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.
IHM01A1/stm32f0xx_it.cpp@0:b9444a40a999, 2015-09-05 (annotated)
- Committer:
- gregeric
- Date:
- Sat Sep 05 20:18:14 2015 +0000
- Revision:
- 0:b9444a40a999
- Child:
- 1:75a41f0c0586
X-CUBE-SPN1-20150128 example source code for one motor compiled under mbed. Tested OK on Nucleo F401. On F401 avoid using mbed's InterruptIn on pins 10-15 (any port). Beware of other conflicts!; ; L0 & F0 are included but untested.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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gregeric | 0:b9444a40a999 | 1 | /** |
gregeric | 0:b9444a40a999 | 2 | ****************************************************************************** |
gregeric | 0:b9444a40a999 | 3 | * @file Multi/Examples/MotionControl/IHM01A1_ExampleFor1Motor/Src/stm32f0xx_it.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 Main Interrupt Service Routines. |
gregeric | 0:b9444a40a999 | 8 | * This file provides template for all exceptions handler and |
gregeric | 0:b9444a40a999 | 9 | * peripherals interrupt service routine. |
gregeric | 0:b9444a40a999 | 10 | ****************************************************************************** |
gregeric | 0:b9444a40a999 | 11 | * @attention |
gregeric | 0:b9444a40a999 | 12 | * |
gregeric | 0:b9444a40a999 | 13 | * <h2><center>© COPYRIGHT(c) 2014 STMicroelectronics</center></h2> |
gregeric | 0:b9444a40a999 | 14 | * |
gregeric | 0:b9444a40a999 | 15 | * Redistribution and use in source and binary forms, with or without modification, |
gregeric | 0:b9444a40a999 | 16 | * are permitted provided that the following conditions are met: |
gregeric | 0:b9444a40a999 | 17 | * 1. Redistributions of source code must retain the above copyright notice, |
gregeric | 0:b9444a40a999 | 18 | * this list of conditions and the following disclaimer. |
gregeric | 0:b9444a40a999 | 19 | * 2. Redistributions in binary form must reproduce the above copyright notice, |
gregeric | 0:b9444a40a999 | 20 | * this list of conditions and the following disclaimer in the documentation |
gregeric | 0:b9444a40a999 | 21 | * and/or other materials provided with the distribution. |
gregeric | 0:b9444a40a999 | 22 | * 3. Neither the name of STMicroelectronics nor the names of its contributors |
gregeric | 0:b9444a40a999 | 23 | * may be used to endorse or promote products derived from this software |
gregeric | 0:b9444a40a999 | 24 | * without specific prior written permission. |
gregeric | 0:b9444a40a999 | 25 | * |
gregeric | 0:b9444a40a999 | 26 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
gregeric | 0:b9444a40a999 | 27 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
gregeric | 0:b9444a40a999 | 28 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
gregeric | 0:b9444a40a999 | 29 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE |
gregeric | 0:b9444a40a999 | 30 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
gregeric | 0:b9444a40a999 | 31 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR |
gregeric | 0:b9444a40a999 | 32 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
gregeric | 0:b9444a40a999 | 33 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, |
gregeric | 0:b9444a40a999 | 34 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
gregeric | 0:b9444a40a999 | 35 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
gregeric | 0:b9444a40a999 | 36 | * |
gregeric | 0:b9444a40a999 | 37 | ****************************************************************************** |
gregeric | 0:b9444a40a999 | 38 | */ |
gregeric | 0:b9444a40a999 | 39 | #ifdef TARGET_STM32F0 |
gregeric | 0:b9444a40a999 | 40 | /* Includes ------------------------------------------------------------------*/ |
gregeric | 0:b9444a40a999 | 41 | #include "mbed.h" |
