, 1);
+  BSP_MotorControl_Init(BSP_MOTOR_CONTROL_BOARD_ID_L6208, NULL);
+  /* Attach the function MyFlagInterruptHandler (defined below) to the flag interrupt */
+  BSP_MotorControl_AttachFlagInterrupt(MyFlagInterruptHandler);
+  /* Attach the function MyErrorHandler (defined below) to the error Handler*/
+  BSP_MotorControl_AttachErrorHandler(Error_Handler);
+  /* Set Systick Interrupt priority highest to ensure no lock by using HAL_Delay */
+  HAL_NVIC_SetPriority(SysTick_IRQn, 0x0, 0x0);
+  /* Configure KEY Button */
+  BSP_PB_Init(BUTTON_KEY, BUTTON_MODE_EXTI);
+  /* Disable the power bridges after initialization */
+  BSP_MotorControl_CmdDisable(0);
   /* USER CODE END Init */
 
   /* Configure the system clock */
@@ -445,15 +464,37 @@ int main(void)
 	  0
   };
 
+  int32_t pos;
+  uint32_t freqPwm, timeToNextStep;
+
   /* USER CODE END 2 */
 
   /* Infinite loop */
   /* USER CODE BEGIN WHILE */
   while (1)
   {
-    /* USER CODE END WHILE */
+	  HAL_Delay(2000);
+	  freqPwm = BSP_MotorControl_GetBridgeInputPwmFreq(0);
+	  BSP_MotorControl_SetBridgeInputPwmFreq(0, freqPwm>>1);
 
-    /* USER CODE BEGIN 3 */
+	  pos = BSP_MotorControl_GetPosition(0);
+
+	  BSP_MotorControl_SetHome(0, pos);
+
+	  BSP_MotorControl_SelectStepMode(0, STEP_MODE_FULL);
+
+	  BSP_MotorControl_Move(0, FORWARD, 25);
+	  BSP_MotorControl_WaitWhileActive(0);
+
+	  BSP_MotorControl_Move(0, FORWARD, 25);
+	  BSP_MotorControl_WaitWhileActive(0);
+
+	  BSP_MotorControl_Move(0, FORWARD, 25);
+	  BSP_MotorControl_WaitWhileActive(0);
+
+	/* USER CODE END WHILE */
+
+	/* USER CODE BEGIN 3 */
 	setTime(&initialDate);
 	setDate(&initialDate);
 	leap_year_check(initialDate.year);
@@ -731,6 +772,27 @@ void HAL_RTCEx_AlarmBEventCallback(RTC_HandleTypeDef *hrtc)
   /* Alarm generation */
   transmit_uart("B: Alarm!!!!\r\n");
 }
+
+/**
+  * @brief  This function is the User handler for the flag interrupt
+  * @param  None
+  * @retval None
+  */
+void MyFlagInterruptHandler(void)
+{
+  //When EN pin is forced low by a failure, configure the GPIO as an ouput low
+  BSP_MotorControl_CmdDisable(0);
+}
+
+void ButtonHandler(void)
+{
+	gButtonPressed = TRUE;
+  /* Let 200 ms before clearing the IT for key debouncing */
+	HAL_Delay(200);
+	__HAL_GPIO_EXTI_CLEAR_IT(KEY_BUTTON_PIN);
+	HAL_NVIC_ClearPendingIRQ(KEY_BUTTON_EXTI_IRQn);
+}
+
 /* USER CODE END 4 */
 
 /**