David Lowe / Mbed 2 deprecated Nucleo_BSP_IHM01A1

X-CUBE-SPN1-20150128 example source code for one motor compiled under mbed. Tested OK on Nucleo F401. l6474.cpp is modified from original with defines in l6474_target_config.h to select the original behaviour (motor de-energised when halted), or new mode to continue powering with a (reduced) current in the coils (braking/position hold capability). On F401 avoid using mbed's InterruptIn on pins 10-15 (any port). Beware of other conflicts! L0 & F0 are included but untested.

Dependencies:   mbed

IHM01A1/stm32f0xx_nucleo_ihm01a1.cpp@6:19c1b4a04c24, 2015-10-13 (annotated)

Committer:
gregeric
Date:
Tue Oct 13 10:46:01 2015 +0000
Revision:
6:19c1b4a04c24
Parent:
0:b9444a40a999 
Ensure bridge is disabled before resetting the L6474.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gregeric 0:b9444a40a999 1 /**
gregeric 0:b9444a40a999 2 ******************************************************************************
gregeric 0:b9444a40a999 3 * @file stm32f0xx_nucleo_ihm01a1.c
gregeric 0:b9444a40a999 4 * @author IPC Rennes
gregeric 0:b9444a40a999 5 * @version V1.5.0
gregeric 0:b9444a40a999 6 * @date November 12, 2014
gregeric 0:b9444a40a999 7 * @brief BSP driver for x-nucleo-ihm01a1 Nucleo extension board
gregeric 0:b9444a40a999 8 * (based on L6474)
gregeric 0:b9444a40a999 9 ******************************************************************************
gregeric 0:b9444a40a999 10 * @attention
gregeric 0:b9444a40a999 11 *
gregeric 0:b9444a40a999 12 * <h2><center>&copy; COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
gregeric 0:b9444a40a999 13 *
gregeric 0:b9444a40a999 14 * Redistribution and use in source and binary forms, with or without modification,
gregeric 0:b9444a40a999 15 * are permitted provided that the following conditions are met:
gregeric 0:b9444a40a999 16 * 1. Redistributions of source code must retain the above copyright notice,
gregeric 0:b9444a40a999 17 * this list of conditions and the following disclaimer.
gregeric 0:b9444a40a999 18 * 2. Redistributions in binary form must reproduce the above copyright notice,
gregeric 0:b9444a40a999 19 * this list of conditions and the following disclaimer in the documentation
gregeric 0:b9444a40a999 20 * and/or other materials provided with the distribution.
gregeric 0:b9444a40a999 21 * 3. Neither the name of STMicroelectronics nor the names of its contributors
gregeric 0:b9444a40a999 22 * may be used to endorse or promote products derived from this software
gregeric 0:b9444a40a999 23 * without specific prior written permission.
gregeric 0:b9444a40a999 24 *
gregeric 0:b9444a40a999 25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
gregeric 0:b9444a40a999 26 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
gregeric 0:b9444a40a999 27 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
gregeric 0:b9444a40a999 28 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
gregeric 0:b9444a40a999 29 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
gregeric 0:b9444a40a999 30 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
gregeric 0:b9444a40a999 31 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
gregeric 0:b9444a40a999 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
gregeric 0:b9444a40a999 33 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
gregeric 0:b9444a40a999 34 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
gregeric 0:b9444a40a999 35 *