gregeric | 0:b9444a40a999 | 42 | #include "stm32f0xx_it.h" |
gregeric | 0:b9444a40a999 | 43 | #include "motorcontrol.h" |
gregeric | 0:b9444a40a999 | 44 | |
gregeric | 0:b9444a40a999 | 45 | /** @addtogroup Interrupt_Handlers |
gregeric | 0:b9444a40a999 | 46 | * @{ |
gregeric | 0:b9444a40a999 | 47 | */ |
gregeric | 0:b9444a40a999 | 48 | |
gregeric | 0:b9444a40a999 | 49 | /* Private typedef -----------------------------------------------------------*/ |
gregeric | 0:b9444a40a999 | 50 | /* Private define ------------------------------------------------------------*/ |
gregeric | 0:b9444a40a999 | 51 | /* Private macro -------------------------------------------------------------*/ |
gregeric | 0:b9444a40a999 | 52 | /* Private variables ---------------------------------------------------------*/ |
gregeric | 0:b9444a40a999 | 53 | extern TIM_HandleTypeDef hTimPwm1; |
gregeric | 0:b9444a40a999 | 54 | extern TIM_HandleTypeDef hTimPwm2; |
gregeric | 0:b9444a40a999 | 55 | extern TIM_HandleTypeDef hTimPwm3; |
gregeric | 0:b9444a40a999 | 56 | |
gregeric | 0:b9444a40a999 | 57 | /* Private function prototypes -----------------------------------------------*/ |
gregeric | 0:b9444a40a999 | 58 | /* Private functions ---------------------------------------------------------*/ |
gregeric | 0:b9444a40a999 | 59 | |
gregeric | 0:b9444a40a999 | 60 | |
gregeric | 0:b9444a40a999 | 61 | /******************************************************************************/ |
gregeric | 0:b9444a40a999 | 62 | /* Cortex-M0 Processor Exceptions Handlers */ |
gregeric | 0:b9444a40a999 | 63 | /******************************************************************************/ |
gregeric | 0:b9444a40a999 | 64 | |
gregeric | 0:b9444a40a999 | 65 | /** |
gregeric | 0:b9444a40a999 | 66 | * @brief This function handles NMI exception. |
gregeric | 0:b9444a40a999 | 67 | * @param None |
gregeric | 0:b9444a40a999 | 68 | * @retval None |
gregeric | 0:b9444a40a999 | 69 | */ |
gregeric | 0:b9444a40a999 | 70 | void NMI_Handler(void) |
gregeric | 0:b9444a40a999 | 71 | { |
gregeric | 0:b9444a40a999 | 72 | } |
gregeric | 0:b9444a40a999 | 73 | |
gregeric | 0:b9444a40a999 | 74 | /** |
gregeric | 0:b9444a40a999 | 75 | * @brief This function handles Hard Fault exception. |
gregeric | 0:b9444a40a999 | 76 | * @param None |
gregeric | 0:b9444a40a999 | 77 | * @retval None |
gregeric | 0:b9444a40a999 | 78 | */ |
gregeric | 0:b9444a40a999 | 79 | void HardFault_Handler(void) |
gregeric | 0:b9444a40a999 | 80 | { |
gregeric | 0:b9444a40a999 | 81 | /* Go to infinite loop when Hard Fault exception occurs */ |
gregeric | 0:b9444a40a999 | 82 | while (1) |
gregeric | 0:b9444a40a999 | 83 | { |
gregeric | 0:b9444a40a999 | 84 | } |
gregeric | 0:b9444a40a999 | 85 | } |
gregeric | 0:b9444a40a999 | 86 | |
gregeric | 0:b9444a40a999 | 87 | /** |
gregeric | 0:b9444a40a999 | 88 | * @brief This function handles SVCall exception. |
gregeric | 0:b9444a40a999 | 89 | * @param None |
gregeric | 0:b9444a40a999 | 90 | * @retval None |
gregeric | 0:b9444a40a999 | 91 | */ |
gregeric | 0:b9444a40a999 | 92 | void SVC_Handler(void) |
gregeric | 0:b9444a40a999 | 93 | { |
gregeric | 0:b9444a40a999 | 94 | } |
gregeric | 0:b9444a40a999 | 95 | |
gregeric | 0:b9444a40a999 | 96 | /** |
gregeric | 0:b9444a40a999 | 97 | * @brief This function handles PendSVC exception. |
gregeric | 0:b9444a40a999 | 98 | * @param None |
gregeric | 0:b9444a40a999 | 99 | * @retval None |
gregeric | 0:b9444a40a999 | 100 | */ |
gregeric | 0:b9444a40a999 | 101 | void PendSV_Handler(void) |
gregeric | 0:b9444a40a999 | 102 | { |
gregeric | 0:b9444a40a999 | 103 | } |
gregeric | 0:b9444a40a999 | 104 | |
gregeric | 0:b9444a40a999 | 105 | /** |
gregeric | 0:b9444a40a999 | 106 | * @brief This function handles SysTick Handler. |
