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Added stepper libs

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Gregor Wüst 2021-02-19 10:35:07 +01:00
parent 337ebd0d91
commit 861f73a5c6
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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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/**
******************************************************************************
* @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 stm32f4xx_nucleo.h
* @author MCD Application Team
* @brief This file contains definitions for:
* - LEDs and push-button available on STM32F4XX-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</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 __STM32F4XX_NUCLEO_H
#define __STM32F4XX_NUCLEO_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_hal.h"
/* To be defined only if the board is provided with the related shield */
/* https://www.adafruit.com/products/802 */
#define ADAFRUIT_TFT_JOY_SD_ID802
/** @addtogroup BSP
* @{
*/
/** @addtogroup STM32F4XX_NUCLEO
* @{
*/
/** @addtogroup STM32F4XX_NUCLEO_LOW_LEVEL
* @{
*/
/** @defgroup STM32F4XX_NUCLEO_LOW_LEVEL_Exported_Types STM32F4XX NUCLEO LOW LEVEL Exported Types
* @{
*/
typedef enum
{
LED2 = 0
}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 STM32F4XX_NUCLEO_LOW_LEVEL_Exported_Constants STM32F4XX NUCLEO LOW LEVEL Exported Constants
* @{
*/
/**
* @brief Define for STM32F4XX_NUCLEO board
*/
#if !defined (USE_STM32F4XX_NUCLEO)
#define USE_STM32F4XX_NUCLEO
#endif
/** @defgroup STM32F4XX_NUCLEO_LOW_LEVEL_LED STM32F4XX NUCLEO LOW LEVEL LED
* @{
*/
#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__) LED2_GPIO_CLK_ENABLE()
#define LEDx_GPIO_CLK_DISABLE(__INDEX__) LED2_GPIO_CLK_DISABLE()
/**
* @}
*/
/** @defgroup STM32F4XX_NUCLEO_LOW_LEVEL_BUTTON STM32F4XX NUCLEO LOW LEVEL BUTTON
* @{
*/
#define BUTTONn 1
/**
* @brief Key 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_LINE GPIO_PIN_13
#define USER_BUTTON_EXTI_IRQn EXTI15_10_IRQn
#define BUTTONx_GPIO_CLK_ENABLE(__INDEX__) USER_BUTTON_GPIO_CLK_ENABLE()
#define BUTTONx_GPIO_CLK_DISABLE(__INDEX__) USER_BUTTON_GPIO_CLK_DISABLE()
/* 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_LINE USER_BUTTON_EXTI_LINE
#define KEY_BUTTON_EXTI_IRQn USER_BUTTON_EXTI_IRQn
/**
* @}
*/
/** @defgroup STM32F4XX_NUCLEO_LOW_LEVEL_BUS STM32F4XX NUCLEO LOW LEVEL BUS
* @{
*/
/*############################### SPI1 #######################################*/
#ifdef HAL_SPI_MODULE_ENABLED
#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 (shield D8)
*/
#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()
#endif /* HAL_SPI_MODULE_ENABLED */
/*################################ ADC1 ######################################*/
/**
* @brief ADC Interface pins
* used to detect motion of Joystick available on Adafruit 1.8" TFT shield
*/
#ifdef HAL_ADC_MODULE_ENABLED
#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_CHANNEL ADC_CHANNEL_8
#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()
#endif /* HAL_ADC_MODULE_ENABLED */
/**
* @}
*/
/**
* @}
*/
/** @defgroup STM32F4XX_NUCLEO_LOW_LEVEL_Exported_Macros STM32F4XX NUCLEO LOW LEVEL Exported Macros
* @{
*/
/**
* @}
*/
/** @defgroup STM32F4XX_NUCLEO_LOW_LEVEL_Exported_Functions STM32F4XX NUCLEO LOW LEVEL Exported Functions
* @{
*/
uint32_t BSP_GetVersion(void);
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);