gregeric 0:b9444a40a999 36 ******************************************************************************
gregeric 0:b9444a40a999 37 */
gregeric 0:b9444a40a999 38 #ifdef TARGET_STM32F0
gregeric 0:b9444a40a999 39 /* Includes ------------------------------------------------------------------*/
gregeric 0:b9444a40a999 40 #include "mbed.h"
gregeric 0:b9444a40a999 41 #include "stm32f0xx_nucleo_ihm01a1.h"
gregeric 0:b9444a40a999 42
gregeric 0:b9444a40a999 43 /** @addtogroup BSP
gregeric 0:b9444a40a999 44 * @{
gregeric 0:b9444a40a999 45 */
gregeric 0:b9444a40a999 46
gregeric 0:b9444a40a999 47 /** @defgroup STM32F0XX_NUCLEO_IHM01A1
gregeric 0:b9444a40a999 48 * @{
gregeric 0:b9444a40a999 49 */
gregeric 0:b9444a40a999 50
gregeric 0:b9444a40a999 51 /* Private constants ---------------------------------------------------------*/
gregeric 0:b9444a40a999 52
gregeric 0:b9444a40a999 53 /** @defgroup IHM01A1_Private_Constants
gregeric 0:b9444a40a999 54 * @{
gregeric 0:b9444a40a999 55 */
gregeric 0:b9444a40a999 56
gregeric 0:b9444a40a999 57 /// Timer Prescaler
gregeric 0:b9444a40a999 58 #define TIMER_PRESCALER (1024)
gregeric 0:b9444a40a999 59
gregeric 0:b9444a40a999 60 /// SPI Maximum Timeout values for flags waiting loops
gregeric 0:b9444a40a999 61 #define SPIx_TIMEOUT_MAX ((uint32_t)0x1000)
gregeric 0:b9444a40a999 62
gregeric 0:b9444a40a999 63 /**
gregeric 0:b9444a40a999 64 * @}
gregeric 0:b9444a40a999 65 */
gregeric 0:b9444a40a999 66
gregeric 0:b9444a40a999 67 /* Private variables ---------------------------------------------------------*/
gregeric 0:b9444a40a999 68
gregeric 0:b9444a40a999 69 /** @defgroup IHM01A1_Board_Private_Variables
gregeric 0:b9444a40a999 70 * @{
gregeric 0:b9444a40a999 71 */
gregeric 0:b9444a40a999 72 /// SPI handler declaration
gregeric 0:b9444a40a999 73 static SPI_HandleTypeDef SpiHandle;
gregeric 0:b9444a40a999 74 /// Timer handler for PWM1
gregeric 0:b9444a40a999 75 TIM_HandleTypeDef hTimPwm1;
gregeric 0:b9444a40a999 76 /// imer handler for PWM2
gregeric 0:b9444a40a999 77 TIM_HandleTypeDef hTimPwm2;
gregeric 0:b9444a40a999 78 /// Timer handler for PWM3
gregeric 0:b9444a40a999 79 TIM_HandleTypeDef hTimPwm3;
gregeric 0:b9444a40a999 80 /**
gregeric 0:b9444a40a999 81 * @}
gregeric 0:b9444a40a999 82 */
gregeric 0:b9444a40a999 83
gregeric 0:b9444a40a999 84
gregeric 0:b9444a40a999 85 /**
gregeric 0:b9444a40a999 86 * @}
gregeric 0:b9444a40a999 87 */
gregeric 0:b9444a40a999 88
gregeric 0:b9444a40a999 89
gregeric 0:b9444a40a999 90 /** @defgroup IHM01A1_Board_Private_Functions
gregeric 0:b9444a40a999 91 * @{
gregeric 0:b9444a40a999 92 */
gregeric 0:b9444a40a999 93
gregeric 0:b9444a40a999 94 /******************************************************//**
gregeric 0:b9444a40a999 95 * @brief This function provides an accurate delay in milliseconds
gregeric 0:b9444a40a999 96 * @param[in] delay time length in milliseconds
gregeric 0:b9444a40a999 97 * @retval None
gregeric 0:b9444a40a999 98 **********************************************************/
gregeric 0:b9444a40a999 99 void BSP_MotorControlBoard_Delay(uint32_t delay)
gregeric 0:b9444a40a999 100 {
gregeric 0:b9444a40a999 101 HAL_Delay(delay);
gregeric 0:b9444a40a999 102 }
gregeric 0:b9444a40a999 103
gregeric 0:b9444a40a999 104 /******************************************************//**
gregeric 0:b9444a40a999 105 * @brief This function disable the interruptions
gregeric 0:b9444a40a999 106 * @param None
