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Alice Steiner 2021-01-08 13:38:16 +01:00
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commit aceb30a237
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stepper/steppermotor_F401RE/.mxproject Normal file
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33
stepper/steppermotor_F401RE/.project Normal file
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<?xml version="1.0" encoding="UTF-8"?>
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stepper/steppermotor_F401RE/.settings/stm32cubeide.project.prefs Normal file
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383
stepper/steppermotor_F401RE/Core/Inc/l6208.h Normal file
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/******************************************************//**
* @file l6208.h
* @author IPC Rennes
* @version V1.5.0
* @date June 1st, 2018
* @brief Header for l6208.c module
* @note (C) COPYRIGHT 2016 STMicroelectronics
******************************************************************************
* @attention
*
* <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef _L6208_H_INCLUDED
#define _L6208_H_INCLUDED
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "l6208_target_config.h"
#include "motor.h"
/** @addtogroup BSP
* @{
*/
/** @addtogroup L6208
* @{
*/
/* Exported Constants --------------------------------------------------------*/
/** @addtogroup L6208_Exported_Constants
* @{
*/
/// Current FW major version
#define L6208_FW_MAJOR_VERSION (uint8_t)(1)
/// Current FW minor version
#define L6208_FW_MINOR_VERSION (uint8_t)(4)
/// Current FW patch version
#define L6208_FW_PATCH_VERSION (uint8_t)(0)
/// Current FW version
#define L6208_FW_VERSION (uint32_t)((L6208_FW_MAJOR_VERSION<<16)|\
(L6208_FW_MINOR_VERSION<<8)|\
(L6208_FW_PATCH_VERSION))
/// Max position
#define L6208_MAX_POSITION (0x7FFFFFFF)
/// Min position
#define L6208_MIN_POSITION (0x80000000)
/// Position range
#define L6208_POSITION_RANGE ((uint32_t)(L6208_MAX_POSITION -\
L6208_MIN_POSITION))
/// micro step samples per period/4
#define L6208_USTEPS_PER_QUARTER_PERIOD (16)
/// minimum speed
#define L6208_MIN_SPEED (16)
/// minimum acceleration and deceleration rate
#define L6208_MIN_ACC_DEC_RATE (24)
/// Mask for HiZ bit in motorDecayMode_t enum
#define L6208_FAST_DECAY_MODE_MASK (0x1)
/// L6208 error base number
#define L6208_ERROR_BASE (0x9000)
/**
* @}
*/
/* Exported types ------------------------------------------------------------*/
/** @defgroup Error_Types Error Types
* @{
*/
/// Errors
typedef enum {
L6208_ERROR_SET_HOME = L6208_ERROR_BASE, /// Error while setting home position
L6208_ERROR_SET_MAX_SPEED = L6208_ERROR_BASE + 1, /// Error while setting max speed
L6208_ERROR_SET_MIN_SPEED = L6208_ERROR_BASE + 2, /// Error while setting min speed
L6208_ERROR_SET_ACCELERATION = L6208_ERROR_BASE + 3, /// Error while setting acceleration
L6208_ERROR_SET_DECELERATION = L6208_ERROR_BASE + 4, /// Error while setting decelaration
L6208_ERROR_MCU_OSC_CONFIG = L6208_ERROR_BASE + 5, /// Error while configuring mcu oscillator
L6208_ERROR_MCU_CLOCK_CONFIG = L6208_ERROR_BASE + 6, /// Error while configuring mcu clock
L6208_ERROR_POSITION = L6208_ERROR_BASE + 7, /// Unexpected current position (wrong number of steps)
L6208_ERROR_SPEED = L6208_ERROR_BASE + 8, /// Unexpected current speed
L6208_ERROR_INIT = L6208_ERROR_BASE + 9, /// Unexpected number of devices
L6208_ERROR_SET_DIRECTION = L6208_ERROR_BASE + 10,/// Error while setting direction
L6208_ERROR_SET_STEP_MODE = L6208_ERROR_BASE + 11,/// Attempt to set an unsupported step mode
L6208_ERROR_SET_PWM = L6208_ERROR_BASE + 12,/// Error while setting a PWM parameter
}errorTypes_t;
/**
* @}
*/
/** @defgroup Device_Parameters Device Parameters
* @{
*/
/// Device Parameters Structure Type
typedef struct
{
/// dwelling waiting time counter (tick)
volatile uint32_t dwellCounter;
/// motor position indicator (tick)
uint32_t ticks;
/// LSByte copy of the previous position (tick)
uint8_t lsbOldTicks;
/// LSByte copy of the previous position (tick) ( micro stepping )
uint8_t lsbOldUSteppingTicks;
/// LSByte copy of the current position (tick)
uint8_t lsbTicks;
/// P1 = acceleration phase steps number (motor position control mode)
uint32_t positionTarget1;
/// P2 = constant speed steps number (motor position control mode)
uint32_t positionTarget2;
/// P3 = deceleration phase steps number (motor position control mode)
uint32_t positionTarget3;
/// P = total move distance in steps (motor position control mode)
uint32_t positionTarget;
/// absolute motor position in microsteps (motor position control mode)
volatile int32_t absolutePos;
/// mark position in microsteps (motor position control mode)
volatile int32_t markPos;
/// motor position in microsteps (motor position control mode)
volatile uint32_t step;
/// dwelling time after position got (ms)
volatile uint16_t moveDwellTime;
/// number of micro stepping waveform samples to be rescaled according to selected torque value
volatile uint8_t uStepsample2scale;
/// number of micro stepping waveform samples to be updated into the waveform scanning table
volatile uint8_t uStepsample2update;
/// microstepping waveform sample index
volatile uint8_t uStepSample;
/// system status flags
volatile uint32_t flags;
/// current stepper state machine index
volatile motorState_t motionState;
/// current step mode
volatile motorStepMode_t stepMode;
/// micro stepping waveform scanning sample index increment
uint8_t uStepInc;
/// frequency of the VREFA and VREFB PWM
uint32_t vrefPwmFreq;
/// current selected torque value
volatile uint8_t curTorqueScaler;
/// constant speed phase torque value (%)
volatile uint8_t runTorque;
/// acceleration phase torque value (%)
volatile uint8_t accelTorque;
/// deceleration phase torque value (%)
volatile uint8_t decelTorque;
/// holding phase torque value (%)
volatile uint8_t holdTorque;
/// acceleration (steps/s^2)
volatile uint16_t accelerationSps2;
/// deceleration (steps/s^2)
volatile uint16_t decelerationSps2;
/// acceleration (steps/tick^2)
volatile uint16_t accelerationSpt2;
/// deceleration (steps/tick^2)
volatile uint16_t decelerationSpt2;
/// maximum speed (steps/s)
volatile uint16_t maxSpeedSps;
/// minimum speed (steps/s)
volatile uint16_t minSpeedSps;
/// current speed (steps/s)
volatile uint16_t speedSps;
/// maximum speed (steps/tick)
volatile uint32_t maxSpeedSpt;
/// minimum speed (steps/tick)
volatile uint32_t minSpeedSpt;
/// current speed (steps/tick)
volatile uint32_t speedSpt;
}deviceParams_t;
/**
* @}
*/
/// Motor driver initialization structure definition
typedef struct
{
/// acceleration (steps/s^2)
uint16_t accelerationSps2;
/// acceleration phase torque value (%)
uint8_t accelTorque;
/// deceleration (steps/s^2)
uint16_t decelerationSps2;
/// deceleration phase torque value (%)
uint8_t decelTorque;
/// maximum speed (steps/s)
uint16_t maxSpeedSps;
/// constant speed phase torque value (%)
uint8_t runTorque;
/// holding phase torque value (%)
uint8_t holdTorque;
/// current step mode
motorStepMode_t stepMode;
/// current decay mode (SLOW_DECAY or FAST_DECAY)
motorDecayMode_t decayMode;
/// dwelling time after position got (ms)
uint16_t moveDwellTime;
/// automatic HiZ on stop
bool autoHiZstop;
/// frequency of the VREFA and VREFB PWM
uint32_t vrefPwmFreq;
} l6208_Init_t;
/* Exported functions --------------------------------------------------------*/
/** @defgroup L6208_Exported_Functions L6208 Exported Functions
* @{
*/
motorDrv_t* L6208_GetMotorHandle(void); //Return handle of the motor driver handle
void L6208_Init(void* pInit); //Start the L6208 library
uint16_t L6208_ReadId(void); //Read Id to get driver instance
void L6208_AttachErrorHandler(void (*callback)(uint16_t error)); //Attach a user callback to the error Handler
void L6208_AttachFlagInterrupt(void (*callback)(void)); //Attach a user callback to the flag Interrupt
uint8_t L6208_CheckStatusHw(void); //Check if L6208 has a fault by reading EN pin position
void L6208_Disable(uint8_t deviceId); //Disable the power bridge
void L6208_ErrorHandler(uint16_t error); //Error handler which calls the user callback
void L6208_Enable(uint8_t deviceId); //Enable the power bridge
void L6208_FlagInterruptHandler(void); //Handler of the flag interrupt which calls the user callback (if defined)
uint16_t L6208_GetAcceleration(uint8_t deviceId); //Return the acceleration in pps^2
uint16_t L6208_GetCurrentSpeed(uint8_t deviceId); //Return the current speed in pps
motorDecayMode_t L6208_GetDecayMode(uint8_t deviceId); //Get the motor decay mode
uint16_t L6208_GetDeceleration(uint8_t deviceId); //Return the deceleration in pps^2
motorDir_t L6208_GetDirection(uint8_t deviceId); //Get the motor current direction
uint32_t L6208_GetFwVersion(void); //Return the FW version
int32_t L6208_GetMark(uint8_t deviceId); //Get the mark position (32b signed)
uint16_t L6208_GetMaxSpeed(uint8_t deviceId); //Return the max speed in pps
uint16_t L6208_GetMinSpeed(uint8_t deviceId); //Return the min speed in pps
motorState_t L6208_GetMotionState(uint8_t deviceId); //Return the motion state
int32_t L6208_GetPosition(uint8_t deviceId); //Get the current position (32b signed)
motorStepMode_t L6208_GetStepMode(uint8_t deviceId); //Get the motor step mode
motorStopMode_t L6208_GetStopMode(uint8_t deviceId); //Get the selected mode to stop the motor
uint8_t L6208_GetTorque(uint8_t deviceId, motorTorqueMode_t torqueMode); //Get the torque value according to the torque mode
void L6208_GoHome(uint8_t deviceId); //Go to the home position
void L6208_GoMark(uint8_t deviceId); //Go to the Mark position
void L6208_GoTo(uint8_t deviceId, int32_t abs_pos); //Go to the specified position
void L6208_GoToDir(uint8_t deviceId, motorDir_t direction, int32_t abs_pos); //Go to the specified position using the specified direction
void L6208_HardHiZ(uint8_t deviceId); //Stop the motor by using the device deceleration and disables the power bridges
void L6208_HardStop(uint8_t deviceId); //Stop the motor and keeps holding torque
void L6208_Move(uint8_t deviceId, motorDir_t direction, uint32_t stepCount); //Move the motor by the specified number of steps in the specified direction
void L6208_ReleaseReset(uint8_t deviceId); //Release the reset pin
void L6208_Reset(uint8_t deviceId); //Set the reset pin
void L6208_ResetDevice(void); //Reset L6208 device
void L6208_Run(uint8_t deviceId, motorDir_t direction); //Run the motor in the specified direction
bool L6208_SetAcceleration(uint8_t deviceId, uint16_t newAcc); //Set the acceleration in pps^2
void L6208_SetDecayMode(uint8_t deviceId, motorDecayMode_t decayMode); //Set the motor decay mode
bool L6208_SetDeceleration(uint8_t deviceId, uint16_t newDec); //Set the deceleration in pps^2
void L6208_SetDirection(uint8_t deviceId, motorDir_t direction); //Set the motor direction
void L6208_SetHome(uint8_t deviceId, int32_t homePos); //Set the home position
void L6208_SetMark(uint8_t deviceId, int32_t markPos); //Set the mark position
bool L6208_SetMaxSpeed(uint8_t deviceId, uint16_t volatile newSpeed); //Set the max speed value in pps
bool L6208_SetMinSpeed(uint8_t deviceId, uint16_t volatile newSpeed); //Set the max speed value in pps
bool L6208_SetNbDevices(uint8_t nbDevices); //Set the number of devices
bool L6208_SetStepMode(uint8_t deviceId, motorStepMode_t stepMode); //Set the motor step mode
void L6208_SetStopMode(uint8_t deviceId, motorStopMode_t stopMode); //Select the mode to stop the motor
void L6208_SetTorque(uint8_t deviceId, motorTorqueMode_t torqueMode, uint8_t torqueValue); //Set the torque value according to the torque mode
bool L6208_SoftStop(uint8_t deviceId); //Progressively stop the motor by using the device deceleration and set deceleration torque
void L6208_TickHandler(uint8_t deviceId); //Handle the device state machine at each tick timer pulse end
uint32_t L6208_VrefPwmGetFreq(uint8_t deviceId); //Get the frequency of VREFA and VREFB PWM
void L6208_VrefPwmSetFreq(uint8_t deviceId, uint32_t newFreq); //Set the frequency of the VREFA and VREFB PWM
void L6208_WaitWhileActive(uint8_t deviceId); //Wait for the device state becomes Inactive
/**
* @}
*/
/** @defgroup MotorControl_Board_Linked_Functions MotorControl Board Linked Functions
* @{
*/
///Delay of the requested number of milliseconds
extern void L6208_Board_Delay(uint32_t delay);
///Enable Irq
extern void L6208_Board_EnableIrq(void);
///Disable Irq
extern void L6208_Board_DisableIrq(void);
///Initialise GPIOs used for L6208
extern void L6208_Board_GpioInit(void);
//Initialize the VREFA or VREFB PWM
extern bool L6208_Board_VrefPwmInit(uint8_t bridgeId, uint32_t pwmFreq);
///Set duty cycle of VREFA or VREFB PWM
extern bool L6208_Board_VrefPwmSetDutyCycle(uint8_t bridgeId,\
uint16_t value,\
bool valueIsPwmDutyCycle);
///Start the timer for the VREFA or VREFB PWM
extern bool L6208_Board_VrefPwmStart(uint8_t bridgeId,\
uint32_t pwmFreq);
///Stop the timer for the VREFA or VREFB PWM
extern bool L6208_Board_VrefPwmStop(uint8_t bridgeId);
///Get the period of VREFA and VREFB PWM
extern uint32_t L6208_Board_VrefPwmGetPeriod(void);
///Check that the new VREFA and VREFB PWM frequency is nor too low nor too high
bool L6208_Board_VrefPwmFreqCheck(uint32_t newFreq);
///Initialize the tick
extern void L6208_Board_TickInit(void);
///Start the timer for the tick by using the set tick frequency
extern void L6208_Board_TickStart(void);
///Stop the timer for the tick
extern void L6208_Board_TickStop(void);
///Get the tick frequency in Hz
extern uint32_t L6208_Board_TickGetFreq(void);
///Release the reset pin
extern void L6208_Board_ReleaseReset(void);
///Set the reset pin
extern void L6208_Board_Reset(void);
///Set the control pin
extern void L6208_Board_CONTROL_PIN_Set(void);
///Reset the control pin
extern void L6208_Board_CONTROL_PIN_Reset(void);
///Set the clock pin
extern void L6208_Board_CLOCK_PIN_Set(void);
///Reset the clock pin
extern void L6208_Board_CLOCK_PIN_Reset(void);
///Set the half full pin
extern void L6208_Board_HALF_FULL_PIN_Set(void);
///Reset the half full pin
extern void L6208_Board_HALF_FULL_PIN_Reset(void);
///Set the dir pin
extern void L6208_Board_DIR_PIN_Set(void);
///Reset the dir pin
extern void L6208_Board_DIR_PIN_Reset(void);
///Returns the EN pin state
extern uint32_t L6208_Board_FLAG_PIN_GetState(void);
///Enable the power bridges (leave the output bridges HiZ)
extern void L6208_Board_Enable(void);
///Disable the power bridges (leave the output bridges HiZ)
extern void L6208_Board_Disable(void);
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
#ifdef __cplusplus
}
#endif
#endif /* __L6208_H */
/******************* (C) COPYRIGHT 2016 STMicroelectronics *****END OF FILE****/