gregeric | 0:b9444a40a999 | 107 | * @param None |
gregeric | 0:b9444a40a999 | 108 | * @retval None |
gregeric | 0:b9444a40a999 | 109 | */ |
gregeric | 0:b9444a40a999 | 110 | void SysTick_Handler(void) |
gregeric | 0:b9444a40a999 | 111 | { |
gregeric | 0:b9444a40a999 | 112 | HAL_IncTick(); |
gregeric | 0:b9444a40a999 | 113 | } |
gregeric | 0:b9444a40a999 | 114 | |
gregeric | 0:b9444a40a999 | 115 | /******************************************************************************/ |
gregeric | 0:b9444a40a999 | 116 | /* STM32F0xx Peripherals Interrupt Handlers */ |
gregeric | 0:b9444a40a999 | 117 | /* Add here the Interrupt Handler for the used peripheral(s) (PPP), for the */ |
gregeric | 0:b9444a40a999 | 118 | /* available peripheral interrupt handler's name please refer to the startup */ |
gregeric | 0:b9444a40a999 | 119 | /* file (startup_stm32f0xx.s). */ |
gregeric | 0:b9444a40a999 | 120 | /******************************************************************************/ |
gregeric | 0:b9444a40a999 | 121 | |
gregeric | 0:b9444a40a999 | 122 | /** |
gregeric | 0:b9444a40a999 | 123 | * @brief This function handles interrupt for External lines 4 to 15 |
gregeric | 0:b9444a40a999 | 124 | * @param None |
gregeric | 0:b9444a40a999 | 125 | * @retval None |
gregeric | 0:b9444a40a999 | 126 | */ |
gregeric | 0:b9444a40a999 | 127 | void EXTI4_15_IRQHandler(void) |
gregeric | 0:b9444a40a999 | 128 | { |
gregeric | 0:b9444a40a999 | 129 | HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_10); |
gregeric | 0:b9444a40a999 | 130 | } |
gregeric | 0:b9444a40a999 | 131 | |
gregeric | 0:b9444a40a999 | 132 | /** |
gregeric | 0:b9444a40a999 | 133 | * @brief This function handles TIM14 interrupt request. |
gregeric | 0:b9444a40a999 | 134 | * @param None |
gregeric | 0:b9444a40a999 | 135 | * @retval None |
gregeric | 0:b9444a40a999 | 136 | */ |
gregeric | 0:b9444a40a999 | 137 | void TIM14_IRQHandler(void) |
gregeric | 0:b9444a40a999 | 138 | { |
gregeric | 0:b9444a40a999 | 139 | HAL_TIM_IRQHandler(&hTimPwm2); |
gregeric | 0:b9444a40a999 | 140 | } |
gregeric | 0:b9444a40a999 | 141 | |
gregeric | 0:b9444a40a999 | 142 | /** |
gregeric | 0:b9444a40a999 | 143 | * @brief This function handles TIM3 interrupt request. |
gregeric | 0:b9444a40a999 | 144 | * @param None |
gregeric | 0:b9444a40a999 | 145 | * @retval None |
gregeric | 0:b9444a40a999 | 146 | */ |
gregeric | 0:b9444a40a999 | 147 | void TIM3_IRQHandler(void) |
gregeric | 0:b9444a40a999 | 148 | { |
gregeric | 0:b9444a40a999 | 149 | HAL_TIM_IRQHandler(&hTimPwm1); |
gregeric | 0:b9444a40a999 | 150 | } |
gregeric | 0:b9444a40a999 | 151 | |
gregeric | 0:b9444a40a999 | 152 | /** |
gregeric | 0:b9444a40a999 | 153 | * @brief This function handles TIM15 interrupt request. |
gregeric | 0:b9444a40a999 | 154 | * @param None |
gregeric | 0:b9444a40a999 | 155 | * @retval None |
gregeric | 0:b9444a40a999 | 156 | */ |
gregeric | 0:b9444a40a999 | 157 | void TIM15_IRQHandler(void) |
gregeric | 0:b9444a40a999 | 158 | { |
gregeric | 0:b9444a40a999 | 159 | HAL_TIM_IRQHandler(&hTimPwm3); |
gregeric | 0:b9444a40a999 | 160 | } |
gregeric | 0:b9444a40a999 | 161 | /** |
gregeric | 0:b9444a40a999 | 162 | * @brief This function handles PPP interrupt request. |
gregeric | 0:b9444a40a999 | 163 | * @param None |
gregeric | 0:b9444a40a999 | 164 | * @retval None |
gregeric | 0:b9444a40a999 | 165 | */ |
gregeric | 0:b9444a40a999 | 166 | /*void PPP_IRQHandler(void) |
gregeric | 0:b9444a40a999 | 167 | { |
gregeric | 0:b9444a40a999 | 168 | }*/ |
gregeric | 0:b9444a40a999 | 169 | |
gregeric | 0:b9444a40a999 | 170 | /** |
gregeric | 0:b9444a40a999 | 171 | * @} |
gregeric | 0:b9444a40a999 | 172 | */ |
gregeric | 0:b9444a40a999 | 173 | #endif |
gregeric | 0:b9444a40a999 | 174 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ |