Diff: IHM01A1/stm32f4xx_hal_msp.cpp

Revision:

0:b9444a40a999

Child:

4:8f6fbb88c753

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/IHM01A1/stm32f4xx_hal_msp.cpp	Sat Sep 05 20:18:14 2015 +0000
@@ -0,0 +1,288 @@
+/**
+  ******************************************************************************
+  * @file    Multi/Examples/MotionControl/IHM01A1_ExampleFor1Motor/Src/stm32f4xx_hal_msp.c
+  * @author  IPC Rennes
+  * @version V1.5.0
+  * @date    November 12, 2014
+  * @brief   HAL MSP module.    
+  ******************************************************************************
+  * @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_STM32F4
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+#include "mbed.h"
+
+/** @defgroup MSP_module
+  * @brief HAL MSP module.
+  * @{
+  */
+
+/* Private typedef -----------------------------------------------------------*/
+/* Private define ------------------------------------------------------------*/
+/* Private macro -------------------------------------------------------------*/
+/* Private variables ---------------------------------------------------------*/
+
+/* Private function prototypes -----------------------------------------------*/
+extern void BSP_MotorControl_StepClockHandler(uint8_t deviceId); 
+extern void BSP_MotorControl_FlagInterruptHandler(void);
+/* Private functions ---------------------------------------------------------*/
+
+/** @defgroup HAL_MSP_Private_Functions
+  * @{
+  */
+
+/**
+  * @brief SPI MSP Initialization 
+  *        This function configures the hardware resources used in this example: 
+  *           - Peripheral's clock enable
+  *           - Peripheral's GPIO Configuration  
+  * @param[in] hspi SPI handle pointer
+  * @retval None
+  */
+void HAL_SPI_MspInit(SPI_HandleTypeDef *hspi)
+{
+  GPIO_InitTypeDef  GPIO_InitStruct;
+  
+  if(hspi->Instance == SPIx)
+  {  
+    /*##-1- Enable peripherals and GPIO Clocks #################################*/
+    /* Enable GPIO TX/RX clock */
+    SPIx_SCK_GPIO_CLK_ENABLE();
+    SPIx_MISO_GPIO_CLK_ENABLE();
+    SPIx_MOSI_GPIO_CLK_ENABLE();
+    /* Enable SPI clock */
+    SPIx_CLK_ENABLE(); 
+    
+    /*##-2- Configure peripheral GPIO ##########################################*/  
+    /* SPI SCK GPIO pin configuration  */
+    GPIO_InitStruct.Pin       = SPIx_SCK_PIN;
+    GPIO_InitStruct.Mode      = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull      = GPIO_NOPULL;
+    GPIO_InitStruct.Speed     = GPIO_SPEED_MEDIUM;
+    GPIO_InitStruct.Alternate = SPIx_SCK_AF;
+    
+    HAL_GPIO_Init(SPIx_SCK_GPIO_PORT, &GPIO_InitStruct);
+      
+    /* SPI MISO GPIO pin configuration  */
+    GPIO_InitStruct.Pin = SPIx_MISO_PIN;
+    GPIO_InitStruct.Alternate = SPIx_MISO_AF;
+    
+    HAL_GPIO_Init(SPIx_MISO_GPIO_PORT, &GPIO_InitStruct);
+    
+    /* SPI MOSI GPIO pin configuration  */
+    GPIO_InitStruct.Pin = SPIx_MOSI_PIN;
+    GPIO_InitStruct.Alternate = SPIx_MOSI_AF;
+      
+    HAL_GPIO_Init(SPIx_MOSI_GPIO_PORT, &GPIO_InitStruct);   
+  }
+}
+
+/**
+  * @brief SPI MSP De-Initialization 
+  *        This function frees the hardware resources used in this example:
+  *          - Disable the Peripheral's clock
+  *          - Revert GPIO configuration to its default state
+  * @param[in] hspi SPI handle pointer
+  * @retval None
+  */
+void HAL_SPI_MspDeInit(SPI_HandleTypeDef *hspi)
+{
+  if(hspi->Instance == SPIx)
+  {  
+    /*##-1- Reset peripherals ##################################################*/
+    SPIx_FORCE_RESET();
+    SPIx_RELEASE_RESET();
+
+    /*##-2- Disable peripherals and GPIO Clocks ################################*/
+    /* Configure SPI SCK as alternate function  */
+    HAL_GPIO_DeInit(SPIx_SCK_GPIO_PORT, SPIx_SCK_PIN);
+    /* Configure SPI MISO as alternate function  */
+    HAL_GPIO_DeInit(SPIx_MISO_GPIO_PORT, SPIx_MISO_PIN);
+    /* Configure SPI MOSI as alternate function  */
+    HAL_GPIO_DeInit(SPIx_MOSI_GPIO_PORT, SPIx_MOSI_PIN);
+  }
+}
+
+/**
+  * @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_PWM1)
+  {
+    /* Peripheral clock enable */