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

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/**
******************************************************************************
* @file Multi/Examples/MotionControl/IHM05A1_ExampleFor1Motor/Inc/main.h
* @author IPC Rennes
* @version V1.5.0
* @date June 1st, 2018
* @brief Header for main.c module
******************************************************************************
* @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 __MAIN_H
#define __MAIN_H
/* Includes ------------------------------------------------------------------*/
#include "x_nucleo_ihmxx.h"
#include "l6208.h"
#include "x_nucleo_ihm05a1_stm32f4xx.h"
#ifdef USE_STM32F4XX_NUCLEO
#include "x_nucleo_ihm05a1_stm32f4xx.h"
#endif
#ifdef USE_STM32F3XX_NUCLEO
#include "x_nucleo_ihm05a1_stm32f3xx.h"
#endif
#ifdef USE_STM32F0XX_NUCLEO
#include "x_nucleo_ihm05a1_stm32f0xx.h"
#endif
#ifdef USE_STM32L0XX_NUCLEO
#include "x_nucleo_ihm05a1_stm32l0xx.h"
#endif
/* Exported types ------------------------------------------------------------*/
/* Exported constants --------------------------------------------------------*/
/* Exported functions ------------------------------------------------------- */
void SystemClock_Config(void);
void MyErrorHandler(uint16_t error);
#endif /* __MAIN_H */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

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

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/**
******************************************************************************
* @file Multi/Examples/MotionControl/IHM05A1_ExampleFor1Motor/Inc/stm32f4xx_hal_conf.h
* @author IPC Rennes
* @version V1.5.0
* @date June 1st, 2018
* @brief HAL configuration file
******************************************************************************
* @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 __STM32F4xx_HAL_CONF_H
#define __STM32F4xx_HAL_CONF_H
#ifdef __cplusplus
extern "C" {
#endif
/* Exported types ------------------------------------------------------------*/
/* Exported constants --------------------------------------------------------*/
/* ########################## Module Selection ############################## */
/**
* @brief This is the list of modules to be used in the HAL driver
*/
#define HAL_MODULE_ENABLED
#define HAL_ADC_MODULE_ENABLED
/* #define HAL_CAN_MODULE_ENABLED */
/* #define HAL_CRC_MODULE_ENABLED */
/* #define HAL_CEC_MODULE_ENABLED */
/* #define HAL_CRYP_MODULE_ENABLED */
/* #define HAL_DAC_MODULE_ENABLED */
#define HAL_DMA_MODULE_ENABLED
/* #define HAL_DMA2D_MODULE_ENABLED */
/* #define HAL_ETH_MODULE_ENABLED */
#define HAL_FLASH_MODULE_ENABLED
/* #define HAL_NAND_MODULE_ENABLED */
/* #define HAL_NOR_MODULE_ENABLED */
/* #define HAL_PCCARD_MODULE_ENABLED */
/* #define HAL_SRAM_MODULE_ENABLED */
/* #define HAL_SDRAM_MODULE_ENABLED */
/* #define HAL_HASH_MODULE_ENABLED */
#define HAL_GPIO_MODULE_ENABLED
/* #define HAL_I2C_MODULE_ENABLED */
/* #define HAL_I2S_MODULE_ENABLED */
/* #define HAL_IWDG_MODULE_ENABLED */
/* #define HAL_LTDC_MODULE_ENABLED */
#define HAL_PWR_MODULE_ENABLED
#define HAL_RCC_MODULE_ENABLED
/* #define HAL_RNG_MODULE_ENABLED */
/* #define HAL_RTC_MODULE_ENABLED */
/* #define HAL_SAI_MODULE_ENABLED */
/* #define HAL_SD_MODULE_ENABLED */
#define HAL_SPI_MODULE_ENABLED
#define HAL_TIM_MODULE_ENABLED
/* #define HAL_UART_MODULE_ENABLED */
/* #define HAL_USART_MODULE_ENABLED */
/* #define HAL_IRDA_MODULE_ENABLED */
/* #define HAL_SMARTCARD_MODULE_ENABLED*/
/* #define HAL_WWDG_MODULE_ENABLED */
#define HAL_CORTEX_MODULE_ENABLED
/* #define HAL_PCD_MODULE_ENABLED */
/* #define HAL_HCD_MODULE_ENABLED */
/* ########################## HSE/HSI Values adaptation ##################### */
/**
* @brief Adjust the value of External High Speed oscillator (HSE) used in your application.
* This value is used by the RCC HAL module to compute the system frequency
* (when HSE is used as system clock source, directly or through the PLL).
*/
#if !defined (HSE_VALUE)
#define HSE_VALUE ((uint32_t)8000000) /*!< Value of the External oscillator in Hz */
#endif /* HSE_VALUE */
#if !defined (HSE_STARTUP_TIMEOUT)
#define HSE_STARTUP_TIMEOUT ((uint32_t)100) /*!< Time out for HSE start up, in ms */
#endif /* HSE_STARTUP_TIMEOUT */
/**
* @brief Internal High Speed oscillator (HSI) value.
* This value is used by the RCC HAL module to compute the system frequency
* (when HSI is used as system clock source, directly or through the PLL).
*/
#if !defined (HSI_VALUE)
#define HSI_VALUE ((uint32_t)16000000) /*!< Value of the Internal oscillator in Hz*/
#endif /* HSI_VALUE */
/**
* @brief Internal Low Speed oscillator (LSI) value.
*/
#if !defined (LSI_VALUE)
#define LSI_VALUE ((uint32_t)32000)
#endif /* LSI_VALUE */ /*!< Value of the Internal Low Speed oscillator in Hz
The real value may vary depending on the variations
in voltage and temperature. */
/**
* @brief External Low Speed oscillator (LSE) value.
*/
#if !defined (LSE_VALUE)
#define LSE_VALUE ((uint32_t)32768) /*!< Value of the External Low Speed oscillator in Hz */
#endif /* LSE_VALUE */
#if !defined (LSE_STARTUP_TIMEOUT)
#define LSE_STARTUP_TIMEOUT ((uint32_t)5000) /*!< Time out for LSE start up, in ms */
#endif /* LSE_STARTUP_TIMEOUT */
/**
* @brief External clock source for I2S peripheral
* This value is used by the I2S HAL module to compute the I2S clock source
* frequency, this source is inserted directly through I2S_CKIN pad.
*/
#if !defined (EXTERNAL_CLOCK_VALUE)
#define EXTERNAL_CLOCK_VALUE ((uint32_t)12288000) /*!< Value of the Internal oscillator in Hz*/
#endif /* EXTERNAL_CLOCK_VALUE */
/* Tip: To avoid modifying this file each time you need to use different HSE,
=== you can define the HSE value in your toolchain compiler preprocessor. */
/* ########################### System Configuration ######################### */
/**
* @brief This is the HAL system configuration section
*/
#define VDD_VALUE ((uint32_t)3300) /*!< Value of VDD in mv */
#define TICK_INT_PRIORITY ((uint32_t)0x0F) /*!< tick interrupt priority */
#define USE_RTOS 0
#define PREFETCH_ENABLE 1
#define INSTRUCTION_CACHE_ENABLE 1
#define DATA_CACHE_ENABLE 1
/* ########################## Assert Selection ############################## */
/**
* @brief Uncomment the line below to expanse the "assert_param" macro in the
* HAL drivers code
*/
/* #define USE_FULL_ASSERT 1 */
/* ################## Ethernet peripheral configuration ##################### */
/* Section 1 : Ethernet peripheral configuration */
/* MAC ADDRESS: MAC_ADDR0:MAC_ADDR1:MAC_ADDR2:MAC_ADDR3:MAC_ADDR4:MAC_ADDR5 */
#define MAC_ADDR0 2
#define MAC_ADDR1 0
#define MAC_ADDR2 0
#define MAC_ADDR3 0
#define MAC_ADDR4 0
#define MAC_ADDR5 0
/* Definition of the Ethernet driver buffers size and count */
#define ETH_RX_BUF_SIZE ETH_MAX_PACKET_SIZE /* buffer size for receive */
#define ETH_TX_BUF_SIZE ETH_MAX_PACKET_SIZE /* buffer size for transmit */
#define ETH_RXBUFNB ((uint32_t)4) /* 4 Rx buffers of size ETH_RX_BUF_SIZE */
#define ETH_TXBUFNB ((uint32_t)4) /* 4 Tx buffers of size ETH_TX_BUF_SIZE */
/* Section 2: PHY configuration section */
/* DP83848 PHY Address*/
#define DP83848_PHY_ADDRESS 0x01
/* PHY Reset delay these values are based on a 1 ms Systick interrupt*/
#define PHY_RESET_DELAY ((uint32_t)0x000000FF)
/* PHY Configuration delay */
#define PHY_CONFIG_DELAY ((uint32_t)0x00000FFF)
#define PHY_READ_TO ((uint32_t)0x0000FFFF)
#define PHY_WRITE_TO ((uint32_t)0x0000FFFF)
/* Section 3: Common PHY Registers */
#define PHY_BCR ((uint16_t)0x00) /*!< Transceiver Basic Control Register */
#define PHY_BSR ((uint16_t)0x01) /*!< Transceiver Basic Status Register */
#define PHY_RESET ((uint16_t)0x8000) /*!< PHY Reset */
#define PHY_LOOPBACK ((uint16_t)0x4000) /*!< Select loop-back mode */
#define PHY_FULLDUPLEX_100M ((uint16_t)0x2100) /*!< Set the full-duplex mode at 100 Mb/s */
#define PHY_HALFDUPLEX_100M ((uint16_t)0x2000) /*!< Set the half-duplex mode at 100 Mb/s */
#define PHY_FULLDUPLEX_10M ((uint16_t)0x0100) /*!< Set the full-duplex mode at 10 Mb/s */
#define PHY_HALFDUPLEX_10M ((uint16_t)0x0000) /*!< Set the half-duplex mode at 10 Mb/s */
#define PHY_AUTONEGOTIATION ((uint16_t)0x1000) /*!< Enable auto-negotiation function */
#define PHY_RESTART_AUTONEGOTIATION ((uint16_t)0x0200) /*!< Restart auto-negotiation function */
#define PHY_POWERDOWN ((uint16_t)0x0800) /*!< Select the power down mode */
#define PHY_ISOLATE ((uint16_t)0x0400) /*!< Isolate PHY from MII */
#define PHY_AUTONEGO_COMPLETE ((uint16_t)0x0020) /*!< Auto-Negotiation process completed */
#define PHY_LINKED_STATUS ((uint16_t)0x0004) /*!< Valid link established */
#define PHY_JABBER_DETECTION ((uint16_t)0x0002) /*!< Jabber condition detected */
/* Section 4: Extended PHY Registers */
#define PHY_SR ((uint16_t)0x10) /*!< PHY status register Offset */
#define PHY_MICR ((uint16_t)0x11) /*!< MII Interrupt Control Register */
#define PHY_MISR ((uint16_t)0x12) /*!< MII Interrupt Status and Misc. Control Register */
#define PHY_LINK_STATUS ((uint16_t)0x0001) /*!< PHY Link mask */
#define PHY_SPEED_STATUS ((uint16_t)0x0002) /*!< PHY Speed mask */
#define PHY_DUPLEX_STATUS ((uint16_t)0x0004) /*!< PHY Duplex mask */
#define PHY_MICR_INT_EN ((uint16_t)0x0002) /*!< PHY Enable interrupts */
#define PHY_MICR_INT_OE ((uint16_t)0x0001) /*!< PHY Enable output interrupt events */
#define PHY_MISR_LINK_INT_EN ((uint16_t)0x0020U) /*!< Enable Interrupt on change of link status */
#define PHY_LINK_INTERRUPT ((uint16_t)0x2000U) /*!< PHY link status interrupt mask */
/* ################## SPI peripheral configuration ########################## */
/* CRC FEATURE: Use to activate CRC feature inside HAL SPI Driver
* Activated: CRC code is present inside driver
* Deactivated: CRC code cleaned from driver
*/
#define USE_SPI_CRC 1U
/* Includes ------------------------------------------------------------------*/
/**
* @brief Include module's header file
*/
#ifdef HAL_RCC_MODULE_ENABLED
#include "stm32f4xx_hal_rcc.h"
#endif /* HAL_RCC_MODULE_ENABLED */
#ifdef HAL_GPIO_MODULE_ENABLED
#include "stm32f4xx_hal_gpio.h"
#endif /* HAL_GPIO_MODULE_ENABLED */
#ifdef HAL_DMA_MODULE_ENABLED
#include "stm32f4xx_hal_dma.h"
#endif /* HAL_DMA_MODULE_ENABLED */
#ifdef HAL_CORTEX_MODULE_ENABLED
#include "stm32f4xx_hal_cortex.h"
#endif /* HAL_CORTEX_MODULE_ENABLED */
#ifdef HAL_ADC_MODULE_ENABLED
#include "stm32f4xx_hal_adc.h"
#endif /* HAL_ADC_MODULE_ENABLED */
#ifdef HAL_CAN_MODULE_ENABLED
#include "stm32f4xx_hal_can.h"
#endif /* HAL_CAN_MODULE_ENABLED */
#ifdef HAL_CRC_MODULE_ENABLED
#include "stm32f4xx_hal_crc.h"
#endif /* HAL_CRC_MODULE_ENABLED */
#ifdef HAL_CRYP_MODULE_ENABLED
#include "stm32f4xx_hal_cryp.h"
#endif /* HAL_CRYP_MODULE_ENABLED */
#ifdef HAL_DMA2D_MODULE_ENABLED
#include "stm32f4xx_hal_dma2d.h"
#endif /* HAL_DMA2D_MODULE_ENABLED */
#ifdef HAL_DAC_MODULE_ENABLED
#include "stm32f4xx_hal_dac.h"
#endif /* HAL_DAC_MODULE_ENABLED */
#ifdef HAL_DCMI_MODULE_ENABLED
#include "stm32f4xx_hal_dcmi.h"
#endif /* HAL_DCMI_MODULE_ENABLED */
#ifdef HAL_ETH_MODULE_ENABLED
#include "stm32f4xx_hal_eth.h"
#endif /* HAL_ETH_MODULE_ENABLED */
#ifdef HAL_FLASH_MODULE_ENABLED
#include "stm32f4xx_hal_flash.h"
#endif /* HAL_FLASH_MODULE_ENABLED */
#ifdef HAL_SRAM_MODULE_ENABLED
#include "stm32f4xx_hal_sram.h"
#endif /* HAL_SRAM_MODULE_ENABLED */
#ifdef HAL_NOR_MODULE_ENABLED
#include "stm32f4xx_hal_nor.h"
#endif /* HAL_NOR_MODULE_ENABLED */
#ifdef HAL_NAND_MODULE_ENABLED
#include "stm32f4xx_hal_nand.h"
#endif /* HAL_NAND_MODULE_ENABLED */
#ifdef HAL_PCCARD_MODULE_ENABLED
#include "stm32f4xx_hal_pccard.h"
#endif /* HAL_PCCARD_MODULE_ENABLED */
#ifdef HAL_SDRAM_MODULE_ENABLED
#include "stm32f4xx_hal_sdram.h"
#endif /* HAL_SDRAM_MODULE_ENABLED */
#ifdef HAL_HASH_MODULE_ENABLED
#include "stm32f4xx_hal_hash.h"
#endif /* HAL_HASH_MODULE_ENABLED */
#ifdef HAL_I2C_MODULE_ENABLED
#include "stm32f4xx_hal_i2c.h"
#endif /* HAL_I2C_MODULE_ENABLED */
#ifdef HAL_I2S_MODULE_ENABLED
#include "stm32f4xx_hal_i2s.h"
#endif /* HAL_I2S_MODULE_ENABLED */
#ifdef HAL_IWDG_MODULE_ENABLED
#include "stm32f4xx_hal_iwdg.h"
#endif /* HAL_IWDG_MODULE_ENABLED */
#ifdef HAL_LTDC_MODULE_ENABLED
#include "stm32f4xx_hal_ltdc.h"
#endif /* HAL_LTDC_MODULE_ENABLED */
#ifdef HAL_PWR_MODULE_ENABLED
#include "stm32f4xx_hal_pwr.h"
#endif /* HAL_PWR_MODULE_ENABLED */
#ifdef HAL_RNG_MODULE_ENABLED
#include "stm32f4xx_hal_rng.h"
#endif /* HAL_RNG_MODULE_ENABLED */
#ifdef HAL_RTC_MODULE_ENABLED
#include "stm32f4xx_hal_rtc.h"
#endif /* HAL_RTC_MODULE_ENABLED */
#ifdef HAL_SAI_MODULE_ENABLED
#include "stm32f4xx_hal_sai.h"
#endif /* HAL_SAI_MODULE_ENABLED */
#ifdef HAL_SD_MODULE_ENABLED
#include "stm32f4xx_hal_sd.h"
#endif /* HAL_SD_MODULE_ENABLED */
#ifdef HAL_SPI_MODULE_ENABLED
#include "stm32f4xx_hal_spi.h"
#endif /* HAL_SPI_MODULE_ENABLED */
#ifdef HAL_TIM_MODULE_ENABLED
#include "stm32f4xx_hal_tim.h"
#endif /* HAL_TIM_MODULE_ENABLED */
#ifdef HAL_UART_MODULE_ENABLED
#include "stm32f4xx_hal_uart.h"
#endif /* HAL_UART_MODULE_ENABLED */
#ifdef HAL_USART_MODULE_ENABLED
#include "stm32f4xx_hal_usart.h"
#endif /* HAL_USART_MODULE_ENABLED */
#ifdef HAL_IRDA_MODULE_ENABLED
#include "stm32f4xx_hal_irda.h"
#endif /* HAL_IRDA_MODULE_ENABLED */
#ifdef HAL_SMARTCARD_MODULE_ENABLED
#include "stm32f4xx_hal_smartcard.h"
#endif /* HAL_SMARTCARD_MODULE_ENABLED */
#ifdef HAL_WWDG_MODULE_ENABLED
#include "stm32f4xx_hal_wwdg.h"
#endif /* HAL_WWDG_MODULE_ENABLED */
#ifdef HAL_PCD_MODULE_ENABLED
#include "stm32f4xx_hal_pcd.h"
#endif /* HAL_PCD_MODULE_ENABLED */
#ifdef HAL_HCD_MODULE_ENABLED
#include "stm32f4xx_hal_hcd.h"
#endif /* HAL_HCD_MODULE_ENABLED */
/* Exported macro ------------------------------------------------------------*/
#ifdef USE_FULL_ASSERT
/**
* @brief The assert_param macro is used for function's parameters check.
* @param expr: If expr is false, it calls assert_failed function
* which reports the name of the source file and the source
* line number of the call that failed.
* If expr is true, it returns no value.
* @retval None
*/
#define assert_param(expr) ((expr) ? (void)0 : assert_failed((uint8_t *)__FILE__, __LINE__))
/* Exported functions ------------------------------------------------------- */
void assert_failed(uint8_t* file, uint32_t line);
#else
#define assert_param(expr) ((void)0)
#endif /* USE_FULL_ASSERT */
#ifdef __cplusplus
}
#endif
#endif /* __STM32F4xx_HAL_CONF_H */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

