Diff: Components/STSPIN820/platform_dependent.c

Revision:

2:4fd08b67958c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/STSPIN820/platform_dependent.c	Thu Sep 27 14:05:44 2018 +0000
@@ -0,0 +1,708 @@
+/**
+  ******************************************************************************
+  * @file    stm32f0xx_nucleo_ihm14a1.c
+  * @author  STM
+  * @version V1.1.0
+  * @date    April 10th, 2018
+  * @brief   BSP driver for x-nucleo-ihm14a1 Nucleo extension board 
+  *  (based on STSPIN820)
+  ******************************************************************************
+* @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 ------------------------------------------------------------------*/
+#if 0
+
+/** @addtogroup BSP
+  * @{
+  */ 
+
+/** @defgroup STM32F0XX_NUCLEO_IHM14A1 STM32F0XX NUCLEO IHM14A1
+  * @{
+  */   
+    
+/* Private constants ---------------------------------------------------------*/    
+
+/** @defgroup IHM14A1_Private_Constants IHM14A1 Private Constants
+  * @{
+  */
+
+/// Timer Prescaler for step clocks
+#define TIMER_PRESCALER         (32)
+    
+/// MCU wait time after power bridges are enabled
+#define BRIDGE_TURN_ON_DELAY    (10)
+
+/// RC Filtering delay on the PWM
+#define PWM_FILTER_TIME_CONSTANT                                 (5)
+
+/**
+  * @}
+  */ 
+
+/* Private variables ---------------------------------------------------------*/
+
+/** @defgroup IHM14A1_Board_Private_Variables IHM14A1 Board Private Variables
+  * @{
+  */
+/// Timer handler for step clock
+TIM_HandleTypeDef hTimerStepClock;
+
+/// Step clock compare value
+volatile uint32_t ccrValue;
+
+/// Timer handler for REF
+TIM_HandleTypeDef hTimerPwm;
+
+/**
+  * @}
+  */ 
+
+/** @defgroup IHM14A1_Board_Private_Function_Prototypes IHM14A1 Board Private Function Prototypes
+  * @{
+  */   
+//Delay of the requested number of milliseconds   
+void Stspin820_Board_Delay(uint32_t delay);
+//Disable Irq
+void Stspin820_Board_DisableIrq(void);
+//Enable Irq
+void Stspin820_Board_EnableIrq(void);
+//Read the status of the Pin DECAY
+uint8_t Stspin820_Board_GetDecayGpio(void);
+//Initialise GPIOs used for STSPIN820
+void Stspin820_Board_GpioInit(void);
+//Start step clock
+void Stspin820_Board_TimStckStart(void);
+//Set step clock frequency and start it
+void Stspin820_Board_TimStckSetFreq(uint16_t newFreq);
+//Sets the frequency and duty cycle of PWM used for the reference voltage 
+//generation
+void Stspin820_Board_PwmRefSetFreqAndDutyCycle(uint32_t newFreq,uint8_t dutyCycle);
+//Init the timer
+void Stspin820_Board_TimStckInit(void);
+//DeInit the timer
+void Stspin820_Board_TimStckDeInit(void);
+//Stop the timer
+uint8_t Stspin820_Board_TimStckStop(volatile uint8_t *pToggleOdd);
+//Init the reference voltage pwm
+void Stspin820_Board_PwmRefInit(void);
+//Start the reference voltage pwm
+void Stspin820_Board_PwmRefStart(void);
+//Stop the reference voltage pwm
+void Stspin820_Board_PwmRefStop(void);
+//Set the STSPIN820 STBY RESET pin and leave low consumption mode
+void Stspin820_Board_ReleaseReset(void);
+//Reset the STSPIN820 STBY RESET pin and force low consumption mode
+void Stspin820_Board_Reset(void);
+//Set the state of the direction GPIO
+void Stspin820_Board_SetDirectionGpio(uint8_t gpioState);
+//Set the state of the decay GPIO
+void Stspin820_Board_SetDecayGpio(uint8_t gpioState);
+//Enable the power bridges (leave the output bridges HiZ)