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);
#ifdef 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 /* __STM32F4XX_NUCLEO_H */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

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/**
******************************************************************************
* @file x_nucleo_ihm05a1_stm32f4xx.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_STM32F4XX_H
#define X_NUCLEO_IHM05A1_STM32F4XX_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_nucleo.h"
/** @addtogroup BSP
* @{
*/
/** @addtogroup X_NUCLEO_IHM05A1_STM32F4XX
* @{
*/
/* Exported Constants --------------------------------------------------------*/
/** @defgroup IHM05A1_Exported_Constants IHM05A1 Exported Constants
* @{
*/
/******************************************************************************/
/* USE_STM32F4XX_NUCLEO */
/******************************************************************************/
/** @defgroup Constants_For_STM32F4XX_NUCLEO Constants For STM32F4XX 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 (EXTI15_10_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 (TIM3)
/// 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() __TIM3_CLK_ENABLE()
/// Timer Clock Disable for the VREFB PWMs
#define __BSP_MOTOR_CONTROL_BOARD_TIMER_VREFB_PWM_CLCK_DISABLE() __TIM3_CLK_DISABLE()
/// VREFA PWM GPIO alternate function
#define BSP_MOTOR_CONTROL_BOARD_AFx_TIMx_VREFA_PWM (GPIO_AF1_TIM2)
/// VREFB PWM GPIO alternate function
#define BSP_MOTOR_CONTROL_BOARD_AFx_TIMx_VREFB_PWM (GPIO_AF2_TIM3)
/// Timer used to generate the tick
#define BSP_MOTOR_CONTROL_BOARD_TIMER_TICK (TIM4)
/// tick timer global interrupt
#define BSP_MOTOR_CONTROL_BOARD_TIMER_TICK_IRQn (TIM4_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() __TIM4_CLK_ENABLE()
/// Timer Clock Disable for the tick
#define __BSP_MOTOR_CONTROL_BOARD_TIMER_TICK_CLCK_DISABLE() __TIM4_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_STM32F4XX_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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/**
******************************************************************************
* @file stm32f4xx_nucleo.c
* @author MCD Application Team
* @brief This file provides set of firmware functions to manage:
* - LEDs and push-button available on STM32F4XX-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</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 "stm32f4xx_nucleo.h"
/** @defgroup BSP BSP
* @{
*/
/** @defgroup STM32F4XX_NUCLEO STM32F4XX NUCLEO
* @{
*/
/** @defgroup STM32F4XX_NUCLEO_LOW_LEVEL STM32F4XX NUCLEO LOW LEVEL
* @brief This file provides set of firmware functions to manage Leds and push-button
* available on STM32F4xx-Nucleo Kit from STMicroelectronics.
* @{
*/
/** @defgroup STM32F4XX_NUCLEO_LOW_LEVEL_Private_TypesDefinitions STM32F4XX NUCLEO LOW LEVEL Private TypesDefinitions
* @{
*/
/**
* @}
*/
/** @defgroup STM32F4XX_NUCLEO_LOW_LEVEL_Private_Defines STM32F4XX NUCLEO LOW LEVEL Private Defines
* @{
*/
/**
* @brief STM32F4xx NUCLEO BSP Driver version number V1.2.7
*/
#define __STM32F4xx_NUCLEO_BSP_VERSION_MAIN (0x01) /*!< [31:24] main version */
#define __STM32F4xx_NUCLEO_BSP_VERSION_SUB1 (0x02) /*!< [23:16] sub1 version */
#define __STM32F4xx_NUCLEO_BSP_VERSION_SUB2 (0x07) /*!< [15:8] sub2 version */
