Diff: IHM01A1/stm32f0xx_nucleo_ihm01a1.cpp

Revision:

0:b9444a40a999

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/IHM01A1/stm32f0xx_nucleo_ihm01a1.cpp	Sat Sep 05 20:18:14 2015 +0000
@@ -0,0 +1,434 @@
+/**
+  ******************************************************************************
+  * @file    stm32f0xx_nucleo_ihm01a1.c
+  * @author  IPC Rennes
+  * @version V1.5.0
+  * @date    November 12, 2014
+  * @brief   BSP driver for x-nucleo-ihm01a1 Nucleo extension board 
+  *  (based on L6474)
+  ******************************************************************************
+* @attention
+  *
+  * <h2><center>&copy; COPYRIGHT(c) 2014 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.
+  *
+  ******************************************************************************
+  */ 
+#ifdef TARGET_STM32F0  
+/* Includes ------------------------------------------------------------------*/
+#include "mbed.h"
+#include "stm32f0xx_nucleo_ihm01a1.h"
+
+/** @addtogroup BSP
+  * @{
+  */ 
+
+/** @defgroup  STM32F0XX_NUCLEO_IHM01A1
+  * @{
+  */   
+    
+/* Private constants ---------------------------------------------------------*/    
+
+/** @defgroup IHM01A1_Private_Constants
+  * @{
+  */   
+    
+/// Timer Prescaler
+#define TIMER_PRESCALER (1024)
+
+/// SPI Maximum Timeout values for flags waiting loops
+#define SPIx_TIMEOUT_MAX                      ((uint32_t)0x1000)
+
+/**
+  * @}
+  */ 
+
+/* Private variables ---------------------------------------------------------*/
+
+/** @defgroup IHM01A1_Board_Private_Variables
+  * @{
+  */       
+/// SPI handler declaration
+static SPI_HandleTypeDef SpiHandle;
+/// Timer handler for PWM1
+TIM_HandleTypeDef hTimPwm1;
+/// imer handler for PWM2
+TIM_HandleTypeDef hTimPwm2;
+/// Timer handler for PWM3
+TIM_HandleTypeDef hTimPwm3;
+/**
+  * @}
+  */ 
+
+
+/**
+  * @}
+  */
+
+
+/** @defgroup  IHM01A1_Board_Private_Functions
+  * @{
+  */   
+
+/******************************************************//**
+ * @brief This function provides an accurate delay in milliseconds
+ * @param[in] delay  time length in milliseconds
+  * @retval None
+ **********************************************************/
+void BSP_MotorControlBoard_Delay(uint32_t delay)
+{
+  HAL_Delay(delay);
+}
+
+/******************************************************//**
+ * @brief This function disable the interruptions
+ * @param None
+ * @retval None
+ **********************************************************/
+void BSP_MotorControlBoard_DisableIrq(void)
+{
+  __disable_irq();
+}
+
+/******************************************************//**
+ * @brief This function enable the interruptions
+ * @param None
+ * @retval None
+ **********************************************************/
+void BSP_MotorControlBoard_EnableIrq(void)
+{
+  __enable_irq();
+}
+
+/******************************************************//**
+ * @brief  Initiliases the GPIOs used by the L6474s
+ * @param[in] nbDevices number of L6474 devices
+ * @retval None
+  **********************************************************/
+void BSP_MotorControlBoard_GpioInit(uint8_t nbDevices)
+{
+   GPIO_InitTypeDef GPIO_InitStruct;
+  
+  /* GPIO Ports Clock Enable */
+  __GPIOC_CLK_ENABLE();
+  __GPIOA_CLK_ENABLE();
+  __GPIOB_CLK_ENABLE();
+
+  /* Configure L6474  - DIR pin for device 1 -------------------------------*/