+void Stspin820_Board_Enable(void);
+//Disable the power bridges (force the output bridges HiZ)
+void Stspin820_Board_Disable(void);
+//Get the EN FAULT pin state
+uint32_t Stspin820_Board_EN_AND_FAULT_PIN_GetState(void);
+//Select the STSPIN820 mode1, mode2 and mode3 pins levels
+uint8_t Stspin820_Board_SetModePins(uint8_t modePin1Level,\
+  uint8_t modePin2Level,\
+  uint8_t modePin3Level);
+//Select Full Step mode
+void Stspin820_Board_SetFullStep(void);
+//Step clock compare value initialization
+void Stspin820_Board_TimStckCompareInit(void);
+/**
+  * @}
+  */
+
+/** @defgroup IHM14A1_Board_Private_Functions IHM14A1 Board Private Functions
+  * @{
+  */   
+
+/******************************************************//**
+ * @brief This function provides an accurate delay in milliseconds
+ * @param[in] delay  time length in milliseconds
+ * @retval None
+ **********************************************************/
+void Stspin820_Board_Delay(uint32_t delay)
+{
+  HAL_Delay(delay);
+}
+
+/******************************************************//**
+ * @brief This function disable the interruptions
+ * @retval None
+ **********************************************************/
+void Stspin820_Board_DisableIrq(void)
+{
+  __disable_irq();
+}
+
+/******************************************************//**
+ * @brief This function enable the interruptions
+ * @retval None
+ **********************************************************/
+void Stspin820_Board_EnableIrq(void)
+{
+  __enable_irq();
+}
+
+/******************************************************//**
+ * @brief  Read the digital level of GPIO decay pin
+ * @retval Value of the decay pin
+ **********************************************************/
+uint8_t Stspin820_Board_GetDecayGpio(void)
+{
+    uint8_t statusPin;
+    
+    if(HAL_GPIO_ReadPin(BSP_MOTOR_CONTROL_BOARD_PORT_DECAY,\
+      BSP_MOTOR_CONTROL_BOARD_PIN_DECAY) != GPIO_PIN_RESET)
+    {
+      statusPin = 1;
+    }
+    else
+    {
+      statusPin = 0;
+    }
+    
+    return statusPin;
+    
+}
+
+/******************************************************//**
+ * @brief  Initiliases the GPIOs used by the STSPIN820
+ * @retval None
+  **********************************************************/
+void Stspin820_Board_GpioInit(void)
+{
+   GPIO_InitTypeDef GPIO_InitStruct;
+  
+  /* GPIO Ports Clock Enable */
+  __HAL_RCC_GPIOA_CLK_ENABLE();
+  __HAL_RCC_GPIOB_CLK_ENABLE();
+  __HAL_RCC_GPIOC_CLK_ENABLE();  
+
+  /* Configure STSPIN820 - 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 FAULT         */
+  /* as GPIO_MODE_IT_FALLING with GPIO_PULLUP                                 */
+  Stspin820_Board_Disable();
+  
+  /* Set Priority of External Line Interrupt used for the FAULT interrupt*/ 
+  HAL_NVIC_SetPriority(BSP_MOTOR_CONTROL_BOARD_IRQn_EN_AND_FAULT,\
+    BSP_MOTOR_CONTROL_BOARD_PRIORITY_EN_AND_FAULT,\
+    0);
+    
+  /* Enable the External Line Interrupt used for the FAULT interrupt*/
+  HAL_NVIC_EnableIRQ(BSP_MOTOR_CONTROL_BOARD_IRQn_EN_AND_FAULT);  
+
+  /* Configure STSPIN820 - MODE1 pin -----------------------------------------*/
+  GPIO_InitStruct.Pin = BSP_MOTOR_CONTROL_BOARD_PIN_MODE1;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_MEDIUM;
+  HAL_GPIO_Init(BSP_MOTOR_CONTROL_BOARD_PORT_MODE1, &GPIO_InitStruct);
+
+  /* Configure STSPIN820 - MODE2 pin -----------------------------------------*/