#define __STM32F4xx_NUCLEO_BSP_VERSION_RC (0x00) /*!< [7:0] release candidate */
#define __STM32F4xx_NUCLEO_BSP_VERSION ((__STM32F4xx_NUCLEO_BSP_VERSION_MAIN << 24)\
|(__STM32F4xx_NUCLEO_BSP_VERSION_SUB1 << 16)\
|(__STM32F4xx_NUCLEO_BSP_VERSION_SUB2 << 8 )\
|(__STM32F4xx_NUCLEO_BSP_VERSION_RC))
/**
* @brief LINK SD Card
*/
#define SD_DUMMY_BYTE 0xFF
#define SD_NO_RESPONSE_EXPECTED 0x80
/**
* @}
*/
/** @defgroup STM32F4XX_NUCLEO_LOW_LEVEL_Private_Macros STM32F4XX NUCLEO LOW LEVEL Private Macros
* @{
*/
/**
* @}
*/
/** @defgroup STM32F4XX_NUCLEO_LOW_LEVEL_Private_Variables STM32F4XX NUCLEO LOW LEVEL Private Variables
* @{
*/
GPIO_TypeDef* GPIO_PORT[LEDn] = {LED2_GPIO_PORT};
const uint16_t GPIO_PIN[LEDn] = {LED2_PIN};
GPIO_TypeDef* BUTTON_PORT[BUTTONn] = {KEY_BUTTON_GPIO_PORT};
const uint16_t BUTTON_PIN[BUTTONn] = {KEY_BUTTON_PIN};
const uint8_t BUTTON_IRQn[BUTTONn] = {KEY_BUTTON_EXTI_IRQn};
/**
* @brief BUS variables
*/
#ifdef ADAFRUIT_TFT_JOY_SD_ID802
#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 */
#endif /* ADAFRUIT_TFT_JOY_SD_ID802 */
/**
* @}
*/
/** @defgroup STM32F4XX_NUCLEO_LOW_LEVEL_Private_FunctionPrototypes STM32F4XX NUCLEO LOW LEVEL Private FunctionPrototypes
* @{
*/
#ifdef ADAFRUIT_TFT_JOY_SD_ID802
#ifdef HAL_SPI_MODULE_ENABLED
static void SPIx_Init(void);
static void SPIx_Write(uint8_t Value);
static void SPIx_WriteReadData(const uint8_t *DataIn, uint8_t *DataOut, uint16_t DataLegnth);
static void SPIx_Error(void);
static void SPIx_MspInit(SPI_HandleTypeDef *hspi);
/* 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);
uint8_t SD_IO_WriteByte(uint8_t Data);
/* 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 void 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 */
#endif /* ADAFRUIT_TFT_JOY_SD_ID802 */
/**
* @}
*/
/** @defgroup STM32F4XX_NUCLEO_LOW_LEVEL_Private_Functions STM32F4XX NUCLEO LOW LEVEL Private Functions
* @{
*/
/**
* @brief This method returns the STM32F4xx NUCLEO BSP Driver revision
* @retval version: 0xXYZR (8bits for each decimal, R for RC)
*/
uint32_t BSP_GetVersion(void)
{
return __STM32F4xx_NUCLEO_BSP_VERSION;
}
/**
* @brief Configures LED GPIO.
* @param Led: Specifies the Led to be configured.
* This parameter can be one of following parameters:
* @arg LED2
*/
void BSP_LED_Init(Led_TypeDef Led)
{
GPIO_InitTypeDef GPIO_InitStruct;
/* Enable the GPIO_LED Clock */
LEDx_GPIO_CLK_ENABLE(Led);
/* Configure the GPIO_LED pin */
GPIO_InitStruct.Pin = GPIO_PIN[Led];
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FAST;
HAL_GPIO_Init(GPIO_PORT[Led], &GPIO_InitStruct);
HAL_GPIO_WritePin(GPIO_PORT[Led], GPIO_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
*/
void BSP_LED_DeInit(Led_TypeDef Led)
{
GPIO_InitTypeDef gpio_init_structure;
/* Turn off LED */
HAL_GPIO_WritePin(GPIO_PORT[Led], GPIO_PIN[Led], GPIO_PIN_RESET);
/* DeInit the GPIO_LED pin */
gpio_init_structure.Pin = GPIO_PIN[Led];
HAL_GPIO_DeInit(GPIO_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
*/
void BSP_LED_On(Led_TypeDef Led)
{
HAL_GPIO_WritePin(GPIO_PORT[Led], GPIO_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
*/
void BSP_LED_Off(Led_TypeDef Led)
{
HAL_GPIO_WritePin(GPIO_PORT[Led], GPIO_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
*/
void BSP_LED_Toggle(Led_TypeDef Led)
{
HAL_GPIO_TogglePin(GPIO_PORT[Led], GPIO_PIN[Led]);
}
/**
* @brief Configures Button GPIO and EXTI Line.
* @param Button: Specifies the Button to be configured.
* This parameter should be: BUTTON_KEY
* @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
*/
void BSP_PB_Init(Button_TypeDef Button, ButtonMode_TypeDef ButtonMode)
{
GPIO_InitTypeDef GPIO_InitStruct;
/* Enable the BUTTON Clock */
BUTTONx_GPIO_CLK_ENABLE(Button);
if(ButtonMode == BUTTON_MODE_GPIO)
{
/* Configure Button pin as input */
GPIO_InitStruct.Pin = BUTTON_PIN[Button];
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
GPIO_InitStruct.Speed = GPIO_SPEED_FAST;
HAL_GPIO_Init(BUTTON_PORT[Button], &GPIO_InitStruct);
}
if(ButtonMode == BUTTON_MODE_EXTI)
{
/* Configure Button pin as input with External interrupt */
GPIO_InitStruct.Pin = BUTTON_PIN[Button];
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
HAL_GPIO_Init(BUTTON_PORT[Button], &GPIO_InitStruct);
/* Enable and set Button EXTI Interrupt to the lowest priority */
HAL_NVIC_SetPriority((IRQn_Type)(BUTTON_IRQn[Button]), 0x0F, 0x00);
HAL_NVIC_EnableIRQ((IRQn_Type)(BUTTON_IRQn[Button]));
}
}
/**
* @brief Push Button DeInit.
* @param Button: Button to be configured
* This parameter should be: BUTTON_KEY
* @note PB DeInit does not disable the GPIO clock
*/
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_KEY
* @retval The Button GPIO pin value.
*/
uint32_t BSP_PB_GetState(Button_TypeDef Button)
{
return HAL_GPIO_ReadPin(BUTTON_PORT[Button], BUTTON_PIN[Button]);
}
/******************************************************************************
BUS OPERATIONS
*******************************************************************************/
#ifdef ADAFRUIT_TFT_JOY_SD_ID802
/******************************* SPI ********************************/
#ifdef HAL_SPI_MODULE_ENABLED
/**
* @brief Initializes SPI MSP.
*/
static void SPIx_MspInit(SPI_HandleTypeDef *hspi)
{
GPIO_InitTypeDef GPIO_InitStruct;
/*** Configure the GPIOs ***/
/* Enable GPIO clock */
NUCLEO_SPIx_SCK_GPIO_CLK_ENABLE();
NUCLEO_SPIx_MISO_MOSI_GPIO_CLK_ENABLE();
/* Configure SPI SCK */
GPIO_InitStruct.Pin = NUCLEO_SPIx_SCK_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
GPIO_InitStruct.Alternate = NUCLEO_SPIx_SCK_AF;
HAL_GPIO_Init(NUCLEO_SPIx_SCK_GPIO_PORT, &GPIO_InitStruct);
/* Configure SPI MISO and MOSI */
GPIO_InitStruct.Pin = NUCLEO_SPIx_MOSI_PIN;
GPIO_InitStruct.Alternate = NUCLEO_SPIx_MISO_MOSI_AF;
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
HAL_GPIO_Init(NUCLEO_SPIx_MISO_MOSI_GPIO_PORT, &GPIO_InitStruct);
GPIO_InitStruct.Pin = NUCLEO_SPIx_MISO_PIN;
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
HAL_GPIO_Init(NUCLEO_SPIx_MISO_MOSI_GPIO_PORT, &GPIO_InitStruct);
/*** Configure the SPI peripheral ***/
/* Enable SPI clock */
NUCLEO_SPIx_CLK_ENABLE();
}
/**
* @brief Initializes SPI HAL.
*/
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 12,5 MHz maximum (APB1/SPI_BaudRatePrescaler = 100/8 = 12,5 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 100 MHz
*/
hnucleo_Spi.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_8;
hnucleo_Spi.Init.Direction = SPI_DIRECTION_2LINES;
hnucleo_Spi.Init.CLKPhase = SPI_PHASE_2EDGE;
hnucleo_Spi.Init.CLKPolarity = SPI_POLARITY_HIGH;
hnucleo_Spi.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLED;
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_DISABLED;
hnucleo_Spi.Init.Mode = SPI_MODE_MASTER;
SPIx_MspInit(&hnucleo_Spi);
HAL_SPI_Init(&hnucleo_Spi);
}
}
/**
* @brief SPI Write a byte to device
* @param DataIn: value to be written
* @param DataOut: value to be read
* @param DataLegnth: length of data
*/
static void SPIx_WriteReadData(const uint8_t *DataIn, uint8_t *DataOut, uint16_t DataLegnth)
{
HAL_StatusTypeDef status = HAL_OK;
status = HAL_SPI_TransmitReceive(&hnucleo_Spi, (uint8_t*) DataIn, DataOut, DataLegnth, 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
*/
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.