gregeric 0:b9444a40a999 107 * @retval None
gregeric 0:b9444a40a999 108 **********************************************************/
gregeric 0:b9444a40a999 109 void BSP_MotorControlBoard_DisableIrq(void)
gregeric 0:b9444a40a999 110 {
gregeric 0:b9444a40a999 111 __disable_irq();
gregeric 0:b9444a40a999 112 }
gregeric 0:b9444a40a999 113
gregeric 0:b9444a40a999 114 /******************************************************//**
gregeric 0:b9444a40a999 115 * @brief This function enable the interruptions
gregeric 0:b9444a40a999 116 * @param None
gregeric 0:b9444a40a999 117 * @retval None
gregeric 0:b9444a40a999 118 **********************************************************/
gregeric 0:b9444a40a999 119 void BSP_MotorControlBoard_EnableIrq(void)
gregeric 0:b9444a40a999 120 {
gregeric 0:b9444a40a999 121 __enable_irq();
gregeric 0:b9444a40a999 122 }
gregeric 0:b9444a40a999 123
gregeric 0:b9444a40a999 124 /******************************************************//**
gregeric 0:b9444a40a999 125 * @brief Initiliases the GPIOs used by the L6474s
gregeric 0:b9444a40a999 126 * @param[in] nbDevices number of L6474 devices
gregeric 0:b9444a40a999 127 * @retval None
gregeric 0:b9444a40a999 128 **********************************************************/
gregeric 0:b9444a40a999 129 void BSP_MotorControlBoard_GpioInit(uint8_t nbDevices)
gregeric 0:b9444a40a999 130 {
gregeric 0:b9444a40a999 131 GPIO_InitTypeDef GPIO_InitStruct;
gregeric 0:b9444a40a999 132
gregeric 0:b9444a40a999 133 /* GPIO Ports Clock Enable */
gregeric 0:b9444a40a999 134 __GPIOC_CLK_ENABLE();
gregeric 0:b9444a40a999 135 __GPIOA_CLK_ENABLE();
gregeric 0:b9444a40a999 136 __GPIOB_CLK_ENABLE();
gregeric 0:b9444a40a999 137
gregeric 0:b9444a40a999 138 /* Configure L6474 - DIR pin for device 1 -------------------------------*/
gregeric 0:b9444a40a999 139 GPIO_InitStruct.Pin = BSP_MOTOR_CONTROL_BOARD_DIR_1_PIN;
gregeric 0:b9444a40a999 140 GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
gregeric 0:b9444a40a999 141 GPIO_InitStruct.Pull = GPIO_NOPULL;
gregeric 0:b9444a40a999 142 GPIO_InitStruct.Speed = GPIO_SPEED_MEDIUM;
gregeric 0:b9444a40a999 143 HAL_GPIO_Init(BSP_MOTOR_CONTROL_BOARD_DIR_1_PORT, &GPIO_InitStruct);
gregeric 0:b9444a40a999 144
gregeric 0:b9444a40a999 145 /* Configure L6474 - Flag pin -------------------------------------------*/
gregeric 0:b9444a40a999 146 GPIO_InitStruct.Pin = BSP_MOTOR_CONTROL_BOARD_FLAG_PIN;
gregeric 0:b9444a40a999 147 GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
gregeric 0:b9444a40a999 148 GPIO_InitStruct.Pull = GPIO_PULLUP;
gregeric 0:b9444a40a999 149 GPIO_InitStruct.Speed = GPIO_SPEED_MEDIUM;
gregeric 0:b9444a40a999 150 HAL_GPIO_Init(BSP_MOTOR_CONTROL_BOARD_FLAG_PORT, &GPIO_InitStruct);
gregeric 0:b9444a40a999 151
gregeric 0:b9444a40a999 152 /* Set Priority of External Line Interrupt used for the Flag interrupt*/
gregeric 0:b9444a40a999 153 HAL_NVIC_SetPriority(EXTI_MCU_LINE_IRQn, 5, 0);
gregeric 0:b9444a40a999 154
gregeric 0:b9444a40a999 155 /* Enable the External Line Interrupt used for the Flag interrupt*/
gregeric 0:b9444a40a999 156 HAL_NVIC_EnableIRQ(EXTI_MCU_LINE_IRQn);
gregeric 0:b9444a40a999 157
gregeric 0:b9444a40a999 158 /* Configure L6474 - CS pin ---------------------------------------------*/
gregeric 0:b9444a40a999 159 GPIO_InitStruct.Pin = BSP_MOTOR_CONTROL_BOARD_CS_PIN;
gregeric 0:b9444a40a999 160 GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
gregeric 0:b9444a40a999 161 GPIO_InitStruct.Pull = GPIO_NOPULL;