+  GPIO_InitStruct.Pin = BSP_MOTOR_CONTROL_BOARD_DIR_1_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_1_PORT, &GPIO_InitStruct);
+  
+  /* Configure L6474 - Flag pin -------------------------------------------*/
+  GPIO_InitStruct.Pin = BSP_MOTOR_CONTROL_BOARD_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_FLAG_PORT, &GPIO_InitStruct);
+  
+ /* Set Priority of External Line Interrupt used for the Flag interrupt*/ 
+  HAL_NVIC_SetPriority(EXTI_MCU_LINE_IRQn, 5, 0);
+    
+  /* Enable the External Line Interrupt used for the Flag interrupt*/
+  HAL_NVIC_EnableIRQ(EXTI_MCU_LINE_IRQn);    
+
+  /* Configure L6474 - CS pin ---------------------------------------------*/
+  GPIO_InitStruct.Pin = BSP_MOTOR_CONTROL_BOARD_CS_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_CS_PORT, &GPIO_InitStruct);
+  HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_CS_PORT, BSP_MOTOR_CONTROL_BOARD_CS_PIN, GPIO_PIN_SET); 
+  
+  /* Configure L6474 - 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);
+  BSP_MotorControlBoard_Reset();  
+
+  if (nbDevices > 1) 
+  {
+    /* Configure L6474 - DIR pin for device  2 ----------------------------*/
+    GPIO_InitStruct.Pin = BSP_MOTOR_CONTROL_BOARD_DIR_2_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_2_PORT, &GPIO_InitStruct);    
+  }
+  if (nbDevices > 2) 
+  {
+    /* Configure L6474 - DIR pin for device  3 ----------------------------*/
+    GPIO_InitStruct.Pin = BSP_MOTOR_CONTROL_BOARD_DIR_3_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_3_PORT, &GPIO_InitStruct);    
+  }  
+}
+
+/******************************************************//**
+ * @brief  Sets the frequency of PWM1 used by device 0
+ * @param[in] newFreq in Hz
+ * @retval None
+ * @note The frequency is directly the current speed of the device
+ **********************************************************/
+void BSP_MotorControlBoard_Pwm1SetFreq(uint16_t newFreq)
+{
+  uint32_t sysFreq = HAL_RCC_GetSysClockFreq();
+  uint32_t period = (sysFreq/ (TIMER_PRESCALER * BSP_MOTOR_CONTROL_BOARD_PWM1_FREQ_RESCALER * (uint32_t)newFreq)) - 1;
+  
+  __HAL_TIM_SetAutoreload(&hTimPwm1, period);
+  __HAL_TIM_SetCompare(&hTimPwm1, BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM1, period >> 1);
+  HAL_TIM_PWM_Start_IT(&hTimPwm1, BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM1);  
+}
+
+/******************************************************//**
+ * @brief  Sets the frequency of PWM2 used by device 1
+ * @param[in] newFreq in Hz
+ * @retval None
+ * @note The frequency is directly the current speed of the device
+ **********************************************************/
+void BSP_MotorControlBoard_Pwm2SetFreq(uint16_t newFreq)
+{
+  uint32_t sysFreq = HAL_RCC_GetSysClockFreq();
+  uint32_t period = (sysFreq/ (TIMER_PRESCALER * BSP_MOTOR_CONTROL_BOARD_PWM2_FREQ_RESCALER  * (uint32_t)newFreq)) - 1;
+  
+  __HAL_TIM_SetAutoreload(&hTimPwm2, period);
+  __HAL_TIM_SetCompare(&hTimPwm2, BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM2, period >> 1);
+  HAL_TIM_PWM_Start_IT(&hTimPwm2, BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM2);
+}
+/******************************************************//**
+ * @brief  Sets the frequency of PWM3 used by device 2
+ * @param[in] newFreq in Hz
+ * @retval None
+ * @note The frequency is directly the current speed of the device
+ **********************************************************/
+void BSP_MotorControlBoard_Pwm3SetFreq(uint16_t newFreq)