+    __BSP_MOTOR_CONTROL_BOARD_TIMER_PWM1_CLCK_ENABLE();
+  
+    /* GPIO configuration */
+    GPIO_InitStruct.Pin = BSP_MOTOR_CONTROL_BOARD_PWM_1_PIN;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
+    GPIO_InitStruct.Alternate = BSP_MOTOR_CONTROL_BOARD_AFx_TIMx_PWM1;
+    HAL_GPIO_Init(BSP_MOTOR_CONTROL_BOARD_PWM_1_PORT, &GPIO_InitStruct);
+
+    /* Set Interrupt Group Priority of Timer Interrupt*/ 
+    HAL_NVIC_SetPriority(BSP_MOTOR_CONTROL_BOARD_PWM1_IRQn, 4, 0);
+    
+    /* Enable the timer global Interrupt */
+    HAL_NVIC_EnableIRQ(BSP_MOTOR_CONTROL_BOARD_PWM1_IRQn);  
+  }
+  else if(htim_pwm->Instance == BSP_MOTOR_CONTROL_BOARD_TIMER_PWM2)
+  {
+    /* Peripheral clock enable */
+    __BSP_MOTOR_CONTROL_BOARD_TIMER_PWM2_CLCK_ENABLE();
+  
+    /* GPIO configuration */
+    GPIO_InitStruct.Pin = BSP_MOTOR_CONTROL_BOARD_PWM_2_PIN;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
+    GPIO_InitStruct.Alternate = BSP_MOTOR_CONTROL_BOARD_AFx_TIMx_PWM2;
+    HAL_GPIO_Init(BSP_MOTOR_CONTROL_BOARD_PWM_2_PORT, &GPIO_InitStruct);
+    
+    /* Set Interrupt Group Priority of Timer Interrupt*/ 
+    HAL_NVIC_SetPriority(BSP_MOTOR_CONTROL_BOARD_PWM2_IRQn, 4, 0);
+    
+    /* Enable the timer2 global Interrupt */
+    HAL_NVIC_EnableIRQ(BSP_MOTOR_CONTROL_BOARD_PWM2_IRQn);    
+
+  }
+  else if(htim_pwm->Instance == BSP_MOTOR_CONTROL_BOARD_TIMER_PWM3)
+  {
+    /* Peripheral clock enable */
+    __BSP_MOTOR_CONTROL_BOARD_TIMER_PWM3_CLCK_ENABLE();
+  
+    /* GPIO configuration */
+    GPIO_InitStruct.Pin = BSP_MOTOR_CONTROL_BOARD_PWM_3_PIN;
+    GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
+    HAL_GPIO_Init(BSP_MOTOR_CONTROL_BOARD_PWM_3_PORT, &GPIO_InitStruct);    
+    
+    /* Set Interrupt Group Priority of Timer Interrupt*/ 
+    HAL_NVIC_SetPriority(BSP_MOTOR_CONTROL_BOARD_PWM3_IRQn, 3, 0);
+    
+    /* Enable the timer global Interrupt */
+    HAL_NVIC_EnableIRQ(BSP_MOTOR_CONTROL_BOARD_PWM3_IRQn);  
+  }
+}
+
+/**
+  * @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_PWM1)
+  {
+    /* Peripheral clock disable */
+    __BSP_MOTOR_CONTROL_BOARD_TIMER_PWM1_CLCK_DISABLE();
+  
+    /* GPIO Deconfiguration */
+    HAL_GPIO_DeInit(BSP_MOTOR_CONTROL_BOARD_PWM_1_PORT, BSP_MOTOR_CONTROL_BOARD_PWM_1_PIN);
+
+  }
+  else if(htim_pwm->Instance == BSP_MOTOR_CONTROL_BOARD_TIMER_PWM2)
+  {
+    /* Peripheral clock disable */
+    __BSP_MOTOR_CONTROL_BOARD_TIMER_PWM2_CLCK_DISABLE();
+  
+    /* GPIO Deconfiguration */
+    HAL_GPIO_DeInit(BSP_MOTOR_CONTROL_BOARD_PWM_2_PORT, BSP_MOTOR_CONTROL_BOARD_PWM_2_PIN);
+
+  }
+  else if(htim_pwm->Instance == BSP_MOTOR_CONTROL_BOARD_TIMER_PWM3)
+  {
+    /* Peripheral clock disable */
+    __BSP_MOTOR_CONTROL_BOARD_TIMER_PWM3_CLCK_DISABLE();
+    
+    /* GPIO Deconfiguration */
+    HAL_GPIO_DeInit(BSP_MOTOR_CONTROL_BOARD_PWM_3_PORT, BSP_MOTOR_CONTROL_BOARD_PWM_3_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_PWM1)&& (htim->Channel == BSP_MOTOR_CONTROL_BOARD_HAL_ACT_CHAN_TIMER_PWM1))
+  {
+    if (BSP_MotorControl_GetDeviceState(0) != INACTIVE)
+    {
+      BSP_MotorControl_StepClockHandler(0);
+    }
+  }
+  if ((htim->Instance == BSP_MOTOR_CONTROL_BOARD_TIMER_PWM2)&& (htim->Channel == BSP_MOTOR_CONTROL_BOARD_HAL_ACT_CHAN_TIMER_PWM2))
+  {
+    if (BSP_MotorControl_GetDeviceState(1) != INACTIVE)
+    { 
+      BSP_MotorControl_StepClockHandler(1);
+    }
+  }
+  if ((htim->Instance == BSP_MOTOR_CONTROL_BOARD_TIMER_PWM3)&& (htim->Channel == BSP_MOTOR_CONTROL_BOARD_HAL_ACT_CHAN_TIMER_PWM3))
+  {
+    HAL_GPIO_TogglePin(BSP_MOTOR_CONTROL_BOARD_PWM_3_PORT, BSP_MOTOR_CONTROL_BOARD_PWM_3_PIN);
+    if ((BSP_MotorControl_GetDeviceState(2) != INACTIVE)&& 
+        (HAL_GPIO_ReadPin(BSP_MOTOR_CONTROL_BOARD_PWM_3_PORT, BSP_MOTOR_CONTROL_BOARD_PWM_3_PIN) == GPIO_PIN_SET))
+    {
+      BSP_MotorControl_StepClockHandler(2);
+    }
+  }
+}
+
+/**
+  * @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_FLAG_PIN)
+  {
+    BSP_MotorControl_FlagInterruptHandler();
+  }
+ }
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
+#endif
\ No newline at end of file