rtc + stepper functioning version

2021-02-20 10:13:36 +01:00
parent 28707e084e
commit c3e9aea1b9
6 changed files with 575 additions and 7 deletions
@@ -47,7 +47,9 @@

 /* Private function prototypes -----------------------------------------------*/
 /* USER CODE BEGIN PFP */
-
+extern void BSP_MotorControl_StepClockHandler(uint8_t deviceId);
+extern void BSP_MotorControl_FlagInterruptHandler(void);
+extern void ButtonHandler(void);
 /* USER CODE END PFP */

 /* External functions --------------------------------------------------------*/
@@ -194,6 +196,115 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* huart)

 }

+/**
+  * @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();
+  }
+ }
+
+
 /* USER CODE BEGIN 1 */

 /* USER CODE END 1 */
@@ -57,6 +57,7 @@

 /* External variables --------------------------------------------------------*/
 extern RTC_HandleTypeDef hrtc;
+extern TIM_HandleTypeDef hTimTick; 
 /* USER CODE BEGIN EV */

 /* USER CODE END EV */
@@ -213,6 +214,27 @@ void RTC_Alarm_IRQHandler(void)
  /* USER CODE END RTC_Alarm_IRQn 1 */
 }

+/**
+  * @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);
+}
+
 /* USER CODE BEGIN 1 */

 /* USER CODE END 1 */