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/**
******************************************************************************
* @file Multi/Examples/MotionControl/IHM05A1_ExampleFor1Motor/Inc/stm32f4xx_it.h
* @author IPC Rennes
* @version V1.5.0
* @date June 1st, 2018
* @brief This file contains the headers of the interrupt handlers.
******************************************************************************
* @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 __STM32F4xx_IT_H
#define __STM32F4xx_IT_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* Exported types ------------------------------------------------------------*/
/* Exported constants --------------------------------------------------------*/
/* Exported macro ------------------------------------------------------------*/
/* Exported functions ------------------------------------------------------- */
void NMI_Handler(void);
void HardFault_Handler(void);
void MemManage_Handler(void);
void BusFault_Handler(void);
void UsageFault_Handler(void);
void SVC_Handler(void);
void DebugMon_Handler(void);
void PendSV_Handler(void);
void SysTick_Handler(void);
void EXTI15_10_IRQHandler(void);
void TIM4_IRQHandler(void);
#ifdef __cplusplus
}
#endif
#endif /* __STM32F4xx_IT_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 Multi/Examples/MotionControl/IHM05A1_ExampleFor1Motor/Src/clock_f4.c
* @author IPC Rennes
* @version V1.5.0
* @date June 1st, 2018
* @brief Clock configuration of the IHM05A1 with a NucleoF4xx
******************************************************************************
* @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.
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/** @defgroup IHM05A1_System_clock_configuration
* @{
*/
/**
* @brief System Clock Configuration
* The system Clock is configured as follow :
* System Clock source = PLL (HSE)
* SYSCLK(Hz) = 84000000
* HCLK(Hz) = 84000000
* AHB Prescaler = 1
* APB1 Prescaler = 2
* APB2 Prescaler = 1
* HSI Frequency(Hz) = 16000000
* PLL_M = 16
* PLL_N = 336
* PLL_P = 4
* PLL_Q = 7
* VDD(V) = 3.3
* Main regulator output voltage = Scale2 mode
* Flash Latency(WS) = 2
* @param None
* @retval None
*/
void SystemClock_Config(void)
{
RCC_ClkInitTypeDef RCC_ClkInitStruct;
RCC_OscInitTypeDef RCC_OscInitStruct;
/* Enable Power Control clock */
__PWR_CLK_ENABLE();
/* The voltage scaling allows optimizing the power consumption when the device is
clocked below the maximum system frequency, to update the voltage scaling value
regarding system frequency refer to product datasheet. */
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE2);
/* Enable HSE Oscillator and activate PLL with HSI as source */
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.HSICalibrationValue = 16;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
RCC_OscInitStruct.PLL.PLLM = 16;
RCC_OscInitStruct.PLL.PLLN = 336;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV4;
RCC_OscInitStruct.PLL.PLLQ = 7;
if(HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
MyErrorHandler(0);
}
/* Select PLL as system clock source and configure the HCLK, PCLK1 and PCLK2
clocks dividers */
RCC_ClkInitStruct.ClockType = (RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2);
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if(HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
{
MyErrorHandler(1);
}
}
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

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/**
******************************************************************************
* @file Multi/Examples/MotionControl/IHM05A1_ExampleFor1Motor/Src/main.c
* @author IPC Rennes
* @version V1.5.0
* @date June 1st, 2018
* @brief This example shows how to use 1 IHM05A1 expansion board
******************************************************************************
* @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.
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/** @defgroup IHM05A1_Example_for_1_motor_device
* @{
*/
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
static volatile uint16_t gLastError;
/* Initialization parameters. */
l6208_Init_t initDeviceParameters =
{
1500, //Acceleration rate in step/s^2 or (1/16)th step/s^2 for microstep modes
20, //Acceleration current torque in % (from 0 to 100)
1500, //Deceleration rate in step/s^2 or (1/16)th step/s^2 for microstep modes
20, //Deceleration current torque in % (from 0 to 100)
1500, //Running speed in step/s or (1/16)th step/s for microstep modes
10, //Running current torque in % (from 0 to 100)
5, //Holding current torque in % (from 0 to 100)
STEP_MODE_1_16, //Step mode via enum motorStepMode_t
FAST_DECAY, //Decay mode via enum motorDecayMode_t
0, //Dwelling time in ms
FALSE, //Automatic HIZ STOP
100000 //VREFA and VREFB PWM frequency (Hz)
};
/* Private function prototypes -----------------------------------------------*/
static void MyFlagInterruptHandler(void);
void ButtonHandler(void);
/* Private functions ---------------------------------------------------------*/
/**
* @brief Main program
* @param None
* @retval None
*/
int main(void)
{
int32_t pos;
uint16_t mySpeed;
uint32_t freqPwm;
/* STM32xx HAL library initialization */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
//----- Init of the Motor control library
/* Set the L6208 library to use 1 device */
BSP_MotorControl_SetNbDevices(BSP_MOTOR_CONTROL_BOARD_ID_L6208, 1);
/* When BSP_MotorControl_Init is called with NULL pointer, */
/* the L6208 parameters are set with the predefined values from file */
/* l6208_target_config.h, otherwise the parameters are set using the */
/* initDeviceParameters structure values. */
BSP_MotorControl_Init(BSP_MOTOR_CONTROL_BOARD_ID_L6208, NULL);
//BSP_MotorControl_Init(BSP_MOTOR_CONTROL_BOARD_ID_L6208, &initDeviceParameters);
/* Attach the function MyFlagInterruptHandler (defined below) to the flag interrupt */
BSP_MotorControl_AttachFlagInterrupt(MyFlagInterruptHandler);
/* Attach the function MyErrorHandler (defined below) to the error Handler*/
BSP_MotorControl_AttachErrorHandler(MyErrorHandler);
//----- Configure Button for user interaction
/* Set Systick Interrupt priority highest to ensure no lock by using HAL_Delay */
HAL_NVIC_SetPriority(SysTick_IRQn, 0x0, 0x0);
/* Configure KEY Button */
BSP_PB_Init(BUTTON_KEY, BUTTON_MODE_EXTI);
//----- Disable the power bridges after initialization of the L6208 device
/* Disable the power bridges after initialization */
BSP_MotorControl_CmdDisable(0);
/* Wait for 2 seconds */
HAL_Delay(2000);
//----- Get the PWM frequency used for the VREFA and VREFB voltage generation
freqPwm = BSP_MotorControl_GetBridgeInputPwmFreq(0);
//----- Set the PWM frequency used for the VREFA and VREFB voltage generation
BSP_MotorControl_SetBridgeInputPwmFreq(0, freqPwm>>1);
//----- Move of 16000 microsteps in the FW direction
/* Move device 16000 microsteps in the FORWARD direction */
BSP_MotorControl_Move(0, FORWARD, 16000);
/* Wait for the motor ends moving */
BSP_MotorControl_WaitWhileActive(0);
/* Wait for 2 seconds */
HAL_Delay(2000);
//----- Move of 16000 microsteps in the BW direction
/* Move device 16000 microsteps in the BACKWARD direction*/
BSP_MotorControl_Move(0, BACKWARD, 16000);
/* Wait for the motor ends moving */
BSP_MotorControl_WaitWhileActive(0);
/* Get current position */
pos = BSP_MotorControl_GetPosition(0);
/* Set the current position to be the Home position */
BSP_MotorControl_SetHome(0, pos);
/* Wait for 2 seconds */
HAL_Delay(2000);
//----- Go to position -6400
/* Request to go to position -6400 */
BSP_MotorControl_GoTo(0, -6400);
/* Wait for the motor ends moving */
BSP_MotorControl_WaitWhileActive(0);
/* Get current position */
pos = BSP_MotorControl_GetPosition(0);
if (pos != -6400)
{
MyErrorHandler(L6208_ERROR_POSITION);
}
/* Get current position */
pos = BSP_MotorControl_GetPosition(0);
/* Set the current position to be the Mark position */
BSP_MotorControl_SetMark(0, pos);
/* Wait for 2 seconds */
HAL_Delay(2000);
//----- Go Home
/* Request to go to Home */
BSP_MotorControl_GoHome(0);
BSP_MotorControl_WaitWhileActive(0);
/* Get current position */
pos = BSP_MotorControl_GetPosition(0);
/* Wait for 2 seconds */
HAL_Delay(2000);
//----- Go to position 6400
/* Request to go to position 6400 */
BSP_MotorControl_CmdGoToDir(0, FORWARD, 6400);
/* Wait for the motor ends moving */
BSP_MotorControl_WaitWhileActive(0);
/* Get current position */
pos = BSP_MotorControl_GetPosition(0);
/* Wait for 2 seconds */
HAL_Delay(2000);
//----- Go Mark which was set previously after go to -6400
/* Request to go to Mark position */
BSP_MotorControl_GoMark(0);
/* Wait for the motor ends moving */
BSP_MotorControl_WaitWhileActive(0);
/* Get current position */
pos = BSP_MotorControl_GetPosition(0);
/* Wait for 2 seconds */
HAL_Delay(2000);
//----- Run the motor BACKWARD
/* Request to run BACKWARD */
BSP_MotorControl_Run(0, BACKWARD);
HAL_Delay(5000);
/* Get current speed */
mySpeed = BSP_MotorControl_GetCurrentSpeed(0);
//----- Increase the speed while running
/* Increase speed to 2400 microstep/s */
BSP_MotorControl_SetMaxSpeed(0, 2400);
HAL_Delay(5000);
/* Get current speed */
mySpeed = BSP_MotorControl_GetCurrentSpeed(0);
//----- Decrease the speed while running
/* Decrease speed to 1200 microstep/s */
BSP_MotorControl_SetMaxSpeed(0, 1200);
HAL_Delay(5000);
/* Get current speed */
mySpeed = BSP_MotorControl_GetCurrentSpeed(0);
//----- Increase acceleration while running
/* Increase acceleration to 2000 microstep/s^2 */
BSP_MotorControl_SetAcceleration(0, 2000);
HAL_Delay(5000);
/* Increase speed to 2400 microstep/s */
BSP_MotorControl_SetMaxSpeed(0, 2400);
HAL_Delay(5000);
/* Get current speed */
mySpeed = BSP_MotorControl_GetCurrentSpeed(0);
if (mySpeed != 2400)
{
MyErrorHandler(L6208_ERROR_SPEED);
}
//----- Increase deceleration while running
/* Increase deceleration to 2000 microstep/s^2 */
BSP_MotorControl_SetDeceleration(0, 2000);
HAL_Delay(5000);
/* Decrease speed to 1200 microstep/s */
BSP_MotorControl_SetMaxSpeed(0, 1200);
HAL_Delay(5000);
/* Get current speed */
mySpeed = BSP_MotorControl_GetCurrentSpeed(0);
//----- Soft stopped required while running
/* Request soft stop */
BSP_MotorControl_SoftStop(0);
/* Wait for the motor ends moving */
BSP_MotorControl_WaitWhileActive(0);
/* Wait for 2 seconds */
HAL_Delay(2000);
//----- Run stopped by hardstop
/* Request to run in FORWARD direction */
BSP_MotorControl_Run(0, FORWARD);
HAL_Delay(5000);
/* Request to immediatly stop */
BSP_MotorControl_HardStop(0);
BSP_MotorControl_WaitWhileActive(0);
/* Wait for 2 seconds */
HAL_Delay(2000);
//----- GOTO stopped by softstop
/* Request to go to position 20000 */
BSP_MotorControl_GoTo(0, 20000);
HAL_Delay(5000);
/* Request to perform a soft stop */
BSP_MotorControl_SoftStop(0);
BSP_MotorControl_WaitWhileActive(0);
/* Wait for 2 seconds */
HAL_Delay(2000);
//----- Change step mode to full step mode
/* Select full step mode (normal mode) */
BSP_MotorControl_SelectStepMode(0, STEP_MODE_FULL);
/* Set speed, acceleration and deceleration to scale with normal mode */
/* For normal mode and half step mode, these parameters are in steps/s or /s^2 */
/* For microstep modes, these parameters are either in (1/16)step/s or /s^2 */
BSP_MotorControl_SetMaxSpeed(0, BSP_MotorControl_GetMaxSpeed(0)>>4);
BSP_MotorControl_SetMinSpeed(0, L6208_MIN_SPEED);
BSP_MotorControl_SetAcceleration(0, BSP_MotorControl_GetAcceleration(0)>>4);
BSP_MotorControl_SetDeceleration(0, BSP_MotorControl_GetDeceleration(0)>>4);
/* Request to go position 200 (full steps) */
BSP_MotorControl_GoTo(0, 200);
/* Wait for the motor ends moving */
BSP_MotorControl_WaitWhileActive(0);
/* Get current position */
pos = BSP_MotorControl_GetPosition(0);
if (pos != 200)
{
MyErrorHandler(L6208_ERROR_POSITION);
}
/* Wait for 2 seconds */
HAL_Delay(2000);
//----- Change step mode to half step mode
/* Select half step mode */
BSP_MotorControl_SelectStepMode(0, STEP_MODE_HALF);
/* Request to go position -400 (half steps) */
BSP_MotorControl_GoTo(0, -400);
/* Wait for the motor ends moving */
BSP_MotorControl_WaitWhileActive(0);
/* Get current position */
pos = BSP_MotorControl_GetPosition(0);
if (pos != -400)
{
MyErrorHandler(L6208_ERROR_POSITION);
}
/* Wait for 2 seconds */
HAL_Delay(2000);
//----- Change step mode 1/4 microstepping mode
/* Select 1/4 step mode */
BSP_MotorControl_SelectStepMode(0, STEP_MODE_1_4);
/* Set speed, acceleration and deceleration to scale with microstep mode */
/* For normal mode and half step mode, these parameters are in steps/s or /s^2 */
/* For microstep modes, these parameters are either in (1/16)step/s or /s^2 */
BSP_MotorControl_SetMaxSpeed(0, BSP_MotorControl_GetMaxSpeed(0)<<4);
BSP_MotorControl_SetMinSpeed(0, L6208_MIN_SPEED);
BSP_MotorControl_SetAcceleration(0, BSP_MotorControl_GetAcceleration(0)<<4);
BSP_MotorControl_SetDeceleration(0, BSP_MotorControl_GetDeceleration(0)<<4);
/* Request to go position 800 (quarter steps) */
BSP_MotorControl_GoTo(0, 800);
/* Wait for the motor ends moving */
BSP_MotorControl_WaitWhileActive(0);
/* Get current position */
pos = BSP_MotorControl_GetPosition(0);
if (pos != 800)
{
MyErrorHandler(L6208_ERROR_POSITION);
}
/* Wait for 2 seconds */
HAL_Delay(2000);
//----- Change step mode 1/8 microstepping mode
/* Select 1/8 step mode */
BSP_MotorControl_SelectStepMode(0, STEP_MODE_1_8);
/* Request to go position -1600 (1/8th steps) */
BSP_MotorControl_GoTo(0, -1600);
/* Wait for the motor ends moving */
BSP_MotorControl_WaitWhileActive(0);
/* Get current position */
pos = BSP_MotorControl_GetPosition(0);
if (pos != -1600)
{
MyErrorHandler(L6208_ERROR_POSITION);
}
/* Wait for 2 seconds */
HAL_Delay(2000);
//----- Restore 1/16 microstepping mode
/* Reset device to 1/16 microstepping mode */
BSP_MotorControl_SelectStepMode(0, STEP_MODE_1_16);
/* Set speed and acceleration at lowest values */
BSP_MotorControl_SetMaxSpeed(0, L6208_MIN_SPEED);
BSP_MotorControl_SetAcceleration(0, L6208_MIN_ACC_DEC_RATE);
BSP_MotorControl_SetDeceleration(0, L6208_MIN_ACC_DEC_RATE);
/* Move device 49 microsteps (1/16th steps) in the FORWARD direction*/
BSP_MotorControl_Move(0, FORWARD, 49);
/* Wait for the motor ends moving */
BSP_MotorControl_WaitWhileActive(0);
/* Get current position */
pos = BSP_MotorControl_GetPosition(0);
if (pos != 49)
{
MyErrorHandler(L6208_ERROR_POSITION);
}
/* Set speed and acceleration from powerspin6208_target_config.h */
BSP_MotorControl_SetMaxSpeed(0, L6208_CONF_PARAM_RUNNING_SPEED);
BSP_MotorControl_SetAcceleration(0, L6208_CONF_PARAM_ACC_RATE);
BSP_MotorControl_SetDeceleration(0, L6208_CONF_PARAM_DEC_RATE);
/* Turn off power bridges when motor is stopped */
BSP_MotorControl_SetStopMode(0, HIZ_MODE);
/* Infinite loop */
while(1)
{
/* Request to run */
BSP_MotorControl_Run(0, BSP_MotorControl_GetDirection(0));
HAL_Delay(5000);
/* Request soft stop */
BSP_MotorControl_SoftStop(0);
HAL_Delay(2000);
}
}
/**
* @brief This function is the User handler for the flag interrupt
* @param None
* @retval None
*/
void MyFlagInterruptHandler(void)
{
//When EN pin is forced low by a failure, configure the GPIO as an ouput low
BSP_MotorControl_CmdDisable(0);
}
/**
* @brief This function is executed in case of error occurrence.
* @param error number of the error
* @retval None
*/
void MyErrorHandler(uint16_t error)
{
/* Backup error number */
gLastError = error;
/* Infinite loop */
while(1)
{
}
}
/**
* @brief This function is executed in case of button press and it changes the
* current direction of the motor
* @param None
* @retval None
*/
void ButtonHandler(void)
{
if (BSP_MotorControl_GetDirection(0) != BACKWARD)
{
BSP_MotorControl_SetDirection(0, BACKWARD);
}
else
{
BSP_MotorControl_SetDirection(0, FORWARD);
}
/* Let 200 ms before clearing the IT for key debouncing */
HAL_Delay(200);
__HAL_GPIO_EXTI_CLEAR_IT(KEY_BUTTON_PIN);
HAL_NVIC_ClearPendingIRQ(KEY_BUTTON_EXTI_IRQn);
}
#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* @param file: pointer to the source file name
* @param line: assert_param error line source number
* @retval None
*/
void assert_failed(uint8_t* file, uint32_t line)
{
/* User can add his own implementation to report the file name and line number,
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* Infinite loop */
while (1)
{
}
}
#endif
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