+  GPIO_InitStruct.Pin = BSP_MOTOR_CONTROL_BOARD_PIN_MODE2;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_MEDIUM;
+  HAL_GPIO_Init(BSP_MOTOR_CONTROL_BOARD_PORT_MODE2, &GPIO_InitStruct);
+
+  /* Configure STSPIN820 - MODE3 pin -----------------------------------------*/
+  GPIO_InitStruct.Pin = BSP_MOTOR_CONTROL_BOARD_PIN_MODE3;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_MEDIUM;
+  HAL_GPIO_Init(BSP_MOTOR_CONTROL_BOARD_PORT_MODE3, &GPIO_InitStruct);
+  
+  /* Configure STSPIN820 - DIR pin -------------------------------------------*/
+  GPIO_InitStruct.Pin = BSP_MOTOR_CONTROL_BOARD_PIN_DIR;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_MEDIUM;
+  HAL_GPIO_Init(BSP_MOTOR_CONTROL_BOARD_PORT_DIR, &GPIO_InitStruct);
+  
+  /* Configure STSPIN820 - DECAY pin -------------------------------------------*/
+  GPIO_InitStruct.Pin = BSP_MOTOR_CONTROL_BOARD_PIN_DECAY;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_MEDIUM;
+  HAL_GPIO_Init(BSP_MOTOR_CONTROL_BOARD_PORT_DECAY, &GPIO_InitStruct);
+  
+  /* Configure STSPIN820 - STBY/RESET pin ------------------------------------*/
+  GPIO_InitStruct.Pin = BSP_MOTOR_CONTROL_BOARD_PIN_STBY_RESET;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_MEDIUM;
+  HAL_GPIO_Init(BSP_MOTOR_CONTROL_BOARD_PORT_STBY_RESET, &GPIO_InitStruct);
+  
+  Stspin820_Board_Reset();
+
+}
+
+/******************************************************//**
+ * @brief  Starts the step clock
+ * @retval None
+ * @note The frequency is directly the current speed of the device
+ **********************************************************/
+void Stspin820_Board_TimStckStart()
+{
+  /* Clear pending timer interrupt */
+  if (BSP_MOTOR_CONTROL_BOARD_CHAN_TIM_STCK == TIM_CHANNEL_1)
+  {
+    __HAL_TIM_CLEAR_IT(&hTimerStepClock, TIM_IT_CC1);
+  }
+  else if (BSP_MOTOR_CONTROL_BOARD_CHAN_TIM_STCK == TIM_CHANNEL_2)
+  {
+    __HAL_TIM_CLEAR_IT(&hTimerStepClock, TIM_IT_CC2);
+  }
+  else if (BSP_MOTOR_CONTROL_BOARD_CHAN_TIM_STCK == TIM_CHANNEL_3)
+  {
+    __HAL_TIM_CLEAR_IT(&hTimerStepClock, TIM_IT_CC3);
+  }
+  else if (BSP_MOTOR_CONTROL_BOARD_CHAN_TIM_STCK == TIM_CHANNEL_4)
+  {
+    __HAL_TIM_CLEAR_IT(&hTimerStepClock, TIM_IT_CC4);
+  }
+  /* Start timer interrupts */
+#if (BSP_MOTOR_CONTROL_BOARD_OUTPUT_TIM_STCK == TIMER_MAIN_OUTPUT)
+    if (hTimerStepClock.Instance->CCER == 0)
+    {
+      hTimerStepClock.Instance->CCER |=\
+      (TIM_OCPOLARITY_LOW<<BSP_MOTOR_CONTROL_BOARD_CHAN_TIM_STCK);
+    }
+    else
+    {
+      hTimerStepClock.Instance->CCER = 0;
+    }
+  HAL_TIM_OC_Start_IT(&hTimerStepClock,\
+      BSP_MOTOR_CONTROL_BOARD_CHAN_TIM_STCK);
+#endif /* (BSP_MOTOR_CONTROL_BOARD_OUTPUT_TIM_STCK == TIMER_MAIN_OUTPUT) */
+
+#if (BSP_MOTOR_CONTROL_BOARD_OUTPUT_TIM_STCK == TIMER_COMPLEMENTARY_OUTPUT)
+      if (hTimerStepClock.Instance->CCER == 0)
+      {
+        hTimerStepClock.Instance->CCER |=\
+      (TIM_OCNPOLARITY_LOW<<BSP_MOTOR_CONTROL_BOARD_CHAN_TIM_STCK);
+      }
+      else
+      {
+        hTimerStepClock.Instance->CCER = 0;
+      }
+  HAL_TIMEx_OCN_Start_IT(&hTimerStepClock,\
+    BSP_MOTOR_CONTROL_BOARD_CHAN_TIM_STCK);
+#endif /* (BSP_MOTOR_CONTROL_BOARD_OUTPUT_TIM_STCK == TIMER_COMPLEMENTARY_OUTPUT) */
+
+#if (BSP_MOTOR_CONTROL_BOARD_OUTPUT_TIM_STCK == TIMER_NO_OUTPUT)
+  HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_PORT_TIM_STCK,\
+    BSP_MOTOR_CONTROL_BOARD_PIN_TIM_STCK,\
