File content as of revision 6:19c1b4a04c24:

/**
  ******************************************************************************
  * @file    Multi/Examples/MotionControl/IHM01A1_ExampleFor1Motor/Src/stm32f0xx_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_STM32F0
/* Includes ------------------------------------------------------------------*/
#include "mbed.h"
#include "ihm01a1.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_OUTPUT_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
    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, 3, 0);
    
    /* Enable the timer 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))
  {
    HAL_GPIO_TogglePin(BSP_MOTOR_CONTROL_BOARD_PWM_2_PORT, BSP_MOTOR_CONTROL_BOARD_PWM_2_PIN);
    if ((BSP_MotorControl_GetDeviceState(1) != INACTIVE)&& 
        (HAL_GPIO_ReadPin(BSP_MOTOR_CONTROL_BOARD_PWM_2_PORT, BSP_MOTOR_CONTROL_BOARD_PWM_2_PIN) == GPIO_PIN_SET))
    { 
      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();
  }
 }
/**
  * @}
  */

/**
  * @}
  */
#endif
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/