gregeric 0:b9444a40a999 162 GPIO_InitStruct.Speed = GPIO_SPEED_MEDIUM;
gregeric 0:b9444a40a999 163 HAL_GPIO_Init(BSP_MOTOR_CONTROL_BOARD_CS_PORT, &GPIO_InitStruct);
gregeric 0:b9444a40a999 164 HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_CS_PORT, BSP_MOTOR_CONTROL_BOARD_CS_PIN, GPIO_PIN_SET);
gregeric 0:b9444a40a999 165
gregeric 0:b9444a40a999 166 /* Configure L6474 - STBY/RESET pin -------------------------------------*/
gregeric 0:b9444a40a999 167 GPIO_InitStruct.Pin = BSP_MOTOR_CONTROL_BOARD_RESET_PIN;
gregeric 0:b9444a40a999 168 GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
gregeric 0:b9444a40a999 169 GPIO_InitStruct.Pull = GPIO_NOPULL;
gregeric 0:b9444a40a999 170 GPIO_InitStruct.Speed = GPIO_SPEED_MEDIUM;
gregeric 0:b9444a40a999 171 HAL_GPIO_Init(BSP_MOTOR_CONTROL_BOARD_RESET_PORT, &GPIO_InitStruct);
gregeric 0:b9444a40a999 172 BSP_MotorControlBoard_Reset();
gregeric 0:b9444a40a999 173
gregeric 0:b9444a40a999 174 if (nbDevices > 1)
gregeric 0:b9444a40a999 175 {
gregeric 0:b9444a40a999 176 /* Configure L6474 - DIR pin for device 2 ----------------------------*/
gregeric 0:b9444a40a999 177 GPIO_InitStruct.Pin = BSP_MOTOR_CONTROL_BOARD_DIR_2_PIN;
gregeric 0:b9444a40a999 178 GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
gregeric 0:b9444a40a999 179 GPIO_InitStruct.Pull = GPIO_NOPULL;
gregeric 0:b9444a40a999 180 GPIO_InitStruct.Speed = GPIO_SPEED_MEDIUM;
gregeric 0:b9444a40a999 181 HAL_GPIO_Init(BSP_MOTOR_CONTROL_BOARD_DIR_2_PORT, &GPIO_InitStruct);
gregeric 0:b9444a40a999 182 }
gregeric 0:b9444a40a999 183 if (nbDevices > 2)
gregeric 0:b9444a40a999 184 {
gregeric 0:b9444a40a999 185 /* Configure L6474 - DIR pin for device 3 ----------------------------*/
gregeric 0:b9444a40a999 186 GPIO_InitStruct.Pin = BSP_MOTOR_CONTROL_BOARD_DIR_3_PIN;
gregeric 0:b9444a40a999 187 GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
gregeric 0:b9444a40a999 188 GPIO_InitStruct.Pull = GPIO_NOPULL;
gregeric 0:b9444a40a999 189 GPIO_InitStruct.Speed = GPIO_SPEED_MEDIUM;
gregeric 0:b9444a40a999 190 HAL_GPIO_Init(BSP_MOTOR_CONTROL_BOARD_DIR_3_PORT, &GPIO_InitStruct);
gregeric 0:b9444a40a999 191 }
gregeric 0:b9444a40a999 192 }
gregeric 0:b9444a40a999 193
gregeric 0:b9444a40a999 194 /******************************************************//**
gregeric 0:b9444a40a999 195 * @brief Sets the frequency of PWM1 used by device 0
gregeric 0:b9444a40a999 196 * @param[in] newFreq in Hz
gregeric 0:b9444a40a999 197 * @retval None
gregeric 0:b9444a40a999 198 * @note The frequency is directly the current speed of the device
gregeric 0:b9444a40a999 199 **********************************************************/
gregeric 0:b9444a40a999 200 void BSP_MotorControlBoard_Pwm1SetFreq(uint16_t newFreq)
gregeric 0:b9444a40a999 201 {
gregeric 0:b9444a40a999 202 uint32_t sysFreq = HAL_RCC_GetSysClockFreq();
gregeric 0:b9444a40a999 203 uint32_t period = (sysFreq/ (TIMER_PRESCALER * BSP_MOTOR_CONTROL_BOARD_PWM1_FREQ_RESCALER * (uint32_t)newFreq)) - 1;
gregeric 0:b9444a40a999 204
gregeric 0:b9444a40a999 205 __HAL_TIM_SetAutoreload(&hTimPwm1, period);
gregeric 0:b9444a40a999 206 __HAL_TIM_SetCompare(&hTimPwm1, BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM1, period >> 1);
gregeric 0:b9444a40a999 207 HAL_TIM_PWM_Start_IT(&hTimPwm1, BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM1);
gregeric 0:b9444a40a999 208 }
gregeric 0:b9444a40a999 209
gregeric 0:b9444a40a999 210 /******************************************************//**
gregeric 0:b9444a40a999 211 * @brief Sets the frequency of PWM2 used by device 1
gregeric 0:b9444a40a999 212 * @param[in] newFreq in Hz
gregeric 0:b9444a40a999 213 * @retval None
gregeric 0:b9444a40a999 214 * @note The frequency is directly the current speed of the device
gregeric 0:b9444a40a999 215 **********************************************************/
gregeric 0:b9444a40a999 216 void BSP_MotorControlBoard_Pwm2SetFreq(uint16_t newFreq)
gregeric 0:b9444a40a999 217 {
gregeric 0:b9444a40a999 218 uint32_t sysFreq = HAL_RCC_GetSysClockFreq();
gregeric 0:b9444a40a999 219 uint32_t period = (sysFreq/ (TIMER_PRESCALER * BSP_MOTOR_CONTROL_BOARD_PWM2_FREQ_RESCALER * (uint32_t)newFreq)) - 1;
gregeric 0:b9444a40a999 220
gregeric 0:b9444a40a999 221 __HAL_TIM_SetAutoreload(&hTimPwm2, period);
gregeric 0:b9444a40a999 222 __HAL_TIM_SetCompare(&hTimPwm2, BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM2, period >> 1);
gregeric 0:b9444a40a999 223 HAL_TIM_PWM_Start_IT(&hTimPwm2, BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM2);
gregeric 0:b9444a40a999 224 }
gregeric 0:b9444a40a999 225 /******************************************************//**
gregeric 0:b9444a40a999 226 * @brief Sets the frequency of PWM3 used by device 2
gregeric 0:b9444a40a999 227 * @param[in] newFreq in Hz
gregeric 0:b9444a40a999 228 * @retval None
gregeric 0:b9444a40a999 229 * @note The frequency is directly the current speed of the device
gregeric 0:b9444a40a999 230 **********************************************************/
gregeric 0:b9444a40a999 231 void BSP_MotorControlBoard_Pwm3SetFreq(uint16_t newFreq)
gregeric 0:b9444a40a999 232 {
gregeric 0:b9444a40a999 233 uint32_t sysFreq = HAL_RCC_GetSysClockFreq();
gregeric 0:b9444a40a999 234 /* Double the frequency as the SW is generated by SW */
gregeric 0:b9444a40a999 235 uint32_t period = (sysFreq/ (TIMER_PRESCALER * BSP_MOTOR_CONTROL_BOARD_PWM3_FREQ_RESCALER * (uint32_t)newFreq)) - 1;
gregeric 0:b9444a40a999 236
gregeric 0:b9444a40a999 237 __HAL_TIM_SetAutoreload(&hTimPwm3, period);
gregeric 0:b9444a40a999 238 __HAL_TIM_SetCompare(&hTimPwm3, BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM3, period >> 1);
gregeric 0:b9444a40a999 239 HAL_TIM_PWM_Start_IT(&hTimPwm3, BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM3);
gregeric 0:b9444a40a999 240 }
gregeric 0:b9444a40a999 241
gregeric 0:b9444a40a999 242 /******************************************************//**
gregeric 0:b9444a40a999 243 * @brief Initialises the PWM uses by the specified device
gregeric 0:b9444a40a999 244 * @param[in] deviceId (from 0 to 2)
gregeric 0:b9444a40a999 245 * @retval None
gregeric 0:b9444a40a999 246 * @note Device 0 uses PWM1 based on timer 1
gregeric 0:b9444a40a999 247 * Device 1 uses PWM 2 based on timer 2
gregeric 0:b9444a40a999 248 * Device 2 uses PWM3 based timer 0
gregeric 0:b9444a40a999 249 **********************************************************/
gregeric 0:b9444a40a999 250 void BSP_MotorControlBoard_PwmInit(uint8_t deviceId)
gregeric 0:b9444a40a999 251 {
gregeric 0:b9444a40a999 252 TIM_OC_InitTypeDef sConfigOC;
gregeric 0:b9444a40a999 253 TIM_MasterConfigTypeDef sMasterConfig;
gregeric 0:b9444a40a999 254 TIM_HandleTypeDef *pHTim;
gregeric 0:b9444a40a999 255 uint32_t channel;
gregeric 0:b9444a40a999 256
gregeric 0:b9444a40a999 257 switch (deviceId)
gregeric 0:b9444a40a999 258 {