+        GPIO_PIN_RESET);
+    HAL_TIM_OC_Start_IT(&hTimerStepClock,\
+      BSP_MOTOR_CONTROL_BOARD_CHAN_TIM_STCK);
+#endif /* (BSP_MOTOR_CONTROL_BOARD_OUTPUT_TIM_STCK == TIMER_NO_OUTPUT) */
+}
+
+/******************************************************//**
+ * @brief Step clock compare value initialization
+ * @retval None
+ **********************************************************/
+void Stspin820_Board_TimStckCompareInit(void)
+{
+  ccrValue = hTimerStepClock.Instance->CNT;
+}
+
+/******************************************************//**
+ * @brief  Sets the frequency of step clock
+ * @param[in] newFreq in Hz
+ * @retval None
+ * @note The frequency is directly the current speed of the device
+ **********************************************************/
+void Stspin820_Board_TimStckSetFreq(uint16_t newFreq)
+{
+  ccrValue += (HAL_RCC_GetSysClockFreq()/\
+                           (TIMER_PRESCALER * 2 * (uint32_t)newFreq));
+  __HAL_TIM_SET_COMPARE(&hTimerStepClock,\
+    BSP_MOTOR_CONTROL_BOARD_CHAN_TIM_STCK,\
+    ccrValue);
+}
+
+/******************************************************//**
+ * @brief  Starts the PWM used for the reference voltage generation
+ * @retval None
+ **********************************************************/
+void Stspin820_Board_PwmRefStart(void)
+{
+  HAL_TIM_PWM_Start_IT(&hTimerPwm, BSP_MOTOR_CONTROL_BOARD_CHAN_PWM_REF);
+  HAL_Delay(5*PWM_FILTER_TIME_CONSTANT);
+}
+                                                  
+/******************************************************//**
+ * @brief  Sets the frequency and duty cycle of PWM used for the reference
+ * voltage generation
+ * @param[in] newFreq in Hz
+ * @param[in] dutyCycle 0 - 100%
+ * @retval None
+ **********************************************************/
+void Stspin820_Board_PwmRefSetFreqAndDutyCycle(uint32_t newFreq, uint8_t dutyCycle)
+{
+  uint32_t sysFreq = HAL_RCC_GetSysClockFreq();
+  uint32_t period = (sysFreq/newFreq) - 1;
+  uint16_t pulseLength;
+  TIM_HandleTypeDef *pHTim;
+  
+  pHTim = &hTimerPwm;
+  pHTim->Instance = BSP_MOTOR_CONTROL_BOARD_PWM_REF;
+  
+  if (dutyCycle > 100) dutyCycle = 100;
+  pulseLength = (uint16_t)((period * (100-(uint32_t)dutyCycle)) / 100);
+  
+  __HAL_TIM_SET_AUTORELOAD(pHTim, period);
+  __HAL_TIM_SET_COMPARE(pHTim, BSP_MOTOR_CONTROL_BOARD_CHAN_PWM_REF, pulseLength);
+}
+
+/******************************************************//**
+ * @brief  Initialises the PWM used for the reference voltage generation
+ * @retval None
+ **********************************************************/
+void Stspin820_Board_PwmRefInit(void)
+{
+  TIM_OC_InitTypeDef sConfigOC;
+  TIM_MasterConfigTypeDef sMasterConfig;
+  TIM_HandleTypeDef *pHTim;
+
+  pHTim = &hTimerPwm;
+  
+  pHTim->Instance = BSP_MOTOR_CONTROL_BOARD_PWM_REF;
+  pHTim->Init.CounterMode = TIM_COUNTERMODE_UP;
+  pHTim->Init.Prescaler = 0;
+  pHTim->Init.Period = 0;
+  pHTim->Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+  sConfigOC.Pulse = 0;
+
+  HAL_TIM_PWM_Init(pHTim);
+  HAL_TIM_PWM_ConfigChannel(pHTim, &sConfigOC, BSP_MOTOR_CONTROL_BOARD_CHAN_PWM_REF);
+
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  HAL_TIMEx_MasterConfigSynchronization(pHTim, &sMasterConfig);
+}
+
+/******************************************************//**
+ * @brief  Initialises the timer used for the step clock
+ * @retval None
+ **********************************************************/