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/**
******************************************************************************
* @file Multi/Examples/MotionControl/IHM05A1_ExampleFor1Motor/Src/stm32f4xx_hal_msp.c
* @author IPC Rennes
* @version V1.5.0
* @date June 1st, 2018
* @brief HAL MSP module.
******************************************************************************
* @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.
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/** @defgroup MSP_module
* @brief HAL MSP module.
* @{
*/
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
/* Private function prototypes -----------------------------------------------*/
extern void BSP_MotorControl_StepClockHandler(uint8_t deviceId);
extern void BSP_MotorControl_FlagInterruptHandler(void);
///ButtonHandler defined in main.c
extern void ButtonHandler(void);
/* Private functions ---------------------------------------------------------*/
/** @defgroup HAL_MSP_Private_Functions
* @{
*/
/**
* @brief PWM MSP Initialization
* @param[in] htim_pwm PWM handle pointer
* @retval None
*/
void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* htim_pwm)
{
GPIO_InitTypeDef GPIO_InitStruct;
if(htim_pwm->Instance == BSP_MOTOR_CONTROL_BOARD_TIMER_TICK)
{
/* Peripheral clock enable */
__BSP_MOTOR_CONTROL_BOARD_TIMER_TICK_CLCK_ENABLE();
/* Set Interrupt Group Priority of Timer Interrupt*/
HAL_NVIC_SetPriority(BSP_MOTOR_CONTROL_BOARD_TIMER_TICK_IRQn, BSP_MOTOR_CONTROL_BOARD_TIMER_TICK_PRIORITY, 0);
/* Enable the timer global Interrupt */
HAL_NVIC_EnableIRQ(BSP_MOTOR_CONTROL_BOARD_TIMER_TICK_IRQn);
}
if(htim_pwm->Instance == BSP_MOTOR_CONTROL_BOARD_TIMER_VREFA_PWM)
{
/* Peripheral clock enable */
__BSP_MOTOR_CONTROL_BOARD_TIMER_VREFA_PWM_CLCK_ENABLE();
/* Configure L6208 - VREFA pin -------------------------------------*/
GPIO_InitStruct.Pin = BSP_MOTOR_CONTROL_BOARD_VREFA_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_MEDIUM;
GPIO_InitStruct.Alternate = BSP_MOTOR_CONTROL_BOARD_AFx_TIMx_VREFA_PWM;
HAL_GPIO_Init(BSP_MOTOR_CONTROL_BOARD_VREFA_PORT, &GPIO_InitStruct);
}
if(htim_pwm->Instance == BSP_MOTOR_CONTROL_BOARD_TIMER_VREFB_PWM)
{
/* Peripheral clock enable */
__BSP_MOTOR_CONTROL_BOARD_TIMER_VREFB_PWM_CLCK_ENABLE();
/* Configure L6208 - VREFB pin -------------------------------------*/
GPIO_InitStruct.Pin = BSP_MOTOR_CONTROL_BOARD_VREFB_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_MEDIUM;
GPIO_InitStruct.Alternate = BSP_MOTOR_CONTROL_BOARD_AFx_TIMx_VREFB_PWM;
HAL_GPIO_Init(BSP_MOTOR_CONTROL_BOARD_VREFB_PORT, &GPIO_InitStruct);
}
}
/**
* @brief PWM MSP De-Initialization
* @param[in] htim_pwm PWM handle pointer
* @retval None
*/
void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef* htim_pwm)
{
if(htim_pwm->Instance == BSP_MOTOR_CONTROL_BOARD_TIMER_TICK)
{
/* Peripheral clock disable */
__BSP_MOTOR_CONTROL_BOARD_TIMER_TICK_CLCK_DISABLE();
}
if(htim_pwm->Instance == BSP_MOTOR_CONTROL_BOARD_TIMER_VREFA_PWM)
{
/* Peripheral clock disable */
__BSP_MOTOR_CONTROL_BOARD_TIMER_VREFA_PWM_CLCK_DISABLE();
/* GPIO Deconfiguration */
HAL_GPIO_DeInit(BSP_MOTOR_CONTROL_BOARD_VREFA_PORT, BSP_MOTOR_CONTROL_BOARD_VREFA_PIN);
}
if(htim_pwm->Instance == BSP_MOTOR_CONTROL_BOARD_TIMER_VREFB_PWM)
{
/* Peripheral clock enable */
__BSP_MOTOR_CONTROL_BOARD_TIMER_VREFB_PWM_CLCK_DISABLE();
/* GPIO Deconfiguration */
HAL_GPIO_DeInit(BSP_MOTOR_CONTROL_BOARD_VREFB_PORT, BSP_MOTOR_CONTROL_BOARD_VREFB_PIN);
}
}
/**
* @brief PWM Callback
* @param[in] htim PWM handle pointer
* @retval None
*/
void HAL_TIM_PWM_PulseFinishedCallback(TIM_HandleTypeDef *htim)
{
if ((htim->Instance == BSP_MOTOR_CONTROL_BOARD_TIMER_TICK)&& (htim->Channel == BSP_MOTOR_CONTROL_BOARD_HAL_ACT_CHAN_TIMER_TICK))
{
if (BSP_MotorControl_GetDeviceState(0) != INACTIVE)
{
BSP_MotorControl_StepClockHandler(0);
}
}
}
/**
* @brief External Line Callback
* @param[in] GPIO_Pin pin number
* @retval None
*/
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
if (GPIO_Pin == BSP_MOTOR_CONTROL_BOARD_EN_AND_FLAG_PIN)
{
BSP_MotorControl_FlagInterruptHandler();
}
if (GPIO_Pin == KEY_BUTTON_PIN)
{
ButtonHandler();
}
}
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

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/**
******************************************************************************
* @file Multi/Examples/MotionControl/IHM05A1_ExampleFor1Motor/Src/stm32f4xx_it.c
* @author IPC Rennes
* @version V1.5.0
* @date June 1st, 2018
* @brief Main Interrupt Service Routines.
* This file provides template for all exceptions handler and
* peripherals interrupt service routine.
******************************************************************************
* @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.
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_it.h"
/** @addtogroup Interrupt_Handlers
* @{
*/
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
extern TIM_HandleTypeDef hTimTick;
/* Private function prototypes -----------------------------------------------*/
/* Private functions ---------------------------------------------------------*/
/******************************************************************************/
/* Cortex-M4 Processor Exceptions Handlers */
/******************************************************************************/
/**
* @brief This function handles NMI exception.
* @param None
* @retval None
*/
void NMI_Handler(void)
{
}
/**
* @brief This function handles Hard Fault exception.
* @param None
* @retval None
*/
void HardFault_Handler(void)
{
/* Go to infinite loop when Hard Fault exception occurs */
while (1)
{
}
}
/**
* @brief This function handles Memory Manage exception.
* @param None
* @retval None
*/
void MemManage_Handler(void)
{
/* Go to infinite loop when Memory Manage exception occurs */
while (1)
{
}
}
/**
* @brief This function handles Bus Fault exception.
* @param None
* @retval None
*/
void BusFault_Handler(void)
{
/* Go to infinite loop when Bus Fault exception occurs */
while (1)
{
}
}
/**
* @brief This function handles Usage Fault exception.
* @param None
* @retval None
*/
void UsageFault_Handler(void)
{
/* Go to infinite loop when Usage Fault exception occurs */
while (1)
{
}
}
/**
* @brief This function handles SVCall exception.
* @param None
* @retval None
*/
void SVC_Handler(void)
{
}
/**
* @brief This function handles Debug Monitor exception.
* @param None
* @retval None
*/
void DebugMon_Handler(void)
{
}
/**
* @brief This function handles PendSVC exception.
* @param None
* @retval None
*/
void PendSV_Handler(void)
{
}
/**
* @brief This function handles SysTick Handler.
* @param None
* @retval None
*/
void SysTick_Handler(void)
{
HAL_IncTick();
}
/******************************************************************************/
/* STM32F4xx Peripherals Interrupt Handlers */
/* Add here the Interrupt Handler for the used peripheral(s) (PPP), for the */
/* available peripheral interrupt handler's name please refer to the startup */
/* file (startup_stm32f4xx.s). */
/******************************************************************************/
/**
* @brief This function handles interrupt for External lines 10 to 15
* @param None
* @retval None
*/
void EXTI15_10_IRQHandler(void)
{
HAL_GPIO_EXTI_IRQHandler(BSP_MOTOR_CONTROL_BOARD_EN_AND_FLAG_PIN);
HAL_GPIO_EXTI_IRQHandler(KEY_BUTTON_PIN);
}
/**
* @brief This function handles TIM4 interrupt request.
* @param None
* @retval None
*/
void TIM4_IRQHandler(void)
{
HAL_TIM_IRQHandler(&hTimTick);
}
/**
* @brief This function handles PPP interrupt request.
* @param None
* @retval None
*/
/*void PPP_IRQHandler(void)
{
}*/
/**
* @}
*/
/************************ (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 syscalls.c
* @author Auto-generated by STM32CubeIDE
* @brief STM32CubeIDE Minimal System calls file
*
* For more information about which c-functions
* need which of these lowlevel functions
* please consult the Newlib libc-manual
******************************************************************************
* @attention
*
* <h2><center>&copy; Copyright (c) 2020 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under BSD 3-Clause license,
* the "License"; You may not use this file except in compliance with the
* License. You may obtain a copy of the License at:
* opensource.org/licenses/BSD-3-Clause
*
******************************************************************************
*/
/* Includes */
#include <sys/stat.h>
#include <stdlib.h>
#include <errno.h>
#include <stdio.h>
#include <signal.h>
#include <time.h>
#include <sys/time.h>
#include <sys/times.h>
/* Variables */
//#undef errno
extern int errno;
extern int __io_putchar(int ch) __attribute__((weak));
extern int __io_getchar(void) __attribute__((weak));
register char * stack_ptr asm("sp");
char *__env[1] = { 0 };
char **environ = __env;
/* Functions */
void initialise_monitor_handles()
{
}
int _getpid(void)
{
return 1;
}
int _kill(int pid, int sig)
{
errno = EINVAL;
return -1;
}
void _exit (int status)
{
_kill(status, -1);
while (1) {} /* Make sure we hang here */
}
__attribute__((weak)) int _read(int file, char *ptr, int len)
{
int DataIdx;
for (DataIdx = 0; DataIdx < len; DataIdx++)
{
*ptr++ = __io_getchar();
}
return len;
}
__attribute__((weak)) int _write(int file, char *ptr, int len)
{
int DataIdx;
for (DataIdx = 0; DataIdx < len; DataIdx++)
{
__io_putchar(*ptr++);
}
return len;
}
int _close(int file)
{
return -1;
}
int _fstat(int file, struct stat *st)
{
st->st_mode = S_IFCHR;
return 0;
}
int _isatty(int file)
{
return 1;
}
int _lseek(int file, int ptr, int dir)
{
return 0;
}
int _open(char *path, int flags, ...)
{
/* Pretend like we always fail */
return -1;
}
int _wait(int *status)
{
errno = ECHILD;
return -1;
}
int _unlink(char *name)
{
errno = ENOENT;
return -1;
}
int _times(struct tms *buf)
{
return -1;
}
int _stat(char *file, struct stat *st)
{
st->st_mode = S_IFCHR;
return 0;
}
int _link(char *old, char *new)
{
errno = EMLINK;
return -1;
}
int _fork(void)
{
errno = EAGAIN;
return -1;
}
int _execve(char *name, char **argv, char **env)
{
errno = ENOMEM;
return -1;
}