*/
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 Initializes the SD Card and put it into StandBy State (Ready for
* data transfer).
*/
void SD_IO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct;
uint8_t counter;
/* SD_CS_GPIO Periph clock enable */
SD_CS_GPIO_CLK_ENABLE();
/* Configure SD_CS_PIN pin: SD Card CS pin */
GPIO_InitStruct.Pin = SD_CS_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
HAL_GPIO_Init(SD_CS_GPIO_PORT, &GPIO_InitStruct);
/*------------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.
*/
void SD_IO_CSState(uint8_t val)
{
if(val == 1)
{
SD_CS_HIGH();
}
else
{
SD_CS_LOW();
}
}
/**
* @brief Write a byte on the SD.
* @param DataIn: value to be written
* @param DataOut: value to be read
* @param DataLength: length of data
*/
void SD_IO_WriteReadData(const uint8_t *DataIn, uint8_t *DataOut, uint16_t DataLength)
{
/* Send the byte */
SPIx_WriteReadData(DataIn, DataOut, DataLength);
}
/**
* @brief Writes a byte on the SD.
* @param Data: byte to send.
*/
uint8_t SD_IO_WriteByte(uint8_t Data)
{
uint8_t tmp;
/* Send the byte */
SPIx_WriteReadData(&Data,&tmp,1);
return tmp;
}
/********************************* LINK LCD ***********************************/
/**
* @brief Initializes the LCD.
*/
void LCD_IO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct;
/* 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 */
GPIO_InitStruct.Pin = LCD_CS_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
HAL_GPIO_Init(LCD_CS_GPIO_PORT, &GPIO_InitStruct);
/* Configure LCD_DC_PIN pin: LCD Card DC pin */
GPIO_InitStruct.Pin = LCD_DC_PIN;
HAL_GPIO_Init(LCD_DC_GPIO_PORT, &GPIO_InitStruct);
/* LCD chip select high */
LCD_CS_HIGH();
/* LCD SPI Config */
SPIx_Init();
}
/**
* @brief Writes command to select the LCD register.
* @param LCDReg: Address of the selected register.
*/
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 Writes data to select the LCD register.
* This function must be used after st7735_WriteReg() function
* @param Data: data to write to the selected register.
*/
void LCD_IO_WriteData(uint8_t Data)
{
/* Reset LCD control line CS */
LCD_CS_LOW();
/* Set LCD data/command line DC to High */
LCD_DC_HIGH();
/* Send Data */
SPIx_Write(Data);
/* Deselect : Chip Select high */
LCD_CS_HIGH();
}
/**
* @brief Writes register value.
* @param pData: Pointer on the register value
* @param Size: Size of byte to transmit to the register
*/
void LCD_IO_WriteMultipleData(uint8_t *pData, uint32_t Size)
{
uint32_t counter = 0;
__IO uint32_t data = 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)
{
}
}
/* Empty the Rx fifo */
data = *(&hnucleo_Spi.Instance->DR);
UNUSED(data);
/* Deselect : Chip Select high */
LCD_CS_HIGH();
}
/**
* @brief Wait for loop in ms.
* @param Delay in ms.
*/
void LCD_Delay(uint32_t Delay)
{
HAL_Delay(Delay);
}
#endif /* HAL_SPI_MODULE_ENABLED */
/******************************* ADC driver ********************************/
#ifdef HAL_ADC_MODULE_ENABLED
/**
* @brief Initializes ADC MSP.