+{
+  uint32_t sysFreq = HAL_RCC_GetSysClockFreq();
+  /* Double the frequency as the SW is generated by SW */
+  uint32_t period = (sysFreq/ (TIMER_PRESCALER * BSP_MOTOR_CONTROL_BOARD_PWM3_FREQ_RESCALER * (uint32_t)newFreq)) - 1;
+  
+  __HAL_TIM_SetAutoreload(&hTimPwm3, period);
+  __HAL_TIM_SetCompare(&hTimPwm3, BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM3, period >> 1);
+  HAL_TIM_PWM_Start_IT(&hTimPwm3, BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM3);  
+}
+
+/******************************************************//**
+ * @brief  Initialises the PWM uses by the specified device
+ * @param[in] deviceId (from 0 to 2)
+ * @retval None
+ * @note Device 0 uses PWM1 based on timer 1 
+ * Device 1 uses PWM 2 based on timer 2
+ * Device 2 uses PWM3 based timer 0
+ **********************************************************/
+void BSP_MotorControlBoard_PwmInit(uint8_t deviceId)
+{
+  TIM_OC_InitTypeDef sConfigOC;
+  TIM_MasterConfigTypeDef sMasterConfig;
+  TIM_HandleTypeDef *pHTim;
+  uint32_t  channel;
+
+  switch (deviceId)
+  {
+
+  case 0:
+  default:
+      pHTim = &hTimPwm1;
+      pHTim->Instance = BSP_MOTOR_CONTROL_BOARD_TIMER_PWM1;
+      channel = BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM1;
+
+      break;
+    case  1:
+      pHTim = &hTimPwm2;
+      pHTim->Instance = BSP_MOTOR_CONTROL_BOARD_TIMER_PWM2;
+      channel = BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM2;
+      break;
+
+
+    case 2:
+      pHTim = &hTimPwm3;
+      pHTim->Instance = BSP_MOTOR_CONTROL_BOARD_TIMER_PWM3;
+      channel = BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM3;
+      break;
+  }
+  pHTim->Init.Prescaler = TIMER_PRESCALER -1;
+  pHTim->Init.CounterMode = TIM_COUNTERMODE_UP;
+  pHTim->Init.Period = 0;
+  pHTim->Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  HAL_TIM_PWM_Init(pHTim);
+  
+  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);
+}
+
+/******************************************************//**
+ * @brief  Stops the PWM uses by the specified device
+ * @param[in] deviceId (from 0 to 2)
+ * @retval None
+ **********************************************************/
+void BSP_MotorControlBoard_PwmStop(uint8_t deviceId)
+{
+  switch (deviceId)
+  {
+    case 0:
+       HAL_TIM_PWM_Stop(&hTimPwm1,BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM1);
+    
+      break;
+    case  1:
+      HAL_TIM_PWM_Stop(&hTimPwm2,BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM2);
+      
+      break;
+    case 2:
+       HAL_TIM_PWM_Stop(&hTimPwm3,BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM3);
+      
+      break;
+    default:
+      break;//ignore error
+  }
+}
+
+/******************************************************//**
+ * @brief  Releases the L6474 reset (pin set to High) of all devices
+ * @param  None
+ * @retval None
+ **********************************************************/
+void BSP_MotorControlBoard_ReleaseReset(void)
+{ 
+  HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_RESET_PORT, BSP_MOTOR_CONTROL_BOARD_RESET_PIN, GPIO_PIN_SET); 
+}
+
+/******************************************************//**
+ * @brief  Resets the L6474 (reset pin set to low) of all devices
+ * @param  None
+ * @retval None
+ **********************************************************/
+void BSP_MotorControlBoard_Reset(void)
+{