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

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/**
******************************************************************************
* @file Multi/Examples/MotionControl/IHM05A1_ExampleFor1Motor/Src/system_stm32f4xx.c
* @author IPC Rennes
* @version V1.5.0
* @date June 1st, 2018
* @brief CMSIS Cortex-M4 Device Peripheral Access Layer System Source File.
*
* This file provides two functions and one global variable to be called from
* user application:
* - SystemInit(): This function is called at startup just after reset and
* before branch to main program. This call is made inside
* the "startup_stm32f4xx.s" file.
*
* - SystemCoreClock variable: Contains the core clock (HCLK), it can be used
* by the user application to setup the SysTick
* timer or configure other parameters.
*
* - SystemCoreClockUpdate(): Updates the variable SystemCoreClock and must
* be called whenever the core clock is changed
* during program execution.
*
*
******************************************************************************
* @attention
*
* <h2><center>&copy; COPYRIGHT 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.
*
******************************************************************************
*/
/** @addtogroup CMSIS
* @{
*/
/** @addtogroup stm32f4xx_system
* @{
*/
/** @addtogroup STM32F4xx_System_Private_Includes
* @{
*/
#include "stm32f4xx.h"
#if !defined (HSE_VALUE)
#define HSE_VALUE ((uint32_t)8000000) /*!< Default value of the External oscillator in Hz */
#endif /* HSE_VALUE */
#if !defined (HSI_VALUE)
#define HSI_VALUE ((uint32_t)16000000) /*!< Value of the Internal oscillator in Hz*/
#endif /* HSI_VALUE */
/**
* @}
*/
/** @addtogroup STM32F4xx_System_Private_TypesDefinitions
* @{
*/
/**
* @}
*/
/** @addtogroup STM32F4xx_System_Private_Defines
* @{
*/
/************************* Miscellaneous Configuration ************************/
/*!< Uncomment the following line if you need to relocate your vector Table in
Internal SRAM. */
/* #define VECT_TAB_SRAM */
#define VECT_TAB_OFFSET 0x00 /*!< Vector Table base offset field.
This value must be a multiple of 0x200. */
/******************************************************************************/
/**
* @}
*/
/** @addtogroup STM32F4xx_System_Private_Macros
* @{
*/
/**
* @}
*/
/** @addtogroup STM32F4xx_System_Private_Variables
* @{
*/
/* This variable is updated in three ways:
1) by calling CMSIS function SystemCoreClockUpdate()
2) by calling HAL API function HAL_RCC_GetHCLKFreq()
3) each time HAL_RCC_ClockConfig() is called to configure the system clock frequency
Note: If you use this function to configure the system clock; then there
is no need to call the 2 first functions listed above, since SystemCoreClock
variable is updated automatically.
*/
uint32_t SystemCoreClock = 16000000;
const uint8_t AHBPrescTable[16] = {0, 0, 0, 0, 0, 0, 0, 0, 1, 2, 3, 4, 6, 7, 8, 9};
const uint8_t APBPrescTable[8] = {0, 0, 0, 0, 1, 2, 3, 4};
/**
* @}
*/
/** @addtogroup STM32F4xx_System_Private_FunctionPrototypes
* @{
*/
/**
* @}
*/
/** @addtogroup STM32F4xx_System_Private_Functions
* @{
*/
/**
* @brief Setup the microcontroller system
* Initialize the FPU setting, vector table location and External memory
* configuration.
* @param None
* @retval None
*/
void SystemInit(void)
{
/* FPU settings ------------------------------------------------------------*/
#if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
SCB->CPACR |= ((3UL << 10*2)|(3UL << 11*2)); /* set CP10 and CP11 Full Access */
#endif
/* Reset the RCC clock configuration to the default reset state ------------*/
/* Set HSION bit */
RCC->CR |= (uint32_t)0x00000001;
/* Reset CFGR register */
RCC->CFGR = 0x00000000;
/* Reset HSEON, CSSON and PLLON bits */
RCC->CR &= (uint32_t)0xFEF6FFFF;
/* Reset PLLCFGR register */
RCC->PLLCFGR = 0x24003010;
/* Reset HSEBYP bit */
RCC->CR &= (uint32_t)0xFFFBFFFF;
/* Disable all interrupts */
RCC->CIR = 0x00000000;
/* Configure the Vector Table location add offset address ------------------*/
#ifdef VECT_TAB_SRAM
SCB->VTOR = SRAM_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal SRAM */
#else
SCB->VTOR = FLASH_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal FLASH */
#endif
}
/**
* @brief Update SystemCoreClock variable according to Clock Register Values.
* The SystemCoreClock variable contains the core clock (HCLK), it can
* be used by the user application to setup the SysTick timer or configure
* other parameters.
*
* @note Each time the core clock (HCLK) changes, this function must be called
* to update SystemCoreClock variable value. Otherwise, any configuration
* based on this variable will be incorrect.
*
* @note - The system frequency computed by this function is not the real
* frequency in the chip. It is calculated based on the predefined
* constant and the selected clock source:
*
* - If SYSCLK source is HSI, SystemCoreClock will contain the HSI_VALUE(*)
*
* - If SYSCLK source is HSE, SystemCoreClock will contain the HSE_VALUE(**)
*
* - If SYSCLK source is PLL, SystemCoreClock will contain the HSE_VALUE(**)
* or HSI_VALUE(*) multiplied/divided by the PLL factors.
*
* (*) HSI_VALUE is a constant defined in stm32f4xx_hal_conf.h file (default value
* 16 MHz) but the real value may vary depending on the variations
* in voltage and temperature.
*
* (**) HSE_VALUE is a constant defined in stm32f4xx_hal_conf.h file (its value
* depends on the application requirements), user has to ensure that HSE_VALUE
* is same as the real frequency of the crystal used. Otherwise, this function
* may have wrong result.
*
* - The result of this function could be not correct when using fractional
* value for HSE crystal.
*
* @param None
* @retval None
*/
void SystemCoreClockUpdate(void)
{
uint32_t tmp = 0, pllvco = 0, pllp = 2, pllsource = 0, pllm = 2;
/* Get SYSCLK source -------------------------------------------------------*/
tmp = RCC->CFGR & RCC_CFGR_SWS;
switch (tmp)
{
case 0x00: /* HSI used as system clock source */
SystemCoreClock = HSI_VALUE;
break;
case 0x04: /* HSE used as system clock source */
SystemCoreClock = HSE_VALUE;
break;
case 0x08: /* PLL used as system clock source */
/* PLL_VCO = (HSE_VALUE or HSI_VALUE / PLL_M) * PLL_N
SYSCLK = PLL_VCO / PLL_P
*/
pllsource = (RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC) >> 22;
pllm = RCC->PLLCFGR & RCC_PLLCFGR_PLLM;
if (pllsource != 0)
{
/* HSE used as PLL clock source */
pllvco = (HSE_VALUE / pllm) * ((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> 6);
}
else
{
/* HSI used as PLL clock source */
pllvco = (HSI_VALUE / pllm) * ((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> 6);
}
pllp = (((RCC->PLLCFGR & RCC_PLLCFGR_PLLP) >>16) + 1 ) *2;
SystemCoreClock = pllvco/pllp;
break;
default:
SystemCoreClock = HSI_VALUE;
break;
}
/* Compute HCLK frequency --------------------------------------------------*/
/* Get HCLK prescaler */
tmp = AHBPrescTable[((RCC->CFGR & RCC_CFGR_HPRE) >> 4)];
/* HCLK frequency */
SystemCoreClock >>= tmp;
}
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
/************************ (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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/**
******************************************************************************
* @file startup_stm32f401xe.s
* @author MCD Application Team
* @brief STM32F401xExx Devices vector table for GCC based toolchains.
* This module performs:
* - Set the initial SP
* - Set the initial PC == Reset_Handler,
* - Set the vector table entries with the exceptions ISR address
* - Branches to main in the C library (which eventually
* calls main()).
* After Reset the Cortex-M4 processor is in Thread mode,
* priority is Privileged, and the Stack is set to Main.
******************************************************************************
* @attention
*
* <h2><center>&copy; Copyright (c) 2017 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under BSD 3-Clause license,
* the "License"; You may not use this file except in compliance with the
* License. You may obtain a copy of the License at:
* opensource.org/licenses/BSD-3-Clause
*
******************************************************************************
*/
.syntax unified
.cpu cortex-m4
.fpu softvfp
.thumb
.global g_pfnVectors
.global Default_Handler
/* start address for the initialization values of the .data section.
defined in linker script */
.word _sidata
/* start address for the .data section. defined in linker script */
.word _sdata
/* end address for the .data section. defined in linker script */
.word _edata
/* start address for the .bss section. defined in linker script */
.word _sbss
/* end address for the .bss section. defined in linker script */
.word _ebss
/* stack used for SystemInit_ExtMemCtl; always internal RAM used */
/**
* @brief This is the code that gets called when the processor first
* starts execution following a reset event. Only the absolutely
* necessary set is performed, after which the application
* supplied main() routine is called.
* @param None
* @retval : None
*/
.section .text.Reset_Handler
.weak Reset_Handler
.type Reset_Handler, %function
Reset_Handler:
ldr sp, =_estack /* set stack pointer */
/* Copy the data segment initializers from flash to SRAM */
movs r1, #0
b LoopCopyDataInit
CopyDataInit:
ldr r3, =_sidata
ldr r3, [r3, r1]
str r3, [r0, r1]
adds r1, r1, #4
LoopCopyDataInit:
ldr r0, =_sdata
ldr r3, =_edata
adds r2, r0, r1
cmp r2, r3
bcc CopyDataInit
ldr r2, =_sbss
b LoopFillZerobss
/* Zero fill the bss segment. */
FillZerobss:
movs r3, #0
str r3, [r2], #4
LoopFillZerobss:
ldr r3, = _ebss
cmp r2, r3
bcc FillZerobss
/* Call the clock system intitialization function.*/
bl SystemInit
/* Call static constructors */
bl __libc_init_array
/* Call the application's entry point.*/
bl main
bx lr
.size Reset_Handler, .-Reset_Handler
/**
* @brief This is the code that gets called when the processor receives an
* unexpected interrupt. This simply enters an infinite loop, preserving
* the system state for examination by a debugger.
* @param None
* @retval None
*/
.section .text.Default_Handler,"ax",%progbits
Default_Handler:
Infinite_Loop:
b Infinite_Loop
.size Default_Handler, .-Default_Handler
/******************************************************************************
*
* The minimal vector table for a Cortex M3. Note that the proper constructs
* must be placed on this to ensure that it ends up at physical address
* 0x0000.0000.
*
*******************************************************************************/
.section .isr_vector,"a",%progbits
.type g_pfnVectors, %object
.size g_pfnVectors, .-g_pfnVectors
g_pfnVectors:
.word _estack
.word Reset_Handler
.word NMI_Handler
.word HardFault_Handler
.word MemManage_Handler
.word BusFault_Handler
.word UsageFault_Handler
.word 0
.word 0
.word 0
.word 0
.word SVC_Handler
.word DebugMon_Handler
.word 0
.word PendSV_Handler
.word SysTick_Handler
/* External Interrupts */
.word WWDG_IRQHandler /* Window WatchDog */
.word PVD_IRQHandler /* PVD through EXTI Line detection */
.word TAMP_STAMP_IRQHandler /* Tamper and TimeStamps through the EXTI line */
.word RTC_WKUP_IRQHandler /* RTC Wakeup through the EXTI line */
.word FLASH_IRQHandler /* FLASH */
.word RCC_IRQHandler /* RCC */
.word EXTI0_IRQHandler /* EXTI Line0 */
.word EXTI1_IRQHandler /* EXTI Line1 */
.word EXTI2_IRQHandler /* EXTI Line2 */
.word EXTI3_IRQHandler /* EXTI Line3 */
.word EXTI4_IRQHandler /* EXTI Line4 */
.word DMA1_Stream0_IRQHandler /* DMA1 Stream 0 */
.word DMA1_Stream1_IRQHandler /* DMA1 Stream 1 */
.word DMA1_Stream2_IRQHandler /* DMA1 Stream 2 */
.word DMA1_Stream3_IRQHandler /* DMA1 Stream 3 */
.word DMA1_Stream4_IRQHandler /* DMA1 Stream 4 */
.word DMA1_Stream5_IRQHandler /* DMA1 Stream 5 */
.word DMA1_Stream6_IRQHandler /* DMA1 Stream 6 */
.word ADC_IRQHandler /* ADC1, ADC2 and ADC3s */
.word 0 /* Reserved */
.word 0 /* Reserved */
.word 0 /* Reserved */
.word 0 /* Reserved */
.word EXTI9_5_IRQHandler /* External Line[9:5]s */
.word TIM1_BRK_TIM9_IRQHandler /* TIM1 Break and TIM9 */
.word TIM1_UP_TIM10_IRQHandler /* TIM1 Update and TIM10 */
.word TIM1_TRG_COM_TIM11_IRQHandler /* TIM1 Trigger and Commutation and TIM11 */
.word TIM1_CC_IRQHandler /* TIM1 Capture Compare */
.word TIM2_IRQHandler /* TIM2 */
.word TIM3_IRQHandler /* TIM3 */
.word TIM4_IRQHandler /* TIM4 */
.word I2C1_EV_IRQHandler /* I2C1 Event */
.word I2C1_ER_IRQHandler /* I2C1 Error */
.word I2C2_EV_IRQHandler /* I2C2 Event */
.word I2C2_ER_IRQHandler /* I2C2 Error */
.word SPI1_IRQHandler /* SPI1 */
.word SPI2_IRQHandler /* SPI2 */
.word USART1_IRQHandler /* USART1 */
.word USART2_IRQHandler /* USART2 */
.word 0 /* Reserved */
.word EXTI15_10_IRQHandler /* External Line[15:10]s */
.word RTC_Alarm_IRQHandler /* RTC Alarm (A and B) through EXTI Line */
.word OTG_FS_WKUP_IRQHandler /* USB OTG FS Wakeup through EXTI line */
.word 0 /* Reserved */
.word 0 /* Reserved */
.word 0 /* Reserved */
.word 0 /* Reserved */
.word DMA1_Stream7_IRQHandler /* DMA1 Stream7 */
.word 0 /* Reserved */
.word SDIO_IRQHandler /* SDIO */
.word TIM5_IRQHandler /* TIM5 */
.word SPI3_IRQHandler /* SPI3 */
.word 0 /* Reserved */
.word 0 /* Reserved */
.word 0 /* Reserved */
.word 0 /* Reserved */
.word DMA2_Stream0_IRQHandler /* DMA2 Stream 0 */
.word DMA2_Stream1_IRQHandler /* DMA2 Stream 1 */
.word DMA2_Stream2_IRQHandler /* DMA2 Stream 2 */
.word DMA2_Stream3_IRQHandler /* DMA2 Stream 3 */
.word DMA2_Stream4_IRQHandler /* DMA2 Stream 4 */
.word 0 /* Reserved */
.word 0 /* Reserved */
.word 0 /* Reserved */
.word 0 /* Reserved */
.word 0 /* Reserved */
.word 0 /* Reserved */
.word OTG_FS_IRQHandler /* USB OTG FS */
.word DMA2_Stream5_IRQHandler /* DMA2 Stream 5 */
.word DMA2_Stream6_IRQHandler /* DMA2 Stream 6 */
.word DMA2_Stream7_IRQHandler /* DMA2 Stream 7 */
.word USART6_IRQHandler /* USART6 */
.word I2C3_EV_IRQHandler /* I2C3 event */
.word I2C3_ER_IRQHandler /* I2C3 error */
.word 0 /* Reserved */
.word 0 /* Reserved */
.word 0 /* Reserved */
.word 0 /* Reserved */
.word 0 /* Reserved */
.word 0 /* Reserved */
.word 0 /* Reserved */
.word FPU_IRQHandler /* FPU */
.word 0 /* Reserved */
.word 0 /* Reserved */
.word SPI4_IRQHandler /* SPI4 */
/*******************************************************************************
*
* Provide weak aliases for each Exception handler to the Default_Handler.
* As they are weak aliases, any function with the same name will override
* this definition.
*
*******************************************************************************/
.weak NMI_Handler
.thumb_set NMI_Handler,Default_Handler
.weak HardFault_Handler
.thumb_set HardFault_Handler,Default_Handler
.weak MemManage_Handler
.thumb_set MemManage_Handler,Default_Handler
.weak BusFault_Handler
.thumb_set BusFault_Handler,Default_Handler
.weak UsageFault_Handler
.thumb_set UsageFault_Handler,Default_Handler
.weak SVC_Handler
.thumb_set SVC_Handler,Default_Handler
.weak DebugMon_Handler
.thumb_set DebugMon_Handler,Default_Handler
.weak PendSV_Handler
.thumb_set PendSV_Handler,Default_Handler
.weak SysTick_Handler
.thumb_set SysTick_Handler,Default_Handler
.weak WWDG_IRQHandler
.thumb_set WWDG_IRQHandler,Default_Handler
.weak PVD_IRQHandler
.thumb_set PVD_IRQHandler,Default_Handler
.weak TAMP_STAMP_IRQHandler
.thumb_set TAMP_STAMP_IRQHandler,Default_Handler
.weak RTC_WKUP_IRQHandler
.thumb_set RTC_WKUP_IRQHandler,Default_Handler
.weak FLASH_IRQHandler
.thumb_set FLASH_IRQHandler,Default_Handler
.weak RCC_IRQHandler
.thumb_set RCC_IRQHandler,Default_Handler
.weak EXTI0_IRQHandler
.thumb_set EXTI0_IRQHandler,Default_Handler
.weak EXTI1_IRQHandler
.thumb_set EXTI1_IRQHandler,Default_Handler
.weak EXTI2_IRQHandler
.thumb_set EXTI2_IRQHandler,Default_Handler
.weak EXTI3_IRQHandler
.thumb_set EXTI3_IRQHandler,Default_Handler
.weak EXTI4_IRQHandler
.thumb_set EXTI4_IRQHandler,Default_Handler
.weak DMA1_Stream0_IRQHandler
.thumb_set DMA1_Stream0_IRQHandler,Default_Handler
.weak DMA1_Stream1_IRQHandler
.thumb_set DMA1_Stream1_IRQHandler,Default_Handler
.weak DMA1_Stream2_IRQHandler
.thumb_set DMA1_Stream2_IRQHandler,Default_Handler
.weak DMA1_Stream3_IRQHandler
.thumb_set DMA1_Stream3_IRQHandler,Default_Handler
.weak DMA1_Stream4_IRQHandler
.thumb_set DMA1_Stream4_IRQHandler,Default_Handler
.weak DMA1_Stream5_IRQHandler
.thumb_set DMA1_Stream5_IRQHandler,Default_Handler
.weak DMA1_Stream6_IRQHandler
.thumb_set DMA1_Stream6_IRQHandler,Default_Handler
.weak ADC_IRQHandler
.thumb_set ADC_IRQHandler,Default_Handler
.weak EXTI9_5_IRQHandler
.thumb_set EXTI9_5_IRQHandler,Default_Handler
.weak TIM1_BRK_TIM9_IRQHandler
.thumb_set TIM1_BRK_TIM9_IRQHandler,Default_Handler
.weak TIM1_UP_TIM10_IRQHandler
.thumb_set TIM1_UP_TIM10_IRQHandler,Default_Handler
.weak TIM1_TRG_COM_TIM11_IRQHandler
.thumb_set TIM1_TRG_COM_TIM11_IRQHandler,Default_Handler
.weak TIM1_CC_IRQHandler
.thumb_set TIM1_CC_IRQHandler,Default_Handler
.weak TIM2_IRQHandler
.thumb_set TIM2_IRQHandler,Default_Handler
.weak TIM3_IRQHandler
.thumb_set TIM3_IRQHandler,Default_Handler
.weak TIM4_IRQHandler
.thumb_set TIM4_IRQHandler,Default_Handler
.weak I2C1_EV_IRQHandler
.thumb_set I2C1_EV_IRQHandler,Default_Handler
.weak I2C1_ER_IRQHandler
.thumb_set I2C1_ER_IRQHandler,Default_Handler
.weak I2C2_EV_IRQHandler
.thumb_set I2C2_EV_IRQHandler,Default_Handler
.weak I2C2_ER_IRQHandler
.thumb_set I2C2_ER_IRQHandler,Default_Handler
.weak SPI1_IRQHandler
.thumb_set SPI1_IRQHandler,Default_Handler
.weak SPI2_IRQHandler
.thumb_set SPI2_IRQHandler,Default_Handler
.weak USART1_IRQHandler
.thumb_set USART1_IRQHandler,Default_Handler
.weak USART2_IRQHandler
.thumb_set USART2_IRQHandler,Default_Handler
.weak EXTI15_10_IRQHandler
.thumb_set EXTI15_10_IRQHandler,Default_Handler
.weak RTC_Alarm_IRQHandler
.thumb_set RTC_Alarm_IRQHandler,Default_Handler
.weak OTG_FS_WKUP_IRQHandler
.thumb_set OTG_FS_WKUP_IRQHandler,Default_Handler
.weak DMA1_Stream7_IRQHandler
.thumb_set DMA1_Stream7_IRQHandler,Default_Handler
.weak SDIO_IRQHandler
.thumb_set SDIO_IRQHandler,Default_Handler
.weak TIM5_IRQHandler
.thumb_set TIM5_IRQHandler,Default_Handler
.weak SPI3_IRQHandler
.thumb_set SPI3_IRQHandler,Default_Handler
.weak DMA2_Stream0_IRQHandler
.thumb_set DMA2_Stream0_IRQHandler,Default_Handler
.weak DMA2_Stream1_IRQHandler
.thumb_set DMA2_Stream1_IRQHandler,Default_Handler
.weak DMA2_Stream2_IRQHandler
.thumb_set DMA2_Stream2_IRQHandler,Default_Handler
.weak DMA2_Stream3_IRQHandler
.thumb_set DMA2_Stream3_IRQHandler,Default_Handler
.weak DMA2_Stream4_IRQHandler
.thumb_set DMA2_Stream4_IRQHandler,Default_Handler
.weak OTG_FS_IRQHandler
.thumb_set OTG_FS_IRQHandler,Default_Handler
.weak DMA2_Stream5_IRQHandler
.thumb_set DMA2_Stream5_IRQHandler,Default_Handler
.weak DMA2_Stream6_IRQHandler
.thumb_set DMA2_Stream6_IRQHandler,Default_Handler
.weak DMA2_Stream7_IRQHandler
.thumb_set DMA2_Stream7_IRQHandler,Default_Handler
.weak USART6_IRQHandler
.thumb_set USART6_IRQHandler,Default_Handler
.weak I2C3_EV_IRQHandler
.thumb_set I2C3_EV_IRQHandler,Default_Handler
.weak I2C3_ER_IRQHandler
.thumb_set I2C3_ER_IRQHandler,Default_Handler
.weak FPU_IRQHandler
.thumb_set FPU_IRQHandler,Default_Handler
.weak SPI4_IRQHandler
.thumb_set SPI4_IRQHandler,Default_Handler
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

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Core/Src/clock_f4.o: ../Core/Src/clock_f4.c ../Core/Inc/main.h \
../Core/Inc/x_nucleo_ihmxx.h ../Core/Inc/motor.h ../Core/Inc/l6208.h \
../Core/Inc/l6208_target_config.h \
../Core/Inc/x_nucleo_ihm05a1_stm32f4xx.h ../Core/Inc/stm32f4xx_nucleo.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h \
../Core/Inc/stm32f4xx_hal_conf.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h \
../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h \
../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f401xe.h \
../Drivers/CMSIS/Include/core_cm4.h \
../Drivers/CMSIS/Include/cmsis_version.h \
../Drivers/CMSIS/Include/cmsis_compiler.h \
../Drivers/CMSIS/Include/cmsis_gcc.h \
../Drivers/CMSIS/Include/mpu_armv7.h \
../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc_ex.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h
../Core/Inc/main.h:
../Core/Inc/x_nucleo_ihmxx.h:
../Core/Inc/motor.h:
../Core/Inc/l6208.h:
../Core/Inc/l6208_target_config.h:
../Core/Inc/x_nucleo_ihm05a1_stm32f4xx.h:
../Core/Inc/stm32f4xx_nucleo.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h:
../Core/Inc/stm32f4xx_hal_conf.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h:
../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h:
../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f401xe.h:
../Drivers/CMSIS/Include/core_cm4.h:
../Drivers/CMSIS/Include/cmsis_version.h:
../Drivers/CMSIS/Include/cmsis_compiler.h:
../Drivers/CMSIS/Include/cmsis_gcc.h:
../Drivers/CMSIS/Include/mpu_armv7.h:
../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc_ex.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h:

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clock_f4.c:65:6:SystemClock_Config 88 static

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

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l6208.c:308:10:L6208_ReadId 4 static
l6208.c:321:6:L6208_AttachErrorHandler 16 static
l6208.c:335:6:L6208_AttachFlagInterrupt 16 static
l6208.c:344:9:L6208_CheckStatusHw 8 static
l6208.c:361:6:L6208_Disable 16 static
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l6208.c:392:6:L6208_Enable 16 static
l6208.c:402:6:L6208_FlagInterruptHandler 8 static
l6208.c:424:10:L6208_GetAcceleration 16 static
l6208.c:437:10:L6208_GetCurrentSpeed 40 static
l6208.c:458:18:L6208_GetDecayMode 16 static
l6208.c:472:10:L6208_GetDeceleration 16 static
l6208.c:482:12:L6208_GetDirection 16 static
l6208.c:498:10:L6208_GetFwVersion 4 static
l6208.c:508:9:L6208_GetMark 16 static
l6208.c:521:10:L6208_GetMaxSpeed 16 static
l6208.c:534:10:L6208_GetMinSpeed 16 static
l6208.c:544:14:L6208_GetMotionState 16 static
l6208.c:555:9:L6208_GetPosition 16 static
l6208.c:565:17:L6208_GetStepMode 16 static
l6208.c:575:17:L6208_GetStopMode 16 static
l6208.c:594:9:L6208_GetTorque 24 static
l6208.c:625:6:L6208_GoHome 16 static
l6208.c:635:6:L6208_GoMark 16 static
l6208.c:653:6:L6208_GoTo 24 static
l6208.c:702:6:L6208_GoToDir 24 static
l6208.c:741:6:L6208_HardHiZ 16 static
l6208.c:765:6:L6208_HardStop 16 static
l6208.c:793:6:L6208_Move 16 static
l6208.c:821:6:L6208_ReleaseReset 16 static
l6208.c:831:6:L6208_Reset 16 static
l6208.c:841:6:L6208_ResetDevice 8 static
l6208.c:856:6:L6208_Run 16 static
l6208.c:880:6:L6208_SetAcceleration 24 static
l6208.c:901:6:L6208_SetDecayMode 16 static
l6208.c:924:6:L6208_SetDeceleration 24 static
l6208.c:948:6:L6208_SetDirection 16 static
l6208.c:1012:6:L6208_SetHome 16 static
l6208.c:1030:6:L6208_SetMark 16 static
l6208.c:1044:6:L6208_SetMaxSpeed 16 static
l6208.c:1066:6:L6208_SetMinSpeed 16 static
l6208.c:1085:6:L6208_SetNbDevices 16 static
l6208.c:1104:6:L6208_SetStepMode 16 static
l6208.c:1180:6:L6208_SetStopMode 16 static
l6208.c:1200:6:L6208_SetTorque 16 static
l6208.c:1236:6:L6208_SoftStop 16 static
l6208.c:1248:6:L6208_TickHandler 24 static
l6208.c:1544:10:L6208_VrefPwmGetFreq 16 static
l6208.c:1556:6:L6208_VrefPwmSetFreq 16 static
l6208.c:1579:6:L6208_WaitWhileActive 16 static
l6208.c:1597:13:L6208_ClearSysFlag 16 static
l6208.c:1616:10:L6208_ComputeNbAccOrDecSteps 24 static
l6208.c:1666:10:L6208_ConvertAcceDecelRateValue 40 static
l6208.c:1696:6:L6208_DoAccel 16 static
l6208.c:1717:6:L6208_DoDecel 16 static
l6208.c:1739:6:L6208_DoRun 4 static
l6208.c:1748:9:L6208_GetMicrostepSample2Scale 4 static
l6208.c:1778:6:L6208_Indexmodeinit 24 static
l6208.c:1822:13:L6208_IsSysFlag 16 static
l6208.c:1831:6:L6208_ResetSteps 4 static
l6208.c:1849:10:L6208_ScaleWaveformSample 24 static
l6208.c:1868:6:L6208_ScaleWaveformTable 16 static
l6208.c:1885:6:L6208_SetDeviceParamsToGivenValues 16 static
l6208.c:1915:6:L6208_SetDeviceParamsToPredefinedValues 8 static
l6208.c:1944:6:L6208_SetMicrostepSample2Scale 16 static
l6208.c:1959:6:L6208_SetMicrostepSample2Update 16 static
l6208.c:1974:6:L6208_SetMotionState 16 static
l6208.c:1987:6:L6208_SetSpeed 40 static
l6208.c:2017:13:L6208_SetSysFlag 16 static
l6208.c:2026:6:L6208_StartMovement 16 static
l6208.c:2095:6:L6208_UpdateScanWaveformTable 16 static
l6208.c:2113:6:L6208_UstepWaveformHandling 8 static
l6208.c:2134:6:L6208_VectorCalc 16 static

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Core/Src/main.o: ../Core/Src/main.c ../Core/Inc/main.h \
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Core/Src/stm32f4xx_hal_msp.o: ../Core/Src/stm32f4xx_hal_msp.c \
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Core/Src/stm32f4xx_it.o: ../Core/Src/stm32f4xx_it.c \
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stm32f4xx_it.c:67:6:NMI_Handler 4 static
stm32f4xx_it.c:76:6:HardFault_Handler 4 static
stm32f4xx_it.c:89:6:MemManage_Handler 4 static
stm32f4xx_it.c:102:6:BusFault_Handler 4 static
stm32f4xx_it.c:115:6:UsageFault_Handler 4 static
stm32f4xx_it.c:128:6:SVC_Handler 4 static
stm32f4xx_it.c:137:6:DebugMon_Handler 4 static
stm32f4xx_it.c:146:6:PendSV_Handler 4 static
stm32f4xx_it.c:155:6:SysTick_Handler 8 static
stm32f4xx_it.c:172:6:EXTI15_10_IRQHandler 8 static
stm32f4xx_it.c:183:6:TIM4_IRQHandler 8 static

91
stepper/steppermotor_F401RE/Debug/Core/Src/stm32f4xx_nucleo.d Normal file
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Core/Src/stm32f4xx_nucleo.o: ../Core/Src/stm32f4xx_nucleo.c \
../Core/Inc/stm32f4xx_nucleo.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h \
../Core/Inc/stm32f4xx_hal_conf.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h \
../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h \
../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f401xe.h \
../Drivers/CMSIS/Include/core_cm4.h \
../Drivers/CMSIS/Include/cmsis_version.h \
../Drivers/CMSIS/Include/cmsis_compiler.h \
../Drivers/CMSIS/Include/cmsis_gcc.h \
../Drivers/CMSIS/Include/mpu_armv7.h \
../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc_ex.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h
../Core/Inc/stm32f4xx_nucleo.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h:
../Core/Inc/stm32f4xx_hal_conf.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h:
../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h:
../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f401xe.h:
../Drivers/CMSIS/Include/core_cm4.h:
../Drivers/CMSIS/Include/cmsis_version.h:
../Drivers/CMSIS/Include/cmsis_compiler.h:
../Drivers/CMSIS/Include/cmsis_gcc.h:
../Drivers/CMSIS/Include/mpu_armv7.h:
../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc_ex.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h:

BIN
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stepper/steppermotor_F401RE/Debug/Core/Src/stm32f4xx_nucleo.su Normal file
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stm32f4xx_nucleo.c:177:10:BSP_GetVersion 4 static
stm32f4xx_nucleo.c:188:6:BSP_LED_Init 40 static
stm32f4xx_nucleo.c:213:6:BSP_LED_DeInit 40 static
stm32f4xx_nucleo.c:230:6:BSP_LED_On 16 static
stm32f4xx_nucleo.c:241:6:BSP_LED_Off 16 static
stm32f4xx_nucleo.c:252:6:BSP_LED_Toggle 16 static
stm32f4xx_nucleo.c:267:6:BSP_PB_Init 40 static
stm32f4xx_nucleo.c:304:6:BSP_PB_DeInit 40 static
stm32f4xx_nucleo.c:319:10:BSP_PB_GetState 16 static
stm32f4xx_nucleo.c:335:13:SPIx_MspInit 48 static
stm32f4xx_nucleo.c:370:13:SPIx_Init 8 static
stm32f4xx_nucleo.c:407:13:SPIx_WriteReadData 40 static
stm32f4xx_nucleo.c:425:13:SPIx_Write 32 static
stm32f4xx_nucleo.c:443:13:SPIx_Error 8 static
stm32f4xx_nucleo.c:461:6:SD_IO_Init 40 static
stm32f4xx_nucleo.c:496:6:SD_IO_CSState 16 static
stm32f4xx_nucleo.c:514:6:SD_IO_WriteReadData 24 static
stm32f4xx_nucleo.c:524:9:SD_IO_WriteByte 24 static
stm32f4xx_nucleo.c:536:6:LCD_IO_Init 40 static
stm32f4xx_nucleo.c:566:6:LCD_IO_WriteReg 16 static
stm32f4xx_nucleo.c:586:6:LCD_IO_WriteData 16 static
stm32f4xx_nucleo.c:606:6:LCD_IO_WriteMultipleData 24 static
stm32f4xx_nucleo.c:661:6:LCD_Delay 16 static
stm32f4xx_nucleo.c:673:13:ADCx_MspInit 48 static
stm32f4xx_nucleo.c:696:13:ADCx_MspDeInit 40 static
stm32f4xx_nucleo.c:715:13:ADCx_Init 8 static
stm32f4xx_nucleo.c:739:13:ADCx_DeInit 8 static
stm32f4xx_nucleo.c:754:9:BSP_JOY_Init 16 static
stm32f4xx_nucleo.c:774:6:BSP_JOY_DeInit 8 static
stm32f4xx_nucleo.c:791:18:BSP_JOY_GetState 16 static

69
stepper/steppermotor_F401RE/Debug/Core/Src/subdir.mk Normal file
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################################################################################
# Automatically-generated file. Do not edit!
################################################################################
# Add inputs and outputs from these tool invocations to the build variables
C_SRCS += \
../Core/Src/clock_f4.c \
../Core/Src/l6208.c \
../Core/Src/main.c \
../Core/Src/stm32f4xx_hal_msp.c \
../Core/Src/stm32f4xx_it.c \
../Core/Src/stm32f4xx_nucleo.c \
../Core/Src/syscalls.c \
../Core/Src/sysmem.c \
../Core/Src/system_stm32f4xx.c \
../Core/Src/x_nucleo_ihm05a1_stm32f4xx.c \
../Core/Src/x_nucleo_ihmxx.c
OBJS += \
./Core/Src/clock_f4.o \
./Core/Src/l6208.o \
./Core/Src/main.o \
./Core/Src/stm32f4xx_hal_msp.o \
./Core/Src/stm32f4xx_it.o \
./Core/Src/stm32f4xx_nucleo.o \
./Core/Src/syscalls.o \
./Core/Src/sysmem.o \
./Core/Src/system_stm32f4xx.o \
./Core/Src/x_nucleo_ihm05a1_stm32f4xx.o \
./Core/Src/x_nucleo_ihmxx.o
C_DEPS += \
./Core/Src/clock_f4.d \
./Core/Src/l6208.d \
./Core/Src/main.d \
./Core/Src/stm32f4xx_hal_msp.d \
./Core/Src/stm32f4xx_it.d \
./Core/Src/stm32f4xx_nucleo.d \
./Core/Src/syscalls.d \
./Core/Src/sysmem.d \
./Core/Src/system_stm32f4xx.d \
./Core/Src/x_nucleo_ihm05a1_stm32f4xx.d \
./Core/Src/x_nucleo_ihmxx.d
# Each subdirectory must supply rules for building sources it contributes
Core/Src/clock_f4.o: ../Core/Src/clock_f4.c
arm-none-eabi-gcc "$<" -mcpu=cortex-m4 -std=gnu11 -g3 -DUSE_HAL_DRIVER -DSTM32F401xE -DDEBUG -c -I../Core/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -MMD -MP -MF"Core/Src/clock_f4.d" -MT"$@" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "$@"
Core/Src/l6208.o: ../Core/Src/l6208.c
arm-none-eabi-gcc "$<" -mcpu=cortex-m4 -std=gnu11 -g3 -DUSE_HAL_DRIVER -DSTM32F401xE -DDEBUG -c -I../Core/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -MMD -MP -MF"Core/Src/l6208.d" -MT"$@" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "$@"
Core/Src/main.o: ../Core/Src/main.c
arm-none-eabi-gcc "$<" -mcpu=cortex-m4 -std=gnu11 -g3 -DUSE_HAL_DRIVER -DSTM32F401xE -DDEBUG -c -I../Core/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -MMD -MP -MF"Core/Src/main.d" -MT"$@" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "$@"
Core/Src/stm32f4xx_hal_msp.o: ../Core/Src/stm32f4xx_hal_msp.c
arm-none-eabi-gcc "$<" -mcpu=cortex-m4 -std=gnu11 -g3 -DUSE_HAL_DRIVER -DSTM32F401xE -DDEBUG -c -I../Core/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -MMD -MP -MF"Core/Src/stm32f4xx_hal_msp.d" -MT"$@" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "$@"
Core/Src/stm32f4xx_it.o: ../Core/Src/stm32f4xx_it.c
arm-none-eabi-gcc "$<" -mcpu=cortex-m4 -std=gnu11 -g3 -DUSE_HAL_DRIVER -DSTM32F401xE -DDEBUG -c -I../Core/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -MMD -MP -MF"Core/Src/stm32f4xx_it.d" -MT"$@" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "$@"
Core/Src/stm32f4xx_nucleo.o: ../Core/Src/stm32f4xx_nucleo.c
arm-none-eabi-gcc "$<" -mcpu=cortex-m4 -std=gnu11 -g3 -DUSE_HAL_DRIVER -DSTM32F401xE -DDEBUG -c -I../Core/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -MMD -MP -MF"Core/Src/stm32f4xx_nucleo.d" -MT"$@" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "$@"
Core/Src/syscalls.o: ../Core/Src/syscalls.c
arm-none-eabi-gcc "$<" -mcpu=cortex-m4 -std=gnu11 -g3 -DUSE_HAL_DRIVER -DSTM32F401xE -DDEBUG -c -I../Core/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -MMD -MP -MF"Core/Src/syscalls.d" -MT"$@" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "$@"
Core/Src/sysmem.o: ../Core/Src/sysmem.c
arm-none-eabi-gcc "$<" -mcpu=cortex-m4 -std=gnu11 -g3 -DUSE_HAL_DRIVER -DSTM32F401xE -DDEBUG -c -I../Core/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -MMD -MP -MF"Core/Src/sysmem.d" -MT"$@" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "$@"
Core/Src/system_stm32f4xx.o: ../Core/Src/system_stm32f4xx.c
arm-none-eabi-gcc "$<" -mcpu=cortex-m4 -std=gnu11 -g3 -DUSE_HAL_DRIVER -DSTM32F401xE -DDEBUG -c -I../Core/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -MMD -MP -MF"Core/Src/system_stm32f4xx.d" -MT"$@" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "$@"
Core/Src/x_nucleo_ihm05a1_stm32f4xx.o: ../Core/Src/x_nucleo_ihm05a1_stm32f4xx.c
arm-none-eabi-gcc "$<" -mcpu=cortex-m4 -std=gnu11 -g3 -DUSE_HAL_DRIVER -DSTM32F401xE -DDEBUG -c -I../Core/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -MMD -MP -MF"Core/Src/x_nucleo_ihm05a1_stm32f4xx.d" -MT"$@" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "$@"
Core/Src/x_nucleo_ihmxx.o: ../Core/Src/x_nucleo_ihmxx.c
arm-none-eabi-gcc "$<" -mcpu=cortex-m4 -std=gnu11 -g3 -DUSE_HAL_DRIVER -DSTM32F401xE -DDEBUG -c -I../Core/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -MMD -MP -MF"Core/Src/x_nucleo_ihmxx.d" -MT"$@" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "$@"

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

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stepper/steppermotor_F401RE/Debug/Core/Src/syscalls.su Normal file
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@ -0,0 +1,18 @@
syscalls.c:48:6:initialise_monitor_handles 4 static
syscalls.c:52:5:_getpid 4 static
syscalls.c:57:5:_kill 16 static
syscalls.c:63:6:_exit 16 static
syscalls.c:69:27:_read 32 static
syscalls.c:81:27:_write 32 static
syscalls.c:92:5:_close 16 static
syscalls.c:98:5:_fstat 16 static
syscalls.c:104:5:_isatty 16 static
syscalls.c:109:5:_lseek 24 static
syscalls.c:114:5:_open 12 static
syscalls.c:120:5:_wait 16 static
syscalls.c:126:5:_unlink 16 static
syscalls.c:132:5:_times 16 static
syscalls.c:137:5:_stat 16 static
syscalls.c:143:5:_link 16 static
syscalls.c:149:5:_fork 8 static
syscalls.c:155:5:_execve 24 static

1
stepper/steppermotor_F401RE/Debug/Core/Src/sysmem.d Normal file
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@ -0,0 +1 @@
Core/Src/sysmem.o: ../Core/Src/sysmem.c

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sysmem.c:54:7:_sbrk 32 static

88
stepper/steppermotor_F401RE/Debug/Core/Src/system_stm32f4xx.d Normal file
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@ -0,0 +1,88 @@
Core/Src/system_stm32f4xx.o: ../Core/Src/system_stm32f4xx.c \
../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h \
../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f401xe.h \
../Drivers/CMSIS/Include/core_cm4.h \
../Drivers/CMSIS/Include/cmsis_version.h \
../Drivers/CMSIS/Include/cmsis_compiler.h \
../Drivers/CMSIS/Include/cmsis_gcc.h \
../Drivers/CMSIS/Include/mpu_armv7.h \
../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h \
../Core/Inc/stm32f4xx_hal_conf.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc_ex.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h
../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h:
../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f401xe.h:
../Drivers/CMSIS/Include/core_cm4.h:
../Drivers/CMSIS/Include/cmsis_version.h:
../Drivers/CMSIS/Include/cmsis_compiler.h:
../Drivers/CMSIS/Include/cmsis_gcc.h:
../Drivers/CMSIS/Include/mpu_armv7.h:
../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h:
../Core/Inc/stm32f4xx_hal_conf.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc_ex.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h:

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stepper/steppermotor_F401RE/Debug/Core/Src/system_stm32f4xx.su Normal file
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system_stm32f4xx.c:150:6:SystemInit 4 static
system_stm32f4xx.c:219:6:SystemCoreClockUpdate 32 static

97
stepper/steppermotor_F401RE/Debug/Core/Src/x_nucleo_ihm05a1_stm32f4xx.d Normal file
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Core/Src/x_nucleo_ihm05a1_stm32f4xx.o: \
../Core/Src/x_nucleo_ihm05a1_stm32f4xx.c \
../Core/Inc/x_nucleo_ihm05a1_stm32f4xx.h ../Core/Inc/stm32f4xx_nucleo.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h \
../Core/Inc/stm32f4xx_hal_conf.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h \
../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h \
../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f401xe.h \
../Drivers/CMSIS/Include/core_cm4.h \
../Drivers/CMSIS/Include/cmsis_version.h \
../Drivers/CMSIS/Include/cmsis_compiler.h \
../Drivers/CMSIS/Include/cmsis_gcc.h \
../Drivers/CMSIS/Include/mpu_armv7.h \
../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc_ex.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h \
../Core/Inc/motor.h
../Core/Inc/x_nucleo_ihm05a1_stm32f4xx.h:
../Core/Inc/stm32f4xx_nucleo.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h:
../Core/Inc/stm32f4xx_hal_conf.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h:
../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h:
../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f401xe.h:
../Drivers/CMSIS/Include/core_cm4.h:
../Drivers/CMSIS/Include/cmsis_version.h:
../Drivers/CMSIS/Include/cmsis_compiler.h:
../Drivers/CMSIS/Include/cmsis_gcc.h:
../Drivers/CMSIS/Include/mpu_armv7.h:
../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc_ex.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h:
../Core/Inc/motor.h:

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stepper/steppermotor_F401RE/Debug/Core/Src/x_nucleo_ihm05a1_stm32f4xx.su Normal file
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x_nucleo_ihm05a1_stm32f4xx.c:134:6:L6208_Board_Delay 16 static
x_nucleo_ihm05a1_stm32f4xx.c:143:6:L6208_Board_DisableIrq 4 static
x_nucleo_ihm05a1_stm32f4xx.c:152:6:L6208_Board_EnableIrq 4 static
x_nucleo_ihm05a1_stm32f4xx.c:161:6:L6208_Board_GpioInit 40 static
x_nucleo_ihm05a1_stm32f4xx.c:228:6:L6208_Board_TickInit 8 static
x_nucleo_ihm05a1_stm32f4xx.c:259:6:L6208_Board_TickStart 16 static
x_nucleo_ihm05a1_stm32f4xx.c:272:6:L6208_Board_TickStop 8 static
x_nucleo_ihm05a1_stm32f4xx.c:281:10:L6208_Board_TickGetFreq 4 static
x_nucleo_ihm05a1_stm32f4xx.c:293:6:L6208_Board_VrefPwmFreqCheck 16 static
x_nucleo_ihm05a1_stm32f4xx.c:314:6:L6208_Board_VrefPwmInit 24 static
x_nucleo_ihm05a1_stm32f4xx.c:372:6:L6208_Board_VrefPwmSetDutyCycle 24 static
x_nucleo_ihm05a1_stm32f4xx.c:411:6:L6208_Board_VrefPwmStart 32 static
x_nucleo_ihm05a1_stm32f4xx.c:446:6:L6208_Board_VrefPwmStop 24 static
x_nucleo_ihm05a1_stm32f4xx.c:474:10:L6208_Board_VrefPwmGetPeriod 4 static
x_nucleo_ihm05a1_stm32f4xx.c:483:6:L6208_Board_ReleaseReset 8 static
x_nucleo_ihm05a1_stm32f4xx.c:492:6:L6208_Board_Reset 8 static
x_nucleo_ihm05a1_stm32f4xx.c:501:6:L6208_Board_CONTROL_PIN_Set 8 static
x_nucleo_ihm05a1_stm32f4xx.c:510:6:L6208_Board_CONTROL_PIN_Reset 8 static
x_nucleo_ihm05a1_stm32f4xx.c:519:6:L6208_Board_CLOCK_PIN_Set 8 static
x_nucleo_ihm05a1_stm32f4xx.c:528:6:L6208_Board_CLOCK_PIN_Reset 8 static
x_nucleo_ihm05a1_stm32f4xx.c:537:6:L6208_Board_HALF_FULL_PIN_Set 8 static
x_nucleo_ihm05a1_stm32f4xx.c:546:6:L6208_Board_HALF_FULL_PIN_Reset 8 static
x_nucleo_ihm05a1_stm32f4xx.c:555:6:L6208_Board_DIR_PIN_Set 8 static
x_nucleo_ihm05a1_stm32f4xx.c:564:6:L6208_Board_DIR_PIN_Reset 8 static
x_nucleo_ihm05a1_stm32f4xx.c:573:10:L6208_Board_FLAG_PIN_GetState 8 static
x_nucleo_ihm05a1_stm32f4xx.c:582:6:L6208_Board_Disable 32 static,ignoring_inline_asm
x_nucleo_ihm05a1_stm32f4xx.c:602:6:L6208_Board_Enable 32 static

6
stepper/steppermotor_F401RE/Debug/Core/Src/x_nucleo_ihmxx.d Normal file
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Core/Src/x_nucleo_ihmxx.o: ../Core/Src/x_nucleo_ihmxx.c \
../Core/Inc/x_nucleo_ihmxx.h ../Core/Inc/motor.h
../Core/Inc/x_nucleo_ihmxx.h:
../Core/Inc/motor.h:

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stepper/steppermotor_F401RE/Debug/Core/Src/x_nucleo_ihmxx.su Normal file
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x_nucleo_ihmxx.c:98:20:L6474_GetMotorHandle 4 static
x_nucleo_ihmxx.c:100:20:l647x_GetMotorHandle 4 static
x_nucleo_ihmxx.c:102:20:l648x_GetMotorHandle 4 static
x_nucleo_ihmxx.c:104:20:Powerstep01_GetMotorHandle 4 static
x_nucleo_ihmxx.c:106:20:L6206_GetMotorHandle 4 static
x_nucleo_ihmxx.c:108:20:L6208_GetMotorHandle 4 static
x_nucleo_ihmxx.c:110:20:Stspin220_GetMotorHandle 4 static
x_nucleo_ihmxx.c:112:20:Stspin240_250_GetMotorHandle 4 static
x_nucleo_ihmxx.c:129:6:BSP_MotorControl_AttachErrorHandler 16 static
x_nucleo_ihmxx.c:149:6:BSP_MotorControl_AttachFlagInterrupt 16 static
x_nucleo_ihmxx.c:169:6:BSP_MotorControl_AttachBusyInterrupt 16 static
x_nucleo_ihmxx.c:186:6:BSP_MotorControl_ErrorHandler 16 static
x_nucleo_ihmxx.c:209:6:BSP_MotorControl_Init 16 static
x_nucleo_ihmxx.c:225:6:BSP_MotorControl_FlagInterruptHandler 8 static
x_nucleo_ihmxx.c:242:10:BSP_MotorControl_GetAcceleration 24 static
x_nucleo_ihmxx.c:261:10:BSP_MotorControl_GetBoardId 4 static
x_nucleo_ihmxx.c:273:10:BSP_MotorControl_GetCurrentSpeed 24 static
x_nucleo_ihmxx.c:293:10:BSP_MotorControl_GetDeceleration 24 static
x_nucleo_ihmxx.c:316:14:BSP_MotorControl_GetDeviceState 24 static
x_nucleo_ihmxx.c:337:10:BSP_MotorControl_GetFwVersion 16 static
x_nucleo_ihmxx.c:358:9:BSP_MotorControl_GetMark 24 static
x_nucleo_ihmxx.c:381:10:BSP_MotorControl_GetMaxSpeed 24 static
x_nucleo_ihmxx.c:401:10:BSP_MotorControl_GetMinSpeed 24 static
x_nucleo_ihmxx.c:422:9:BSP_MotorControl_GetPosition 24 static
x_nucleo_ihmxx.c:443:6:BSP_MotorControl_GoHome 16 static
x_nucleo_ihmxx.c:461:6:BSP_MotorControl_GoMark 16 static
x_nucleo_ihmxx.c:480:6:BSP_MotorControl_GoTo 16 static
x_nucleo_ihmxx.c:499:6:BSP_MotorControl_HardStop 16 static
x_nucleo_ihmxx.c:519:6:BSP_MotorControl_Move 16 static
x_nucleo_ihmxx.c:535:6:BSP_MotorControl_ResetAllDevices 8 static
x_nucleo_ihmxx.c:558:6:BSP_MotorControl_Run 16 static
x_nucleo_ihmxx.c:578:6:BSP_MotorControl_SetAcceleration 24 static
x_nucleo_ihmxx.c:601:6:BSP_MotorControl_SetDeceleration 24 static
x_nucleo_ihmxx.c:622:6:BSP_MotorControl_SetHome 16 static
x_nucleo_ihmxx.c:641:6:BSP_MotorControl_SetMark 16 static
x_nucleo_ihmxx.c:664:6:BSP_MotorControl_SetMaxSpeed 24 static
x_nucleo_ihmxx.c:687:6:BSP_MotorControl_SetMinSpeed 24 static
x_nucleo_ihmxx.c:710:6:BSP_MotorControl_SoftStop 24 static
x_nucleo_ihmxx.c:732:6:BSP_MotorControl_StepClockHandler 16 static
x_nucleo_ihmxx.c:749:6:BSP_MotorControl_WaitWhileActive 16 static
x_nucleo_ihmxx.c:779:6:BSP_MotorControl_CmdDisable 16 static
x_nucleo_ihmxx.c:801:6:BSP_MotorControl_CmdEnable 16 static
x_nucleo_ihmxx.c:819:10:BSP_MotorControl_CmdGetParam 24 static
x_nucleo_ihmxx.c:847:10:BSP_MotorControl_CmdGetStatus 24 static
x_nucleo_ihmxx.c:866:6:BSP_MotorControl_CmdNop 16 static
x_nucleo_ihmxx.c:885:6:BSP_MotorControl_CmdSetParam 24 static
x_nucleo_ihmxx.c:906:10:BSP_MotorControl_ReadStatusRegister 24 static
x_nucleo_ihmxx.c:925:6:BSP_MotorControl_ReleaseReset 16 static
x_nucleo_ihmxx.c:941:6:BSP_MotorControl_Reset 16 static
x_nucleo_ihmxx.c:961:6:BSP_MotorControl_SelectStepMode 24 static
x_nucleo_ihmxx.c:987:6:BSP_MotorControl_SetDirection 16 static
x_nucleo_ihmxx.c:1007:6:BSP_MotorControl_CmdGoToDir 16 static
x_nucleo_ihmxx.c:1025:9:BSP_MotorControl_CheckBusyHw 16 static
x_nucleo_ihmxx.c:1046:9:BSP_MotorControl_CheckStatusHw 16 static
x_nucleo_ihmxx.c:1068:6:BSP_MotorControl_CmdGoUntil 24 static
x_nucleo_ihmxx.c:1089:6:BSP_MotorControl_CmdHardHiZ 16 static
x_nucleo_ihmxx.c:1108:6:BSP_MotorControl_CmdReleaseSw 16 static
x_nucleo_ihmxx.c:1125:6:BSP_MotorControl_CmdResetDevice 16 static
x_nucleo_ihmxx.c:1142:6:BSP_MotorControl_CmdResetPos 16 static
x_nucleo_ihmxx.c:1161:6:BSP_MotorControl_CmdRun 16 static
x_nucleo_ihmxx.c:1178:6:BSP_MotorControl_CmdSoftHiZ 16 static
x_nucleo_ihmxx.c:1196:6:BSP_MotorControl_CmdStepClock 16 static
x_nucleo_ihmxx.c:1218:6:BSP_MotorControl_FetchAndClearAllStatus 8 static
x_nucleo_ihmxx.c:1238:10:BSP_MotorControl_GetFetchedStatus 24 static
x_nucleo_ihmxx.c:1256:9:BSP_MotorControl_GetNbDevices 16 static
x_nucleo_ihmxx.c:1276:6:BSP_MotorControl_IsDeviceBusy 24 static
x_nucleo_ihmxx.c:1295:6:BSP_MotorControl_SendQueuedCommands 8 static
x_nucleo_ihmxx.c:1321:6:BSP_MotorControl_QueueCommands 16 static
x_nucleo_ihmxx.c:1337:6:BSP_MotorControl_WaitForAllDevicesNotBusy 8 static
x_nucleo_ihmxx.c:1353:6:BSP_MotorControl_BusyInterruptHandler 8 static
x_nucleo_ihmxx.c:1370:6:BSP_MotorControl_CmdSoftStop 16 static
x_nucleo_ihmxx.c:1388:6:BSP_MotorControl_StartStepClock 16 static
x_nucleo_ihmxx.c:1404:6:BSP_MotorControl_StopStepClock 8 static
x_nucleo_ihmxx.c:1424:6:BSP_MotorControl_SetDualFullBridgeConfig 16 static
x_nucleo_ihmxx.c:1442:10:BSP_MotorControl_GetBridgeInputPwmFreq 24 static
x_nucleo_ihmxx.c:1464:6:BSP_MotorControl_SetBridgeInputPwmFreq 16 static
x_nucleo_ihmxx.c:1485:6:BSP_MotorControl_SetStopMode 16 static
x_nucleo_ihmxx.c:1503:17:BSP_MotorControl_GetStopMode 24 static
x_nucleo_ihmxx.c:1525:6:BSP_MotorControl_SetDecayMode 16 static
x_nucleo_ihmxx.c:1543:18:BSP_MotorControl_GetDecayMode 24 static
x_nucleo_ihmxx.c:1564:17:BSP_MotorControl_GetStepMode 24 static
x_nucleo_ihmxx.c:1585:12:BSP_MotorControl_GetDirection 24 static
x_nucleo_ihmxx.c:1605:6:BSP_MotorControl_ExitDeviceFromReset 16 static
x_nucleo_ihmxx.c:1623:9:BSP_MotorControl_GetTorque 24 static
x_nucleo_ihmxx.c:1645:6:BSP_MotorControl_SetTorque 16 static
x_nucleo_ihmxx.c:1663:6:BSP_MotorControl_SetRefFreq 16 static
x_nucleo_ihmxx.c:1680:10:BSP_MotorControl_GetRefFreq 24 static
x_nucleo_ihmxx.c:1700:6:BSP_MotorControl_SetRefDc 16 static
x_nucleo_ihmxx.c:1717:9:BSP_MotorControl_GetRefDc 24 static
x_nucleo_ihmxx.c:1739:6:BSP_MotorControl_SetNbDevices 24 static
x_nucleo_ihmxx.c:1798:6:BSP_MotorControl_SetAnalogValue 32 static
x_nucleo_ihmxx.c:1818:7:BSP_MotorControl_GetAnalogValue 24 static
x_nucleo_ihmxx.c:1838:6:BSP_MotorControl_SetTorqueBoostEnable 16 static
x_nucleo_ihmxx.c:1855:6:BSP_MotorControl_GetTorqueBoostEnable 24 static
x_nucleo_ihmxx.c:1876:6:BSP_MotorControl_SetTorqueBoostThreshold 16 static
x_nucleo_ihmxx.c:1894:10:BSP_MotorControl_GetTorqueBoostThreshold 24 static
x_nucleo_ihmxx.c:1915:9:BSP_MotorControl_GetDualFullBridgeConfig 16 static

2
stepper/steppermotor_F401RE/Debug/Core/Startup/startup_stm32f401retx.d Normal file
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Core/Startup/startup_stm32f401retx.o: \
../Core/Startup/startup_stm32f401retx.s

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stepper/steppermotor_F401RE/Debug/Core/Startup/subdir.mk Normal file
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################################################################################
# Automatically-generated file. Do not edit!
################################################################################
# Add inputs and outputs from these tool invocations to the build variables
S_SRCS += \
../Core/Startup/startup_stm32f401retx.s
OBJS += \
./Core/Startup/startup_stm32f401retx.o
S_DEPS += \
./Core/Startup/startup_stm32f401retx.d
# Each subdirectory must supply rules for building sources it contributes
Core/Startup/startup_stm32f401retx.o: ../Core/Startup/startup_stm32f401retx.s
arm-none-eabi-gcc -mcpu=cortex-m4 -g3 -c -x assembler-with-cpp -MMD -MP -MF"Core/Startup/startup_stm32f401retx.d" -MT"$@" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "$@" "$<"

89
stepper/steppermotor_F401RE/Debug/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.d Normal file
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Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.o: \
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h \
../Core/Inc/stm32f4xx_hal_conf.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h \
../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h \
../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f401xe.h \
../Drivers/CMSIS/Include/core_cm4.h \
../Drivers/CMSIS/Include/cmsis_version.h \
../Drivers/CMSIS/Include/cmsis_compiler.h \
../Drivers/CMSIS/Include/cmsis_gcc.h \
../Drivers/CMSIS/Include/mpu_armv7.h \
../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc_ex.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h \
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