*/
static void ADCx_MspInit(ADC_HandleTypeDef *hadc)
{
GPIO_InitTypeDef GPIO_InitStruct;
/*** Configure the GPIOs ***/
/* Enable GPIO clock */
NUCLEO_ADCx_GPIO_CLK_ENABLE();
/* Configure the selected ADC Channel as analog input */
GPIO_InitStruct.Pin = NUCLEO_ADCx_GPIO_PIN ;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(NUCLEO_ADCx_GPIO_PORT, &GPIO_InitStruct);
/*** Configure the ADC peripheral ***/
/* Enable ADC clock */
NUCLEO_ADCx_CLK_ENABLE();
}
/**
* @brief DeInitializes ADC MSP.
* @note ADC DeInit does not disable the GPIO clock
*/
static void ADCx_MspDeInit(ADC_HandleTypeDef *hadc)
{
GPIO_InitTypeDef GPIO_InitStruct;
/*** DeInit the ADC peripheral ***/
/* Disable ADC clock */
NUCLEO_ADCx_CLK_DISABLE();
/* Configure the selected ADC Channel as analog input */
GPIO_InitStruct.Pin = NUCLEO_ADCx_GPIO_PIN ;
HAL_GPIO_DeInit(NUCLEO_ADCx_GPIO_PORT, GPIO_InitStruct.Pin);
/* Disable GPIO clock has to be done by the application*/
/* NUCLEO_ADCx_GPIO_CLK_DISABLE(); */
}
/**
* @brief Initializes ADC HAL.
*/
static void ADCx_Init(void)
{
if(HAL_ADC_GetState(&hnucleo_Adc) == HAL_ADC_STATE_RESET)
{
/* ADC Config */
hnucleo_Adc.Instance = NUCLEO_ADCx;
hnucleo_Adc.Init.ClockPrescaler = ADC_CLOCKPRESCALER_PCLK_DIV4; /* (must not exceed 36MHz) */
hnucleo_Adc.Init.Resolution = ADC_RESOLUTION12b;
hnucleo_Adc.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hnucleo_Adc.Init.ContinuousConvMode = DISABLE;
hnucleo_Adc.Init.DiscontinuousConvMode = DISABLE;
hnucleo_Adc.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
hnucleo_Adc.Init.EOCSelection = EOC_SINGLE_CONV;
hnucleo_Adc.Init.NbrOfConversion = 1;
hnucleo_Adc.Init.DMAContinuousRequests = DISABLE;
ADCx_MspInit(&hnucleo_Adc);
HAL_ADC_Init(&hnucleo_Adc);
}
}
/**
* @brief Initializes ADC HAL.
*/
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)
{
uint8_t status = HAL_ERROR;
ADCx_Init();
/* Select the ADC Channel to be converted */
sConfig.Channel = NUCLEO_ADCx_CHANNEL;
sConfig.SamplingTime = ADC_SAMPLETIME_3CYCLES;
sConfig.Rank = 1;
status = HAL_ADC_ConfigChannel(&hnucleo_Adc, &sConfig);
/* Return Joystick initialization status */
return status;
}
/**
* @brief DeInit joystick GPIOs.
* @note JOY DeInit does not disable the Mfx, just set the Mfx pins in Off modee.
*/
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;
uint16_t keyconvertedvalue = 0;
/* Start the conversion process */
HAL_ADC_Start(&hnucleo_Adc);
/* Wait for the end of conversion */
HAL_ADC_PollForConversion(&hnucleo_Adc, 10);
/* Check if the continuous conversion of regular channel is finished */
if(((HAL_ADC_GetState(&hnucleo_Adc) & HAL_ADC_STATE_EOC_REG) == HAL_ADC_STATE_EOC_REG))
{
/* 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;
}
/* Loop while a key is pressed */
if(state != JOY_NONE)
{
keyconvertedvalue = HAL_ADC_GetValue(&hnucleo_Adc);
}
/* Return the code of the Joystick key pressed */
return state;
}
#endif /* HAL_ADC_MODULE_ENABLED */
#endif /* ADAFRUIT_TFT_JOY_SD_ID802 */
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

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/**
******************************************************************************
* @file x_nucleo_ihm05a1_stm32f4xx.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_stm32f4xx.h"
#include "motor.h"
/** @addtogroup BSP
* @{
*/
/** @defgroup X_NUCLEO_IHM05A1_STM32F4XX NUCLEO IHM05A1 STM32F4XX
* @{
*/
/* 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
* @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, 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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