+void Stspin820_Board_TimStckInit(void)
+{
+  TIM_OC_InitTypeDef sConfigOC;
+  TIM_MasterConfigTypeDef sMasterConfig;
+  TIM_HandleTypeDef *pHTim;
+  uint32_t output = BSP_MOTOR_CONTROL_BOARD_OUTPUT_TIM_STCK;
+  
+  pHTim = &hTimerStepClock;
+  pHTim->Instance = BSP_MOTOR_CONTROL_BOARD_TIM_STCK;
+  pHTim->Init.CounterMode = TIM_COUNTERMODE_UP;
+  pHTim->Init.Prescaler = TIMER_PRESCALER -1;
+  pHTim->Init.Period = 0xFFFF;
+  pHTim->Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  HAL_TIM_OC_Init(pHTim); 
+
+  if (output != TIMER_COMPLEMENTARY_OUTPUT)
+  {
+    sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  }
+  else
+  {
+    sConfigOC.OCNPolarity = TIM_OCNPOLARITY_LOW;
+  }
+  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+  sConfigOC.Pulse = 0; 
+  if (pHTim->Instance != TIM15)
+  {
+    /* Setting the OCMode to TIM_OCMODE_FORCED_ACTIVE ensures that on the */
+    /* first interrupt occuring in the toggle mode, a rising edge will occur */
+    sConfigOC.OCMode = TIM_OCMODE_FORCED_ACTIVE;
+    HAL_TIM_OC_ConfigChannel(pHTim, &sConfigOC, BSP_MOTOR_CONTROL_BOARD_CHAN_TIM_STCK);
+    sConfigOC.OCMode = TIM_OCMODE_TOGGLE;
+  }
+  else
+  {
+    sConfigOC.OCMode = TIM_OCMODE_TIMING;
+  }
+  HAL_TIM_OC_ConfigChannel(pHTim, &sConfigOC, BSP_MOTOR_CONTROL_BOARD_CHAN_TIM_STCK);
+
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  HAL_TIMEx_MasterConfigSynchronization(pHTim, &sMasterConfig);
+}
+
+/******************************************************//**
+ * @brief  DeInitialises the timer used for the step clock
+ * @retval None
+ **********************************************************/
+void Stspin820_Board_TimStckDeInit(void)
+{
+  HAL_TIM_OC_DeInit(&hTimerStepClock);
+}
+
+/******************************************************//**
+ * @brief  Stops the timer
+ * @param[in] pToggleOdd pointer to the volatile toggleOdd variable
+ * @retval 1 if OK, 0 if STCK pin is high (forbidden configuration) 
+ **********************************************************/
+uint8_t Stspin820_Board_TimStckStop(volatile uint8_t *pToggleOdd)
+{
+  __disable_irq();
+  if (*pToggleOdd == 1)
+  {
+    __enable_irq();
+    return 1;
+  }
+  if (HAL_GPIO_ReadPin(BSP_MOTOR_CONTROL_BOARD_PORT_TIM_STCK,\
+    BSP_MOTOR_CONTROL_BOARD_PIN_TIM_STCK) != 0)
+  {
+    __enable_irq();
+    return 0;
+  }
+#if (BSP_MOTOR_CONTROL_BOARD_OUTPUT_TIM_STCK == TIMER_COMPLEMENTARY_OUTPUT)
+  HAL_TIMEx_OCN_Stop_IT(&hTimerStepClock, BSP_MOTOR_CONTROL_BOARD_CHAN_TIM_STCK);
+#else
+  HAL_TIM_OC_Stop_IT(&hTimerStepClock, BSP_MOTOR_CONTROL_BOARD_CHAN_TIM_STCK);
+#endif
+  __enable_irq();
+  /* DeInitialize the step clock timer */
+  Stspin820_Board_TimStckDeInit();
+  return 1;
+}
+
+/******************************************************//**
+ * @brief  Stops the PWM used for the reference voltage generation 
+ * @retval None
+ **********************************************************/
+void Stspin820_Board_PwmRefStop(void)
+{
+  HAL_TIM_PWM_Stop_IT(&hTimerPwm, BSP_MOTOR_CONTROL_BOARD_CHAN_PWM_REF);
+}
+
+/******************************************************//**
+ * @brief  Releases the STSPIN820 reset (pin set to High)
+ * @retval None
+ **********************************************************/
+void Stspin820_Board_ReleaseReset(void)
+{ 
+  HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_PORT_STBY_RESET,\
+    BSP_MOTOR_CONTROL_BOARD_PIN_STBY_RESET,\