+  HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_RESET_PORT, BSP_MOTOR_CONTROL_BOARD_RESET_PIN, GPIO_PIN_RESET); 
+}
+
+/******************************************************//**
+ * @brief  Set the GPIO used for the direction
+ * @param[in] deviceId (from 0 to 2)
+ * @param[in] gpioState state of the direction gpio (0 to reset, 1 to set)
+ * @retval None
+ **********************************************************/
+void BSP_MotorControlBoard_SetDirectionGpio(uint8_t deviceId, uint8_t gpioState)
+{
+  switch (deviceId)
+  {
+    case 2:
+      HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_DIR_3_PORT, BSP_MOTOR_CONTROL_BOARD_DIR_3_PIN, (GPIO_PinState)gpioState); 
+      break;
+    case 1:
+      HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_DIR_2_PORT, BSP_MOTOR_CONTROL_BOARD_DIR_2_PIN, (GPIO_PinState)gpioState); 
+      break;
+    case 0:
+      HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_DIR_1_PORT, BSP_MOTOR_CONTROL_BOARD_DIR_1_PIN, (GPIO_PinState)gpioState); 
+      break;
+    default:
+      ;
+  }
+}
+
+/******************************************************//**
+ * @brief  Initialise the SPI used by L6474
+ * @param None
+ * @retval HAL_OK if SPI transaction is OK, HAL_KO else
+ **********************************************************/
+uint8_t BSP_MotorControlBoard_SpiInit(void)
+{
+  HAL_StatusTypeDef status;
+  
+  /* Initialises the SPI  --------------------------------------------------*/
+  SpiHandle.Instance               = SPIx;
+  SpiHandle.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; 
+  SpiHandle.Init.Direction         = SPI_DIRECTION_2LINES;
+  SpiHandle.Init.CLKPhase          = SPI_PHASE_2EDGE;    
+  SpiHandle.Init.CLKPolarity       = SPI_POLARITY_HIGH;
+  SpiHandle.Init.CRCCalculation    = SPI_CRCCALCULATION_DISABLED;
+  SpiHandle.Init.CRCPolynomial     = 7;
+  SpiHandle.Init.DataSize          = SPI_DATASIZE_8BIT;
+  SpiHandle.Init.FirstBit          = SPI_FIRSTBIT_MSB;
+  SpiHandle.Init.NSS               = SPI_NSS_SOFT;
+  SpiHandle.Init.TIMode            = SPI_TIMODE_DISABLED;
+  
+  SpiHandle.Init.Mode = SPI_MODE_MASTER;
+  
+  status = HAL_SPI_Init(&SpiHandle);
+  
+  return (uint8_t) status;
+}
+/******************************************************//**
+ * @brief  Write and read SPI byte to the L6474
+ * @param[in] pByteToTransmit pointer to the byte to transmit
+ * @param[in] pReceivedByte pointer to the received byte
+ * @param[in] nbDevices Number of device in the SPI chain
+ * @retval HAL_OK if SPI transaction is OK, HAL_KO else 
+ **********************************************************/
+uint8_t BSP_MotorControlBoard_SpiWriteBytes(uint8_t *pByteToTransmit, uint8_t *pReceivedByte, uint8_t nbDevices)
+{
+  HAL_StatusTypeDef status;
+  uint32_t i;
+  HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_CS_PORT, BSP_MOTOR_CONTROL_BOARD_CS_PIN, GPIO_PIN_RESET); 
+  for (i = 0; i < nbDevices; i++)
+  {
+    status = HAL_SPI_TransmitReceive(&SpiHandle, pByteToTransmit, pReceivedByte, 1, SPIx_TIMEOUT_MAX);
+    if (status != HAL_OK)
+    {
+      break;
+    }
+    pByteToTransmit++;
+    pReceivedByte++;
+  }
+  HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_CS_PORT, BSP_MOTOR_CONTROL_BOARD_CS_PIN, GPIO_PIN_SET); 
+  
+  return (uint8_t) status;  
+}
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */    
+
+/**
+  * @}
+  */ 
+#endif    
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/