gregeric 0:b9444a40a999 259
gregeric 0:b9444a40a999 260 case 0:
gregeric 0:b9444a40a999 261 default:
gregeric 0:b9444a40a999 262 pHTim = &hTimPwm1;
gregeric 0:b9444a40a999 263 pHTim->Instance = BSP_MOTOR_CONTROL_BOARD_TIMER_PWM1;
gregeric 0:b9444a40a999 264 channel = BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM1;
gregeric 0:b9444a40a999 265
gregeric 0:b9444a40a999 266 break;
gregeric 0:b9444a40a999 267 case 1:
gregeric 0:b9444a40a999 268 pHTim = &hTimPwm2;
gregeric 0:b9444a40a999 269 pHTim->Instance = BSP_MOTOR_CONTROL_BOARD_TIMER_PWM2;
gregeric 0:b9444a40a999 270 channel = BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM2;
gregeric 0:b9444a40a999 271 break;
gregeric 0:b9444a40a999 272
gregeric 0:b9444a40a999 273
gregeric 0:b9444a40a999 274 case 2:
gregeric 0:b9444a40a999 275 pHTim = &hTimPwm3;
gregeric 0:b9444a40a999 276 pHTim->Instance = BSP_MOTOR_CONTROL_BOARD_TIMER_PWM3;
gregeric 0:b9444a40a999 277 channel = BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM3;
gregeric 0:b9444a40a999 278 break;
gregeric 0:b9444a40a999 279 }
gregeric 0:b9444a40a999 280 pHTim->Init.Prescaler = TIMER_PRESCALER -1;
gregeric 0:b9444a40a999 281 pHTim->Init.CounterMode = TIM_COUNTERMODE_UP;
gregeric 0:b9444a40a999 282 pHTim->Init.Period = 0;
gregeric 0:b9444a40a999 283 pHTim->Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
gregeric 0:b9444a40a999 284 HAL_TIM_PWM_Init(pHTim);
gregeric 0:b9444a40a999 285
gregeric 0:b9444a40a999 286 sConfigOC.OCMode = TIM_OCMODE_PWM1;
gregeric 0:b9444a40a999 287 sConfigOC.Pulse = 0;
gregeric 0:b9444a40a999 288 sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
gregeric 0:b9444a40a999 289 sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
gregeric 0:b9444a40a999 290 HAL_TIM_PWM_ConfigChannel(pHTim, &sConfigOC, channel);
gregeric 0:b9444a40a999 291
gregeric 0:b9444a40a999 292 sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
gregeric 0:b9444a40a999 293 sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
gregeric 0:b9444a40a999 294 HAL_TIMEx_MasterConfigSynchronization(pHTim, &sMasterConfig);
gregeric 0:b9444a40a999 295 }
gregeric 0:b9444a40a999 296
gregeric 0:b9444a40a999 297 /******************************************************//**
gregeric 0:b9444a40a999 298 * @brief Stops the PWM uses by the specified device
gregeric 0:b9444a40a999 299 * @param[in] deviceId (from 0 to 2)
gregeric 0:b9444a40a999 300 * @retval None
gregeric 0:b9444a40a999 301 **********************************************************/
gregeric 0:b9444a40a999 302 void BSP_MotorControlBoard_PwmStop(uint8_t deviceId)
gregeric 0:b9444a40a999 303 {
gregeric 0:b9444a40a999 304 switch (deviceId)
gregeric 0:b9444a40a999 305 {
gregeric 0:b9444a40a999 306 case 0:
gregeric 0:b9444a40a999 307 HAL_TIM_PWM_Stop(&hTimPwm1,BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM1);
gregeric 0:b9444a40a999 308
gregeric 0:b9444a40a999 309 break;
gregeric 0:b9444a40a999 310 case 1:
gregeric 0:b9444a40a999 311 HAL_TIM_PWM_Stop(&hTimPwm2,BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM2);
gregeric 0:b9444a40a999 312
gregeric 0:b9444a40a999 313 break;
gregeric 0:b9444a40a999 314 case 2:
gregeric 0:b9444a40a999 315 HAL_TIM_PWM_Stop(&hTimPwm3,BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM3);
gregeric 0:b9444a40a999 316
gregeric 0:b9444a40a999 317 break;
gregeric 0:b9444a40a999 318 default:
gregeric 0:b9444a40a999 319 break;//ignore error
gregeric 0:b9444a40a999 320 }
gregeric 0:b9444a40a999 321 }
gregeric 0:b9444a40a999 322
gregeric 0:b9444a40a999 323 /******************************************************//**
gregeric 0:b9444a40a999 324 * @brief Releases the L6474 reset (pin set to High) of all devices
gregeric 0:b9444a40a999 325 * @param None
gregeric 0:b9444a40a999 326 * @retval None
gregeric 0:b9444a40a999 327 **********************************************************/
gregeric 0:b9444a40a999 328 void BSP_MotorControlBoard_ReleaseReset(void)
gregeric 0:b9444a40a999 329 {
gregeric 0:b9444a40a999 330 HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_RESET_PORT, BSP_MOTOR_CONTROL_BOARD_RESET_PIN, GPIO_PIN_SET);
gregeric 0:b9444a40a999 331 }
gregeric 0:b9444a40a999 332
gregeric 0:b9444a40a999 333 /******************************************************//**
gregeric 0:b9444a40a999 334 * @brief Resets the L6474 (reset pin set to low) of all devices
gregeric 0:b9444a40a999 335 * @param None
gregeric 0:b9444a40a999 336 * @retval None
gregeric 0:b9444a40a999 337 **********************************************************/
gregeric 0:b9444a40a999 338 void BSP_MotorControlBoard_Reset(void)
gregeric 0:b9444a40a999 339 {
gregeric 0:b9444a40a999 340 HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_RESET_PORT, BSP_MOTOR_CONTROL_BOARD_RESET_PIN, GPIO_PIN_RESET);
gregeric 0:b9444a40a999 341 }
gregeric 0:b9444a40a999 342
gregeric 0:b9444a40a999 343 /******************************************************//**
gregeric 0:b9444a40a999 344 * @brief Set the GPIO used for the direction
gregeric 0:b9444a40a999 345 * @param[in] deviceId (from 0 to 2)
gregeric 0:b9444a40a999 346 * @param[in] gpioState state of the direction gpio (0 to reset, 1 to set)
gregeric 0:b9444a40a999 347 * @retval None
gregeric 0:b9444a40a999 348 **********************************************************/
gregeric 0:b9444a40a999 349 void BSP_MotorControlBoard_SetDirectionGpio(uint8_t deviceId, uint8_t gpioState)
gregeric 0:b9444a40a999 350 {
gregeric 0:b9444a40a999 351 switch (deviceId)
gregeric 0:b9444a40a999 352 {
gregeric 0:b9444a40a999 353 case 2:
gregeric 0:b9444a40a999 354 HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_DIR_3_PORT, BSP_MOTOR_CONTROL_BOARD_DIR_3_PIN, (GPIO_PinState)gpioState);
gregeric 0:b9444a40a999 355 break;
gregeric 0:b9444a40a999 356 case 1:
gregeric 0:b9444a40a999 357 HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_DIR_2_PORT, BSP_MOTOR_CONTROL_BOARD_DIR_2_PIN, (GPIO_PinState)gpioState);
gregeric 0:b9444a40a999 358 break;
gregeric 0:b9444a40a999 359 case 0:
gregeric 0:b9444a40a999 360 HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_DIR_1_PORT, BSP_MOTOR_CONTROL_BOARD_DIR_1_PIN, (GPIO_PinState)gpioState);
gregeric 0:b9444a40a999 361 break;
gregeric 0:b9444a40a999 362 default:
gregeric 0:b9444a40a999 363 ;
gregeric 0:b9444a40a999 364 }
gregeric 0:b9444a40a999 365 }
gregeric 0:b9444a40a999 366
gregeric 0:b9444a40a999 367 /******************************************************//**
gregeric 0:b9444a40a999 368 * @brief Initialise the SPI used by L6474
gregeric 0:b9444a40a999 369 * @param None
gregeric 0:b9444a40a999 370 * @retval HAL_OK if SPI transaction is OK, HAL_KO else
gregeric 0:b9444a40a999 371 **********************************************************/
gregeric 0:b9444a40a999 372 uint8_t BSP_MotorControlBoard_SpiInit(void)
gregeric 0:b9444a40a999 373 {
gregeric 0:b9444a40a999 374 HAL_StatusTypeDef status;
gregeric 0:b9444a40a999 375
gregeric 0:b9444a40a999 376 /* Initialises the SPI --------------------------------------------------*/
gregeric 0:b9444a40a999 377 SpiHandle.Instance = SPIx;
gregeric 0:b9444a40a999 378 SpiHandle.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32;
gregeric 0:b9444a40a999 379 SpiHandle.Init.Direction = SPI_DIRECTION_2LINES;
gregeric 0:b9444a40a999 380 SpiHandle.Init.CLKPhase = SPI_PHASE_2EDGE;
gregeric 0:b9444a40a999 381 SpiHandle.Init.CLKPolarity = SPI_POLARITY_HIGH;
gregeric 0:b9444a40a999 382 SpiHandle.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLED;
gregeric 0:b9444a40a999 383 SpiHandle.Init.CRCPolynomial = 7;
gregeric 0:b9444a40a999 384 SpiHandle.Init.DataSize = SPI_DATASIZE_8BIT;
gregeric 0:b9444a40a999 385 SpiHandle.Init.FirstBit = SPI_FIRSTBIT_MSB;
gregeric 0:b9444a40a999 386 SpiHandle.Init.NSS = SPI_NSS_SOFT;
gregeric 0:b9444a40a999 387 SpiHandle.Init.TIMode = SPI_TIMODE_DISABLED;
gregeric 0:b9444a40a999 388
gregeric 0:b9444a40a999 389 SpiHandle.Init.Mode = SPI_MODE_MASTER;
gregeric 0:b9444a40a999 390
gregeric 0:b9444a40a999 391 status = HAL_SPI_Init(&SpiHandle);
gregeric 0:b9444a40a999 392
gregeric 0:b9444a40a999 393 return (uint8_t) status;
gregeric 0:b9444a40a999 394 }
gregeric 0:b9444a40a999 395 /******************************************************//**
gregeric 0:b9444a40a999 396 * @brief Write and read SPI byte to the L6474
gregeric 0:b9444a40a999 397 * @param[in] pByteToTransmit pointer to the byte to transmit
gregeric 0:b9444a40a999 398 * @param[in] pReceivedByte pointer to the received byte
gregeric 0:b9444a40a999 399 * @param[in] nbDevices Number of device in the SPI chain
gregeric 0:b9444a40a999 400 * @retval HAL_OK if SPI transaction is OK, HAL_KO else
gregeric 0:b9444a40a999 401 **********************************************************/
gregeric 0:b9444a40a999 402 uint8_t BSP_MotorControlBoard_SpiWriteBytes(uint8_t *pByteToTransmit, uint8_t *pReceivedByte, uint8_t nbDevices)
gregeric 0:b9444a40a999 403 {
gregeric 0:b9444a40a999 404 HAL_StatusTypeDef status;
gregeric 0:b9444a40a999 405 uint32_t i;
gregeric 0:b9444a40a999 406 HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_CS_PORT, BSP_MOTOR_CONTROL_BOARD_CS_PIN, GPIO_PIN_RESET);
gregeric 0:b9444a40a999 407 for (i = 0; i < nbDevices; i++)
gregeric 0:b9444a40a999 408 {
gregeric 0:b9444a40a999 409 status = HAL_SPI_TransmitReceive(&SpiHandle, pByteToTransmit, pReceivedByte, 1, SPIx_TIMEOUT_MAX);
gregeric 0:b9444a40a999 410 if (status != HAL_OK)
gregeric 0:b9444a40a999 411 {
gregeric 0:b9444a40a999 412 break;
gregeric 0:b9444a40a999 413 }
gregeric 0:b9444a40a999 414 pByteToTransmit++;
gregeric 0:b9444a40a999 415 pReceivedByte++;
gregeric 0:b9444a40a999 416 }
gregeric 0:b9444a40a999 417 HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_CS_PORT, BSP_MOTOR_CONTROL_BOARD_CS_PIN, GPIO_PIN_SET);
gregeric 0:b9444a40a999 418
gregeric 0:b9444a40a999 419 return (uint8_t) status;
gregeric 0:b9444a40a999 420 }
gregeric 0:b9444a40a999 421
gregeric 0:b9444a40a999 422 /**
gregeric 0:b9444a40a999 423 * @}
gregeric 0:b9444a40a999 424 */
gregeric 0:b9444a40a999 425
gregeric 0:b9444a40a999 426 /**
gregeric 0:b9444a40a999 427 * @}
gregeric 0:b9444a40a999 428 */
gregeric 0:b9444a40a999 429
gregeric 0:b9444a40a999 430 /**
gregeric 0:b9444a40a999 431 * @}
gregeric 0:b9444a40a999 432 */
gregeric 0:b9444a40a999 433 #endif
gregeric 0:b9444a40a999 434 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/