+    GPIO_PIN_SET);
+}
+
+/******************************************************//**
+ * @brief  Resets the STSPIN820 (reset pin set to low)
+ * @retval None
+ **********************************************************/
+void Stspin820_Board_Reset(void)
+{
+  HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_PORT_STBY_RESET,\
+    BSP_MOTOR_CONTROL_BOARD_PIN_STBY_RESET,\
+    GPIO_PIN_RESET);
+}
+
+/******************************************************//**
+ * @brief  Set the GPIO used for the decay mode
+ * @param[in] gpioState state of the direction gpio (0 to reset, 1 to set)
+ * @retval None
+ **********************************************************/
+void Stspin820_Board_SetDecayGpio(uint8_t gpioState)
+{
+  HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_PORT_DECAY,\
+    BSP_MOTOR_CONTROL_BOARD_PIN_DECAY,\
+    (GPIO_PinState)gpioState);
+}
+                   
+/******************************************************//**
+ * @brief  Set the GPIO used for the direction
+ * @param[in] gpioState state of the direction gpio (0 to reset, 1 to set)
+ * @retval None
+ **********************************************************/
+void Stspin820_Board_SetDirectionGpio(uint8_t gpioState)
+{
+  HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_PORT_DIR,\
+    BSP_MOTOR_CONTROL_BOARD_PIN_DIR,\
+    (GPIO_PinState)gpioState);
+}
+
+/******************************************************//**
+ * @brief Disable the power bridges (Force the output bridges HiZ)
+ * the IHM14A1 board
+ * @retval None
+ **********************************************************/
+void Stspin820_Board_Disable(void)
+{
+  GPIO_InitTypeDef GPIO_InitStruct;
+
+  /* Configure the GPIO connected to EN pin as an output */
+  GPIO_InitStruct.Pin = BSP_MOTOR_CONTROL_BOARD_PIN_EN_AND_FAULT;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_MEDIUM;
+  HAL_GPIO_Init(BSP_MOTOR_CONTROL_BOARD_PORT_EN_AND_FAULT, &GPIO_InitStruct);
+  __disable_irq();
+  HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_PORT_EN_AND_FAULT,\
+    BSP_MOTOR_CONTROL_BOARD_PIN_EN_AND_FAULT,\
+    GPIO_PIN_RESET);
+  __HAL_GPIO_EXTI_CLEAR_IT(BSP_MOTOR_CONTROL_BOARD_PIN_EN_AND_FAULT);
+  __enable_irq();
+}
+
+/******************************************************//**
+ * @brief Enable the power bridges (leave the output bridges HiZ)
+ * @retval None
+ **********************************************************/
+void Stspin820_Board_Enable(void)
+{
+  GPIO_InitTypeDef GPIO_InitStruct;
+  if (HAL_GPIO_ReadPin(BSP_MOTOR_CONTROL_BOARD_PORT_EN_AND_FAULT,\
+    BSP_MOTOR_CONTROL_BOARD_PIN_EN_AND_FAULT) == 0)
+  {
+    HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_PORT_EN_AND_FAULT,\
+      BSP_MOTOR_CONTROL_BOARD_PIN_EN_AND_FAULT,\
+      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_PIN_EN_AND_FAULT;
+    GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
+    GPIO_InitStruct.Pull = GPIO_PULLUP;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_MEDIUM;
+    HAL_GPIO_Init(BSP_MOTOR_CONTROL_BOARD_PORT_EN_AND_FAULT, &GPIO_InitStruct);
+    __HAL_GPIO_EXTI_CLEAR_IT(BSP_MOTOR_CONTROL_BOARD_PIN_EN_AND_FAULT);
+    HAL_NVIC_ClearPendingIRQ(BSP_MOTOR_CONTROL_BOARD_IRQn_EN_AND_FAULT);
+    HAL_NVIC_EnableIRQ(BSP_MOTOR_CONTROL_BOARD_IRQn_EN_AND_FAULT);
+  }
+}
+
+/******************************************************//**
+ * @brief  Returns the EN FAULT pin state.
+ * @retval The EN FAULT pin value.
+ **********************************************************/
+uint32_t Stspin820_Board_EN_AND_FAULT_PIN_GetState(void)
+{
+  return HAL_GPIO_ReadPin(BSP_MOTOR_CONTROL_BOARD_PORT_EN_AND_FAULT, BSP_MOTOR_CONTROL_BOARD_PIN_EN_AND_FAULT);
+}
+
+/******************************************************//**
+ * @brief Select the STSPIN820 mode1, mode2 and mode3 pins levels.
+ * @param[in] modePin1Level level of the mode1 gpio (0 low, 1+ high)
+ * @param[in] modePin2Level level of the mode2 gpio (0 low, 1+ high)
+ * @param[in] modePin3Level level of the mode3 gpio (0 low, 1+ high)
+ * @retval 1
+ **********************************************************/
+uint8_t Stspin820_Board_SetModePins(uint8_t modePin1Level,\
+  uint8_t modePin2Level,\
+  uint8_t modePin3Level)
+{
+   
+  
+  if (modePin1Level != 0)
+  {
+    HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_PORT_MODE1,\
+      BSP_MOTOR_CONTROL_BOARD_PIN_MODE1,\
+      GPIO_PIN_SET);
+  }
+  else
+  {
+    HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_PORT_MODE1,\
+      BSP_MOTOR_CONTROL_BOARD_PIN_MODE1,\
+      GPIO_PIN_RESET);
+  }
+
+  if (modePin2Level != 0)
+  {
+    HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_PORT_MODE2,\
+      BSP_MOTOR_CONTROL_BOARD_PIN_MODE2,\
+      GPIO_PIN_SET);
+  }
+  else
+  {
+    HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_PORT_MODE2,\
+      BSP_MOTOR_CONTROL_BOARD_PIN_MODE2,\
+      GPIO_PIN_RESET);
+  }
+  
+  if (modePin3Level != 0)
+  {
+    HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_PORT_MODE3,\
+      BSP_MOTOR_CONTROL_BOARD_PIN_MODE3,\
+      GPIO_PIN_SET);
+  }
+  else
+  {
+    HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_PORT_MODE3,\
+      BSP_MOTOR_CONTROL_BOARD_PIN_MODE3,\
+      GPIO_PIN_RESET);
+  }
+  
+  return 1;
+}
+
+/******************************************************//**
+ * @brief Select Full Step mode
+ * @retval None
+ **********************************************************/
+void Stspin820_Board_SetFullStep(void)
+{
+  HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_PORT_MODE1,\
+    BSP_MOTOR_CONTROL_BOARD_PIN_MODE1,\
+    GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_PORT_MODE2,\
+    BSP_MOTOR_CONTROL_BOARD_PIN_MODE2,\
+    GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_PORT_MODE3,\
+    BSP_MOTOR_CONTROL_BOARD_PIN_MODE3,\
+    GPIO_PIN_RESET);
+}
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */    
+
+/**
+  * @}
+  */ 
+    
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
+#endif