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Added stepper libs

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wuestgr61132
2021-02-19 10:35:07 +01:00
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commit 861f73a5c6
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RTC/Core/Src/l6208.c
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RTC/Core/Src/stm32f4xx_nucleo.c
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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****/
RTC/Core/Src/x_nucleo_ihm05a1_stm32f4xx.c
+631
View File
@@ -0,0 +1,631 @@
/**
******************************************************************************
* @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****/
RTC/Core/Src/x_nucleo_ihmxx.c
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