stm32f0xx_hal_msp.cpp

00001 /**
00002   ******************************************************************************
00003   * @file    Multi/Examples/MotionControl/IHM01A1_ExampleFor1Motor/Src/stm32f0xx_hal_msp.c
00004   * @author  IPC Rennes
00005   * @version V1.5.0
00006   * @date    November 12, 2014
00007   * @brief   HAL MSP module.    
00008   ******************************************************************************
00009   * @attention
00010   *
00011   * <h2><center>&copy; COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
00012   *
00013   * Redistribution and use in source and binary forms, with or without modification,
00014   * are permitted provided that the following conditions are met:
00015   *   1. Redistributions of source code must retain the above copyright notice,
00016   *      this list of conditions and the following disclaimer.
00017   *   2. Redistributions in binary form must reproduce the above copyright notice,
00018   *      this list of conditions and the following disclaimer in the documentation
00019   *      and/or other materials provided with the distribution.
00020   *   3. Neither the name of STMicroelectronics nor the names of its contributors
00021   *      may be used to endorse or promote products derived from this software
00022   *      without specific prior written permission.
00023   *
00024   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00025   * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00026   * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00027   * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
00028   * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
00029   * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
00030   * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00031   * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
00032   * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
00033   * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00034   *
00035   ******************************************************************************  
00036   */ 
00037 #ifdef TARGET_STM32F0
00038 /* Includes ------------------------------------------------------------------*/
00039 #include "mbed.h"
00040 #include "ihm01a1.h"
00041 
00042 
00043 /** @defgroup MSP_module
00044   * @brief HAL MSP module.
00045   * @{
00046   */
00047 
00048 /* Private typedef -----------------------------------------------------------*/
00049 /* Private define ------------------------------------------------------------*/
00050 /* Private macro -------------------------------------------------------------*/
00051 /* Private variables ---------------------------------------------------------*/
00052 
00053 /* Private function prototypes -----------------------------------------------*/
00054 extern void BSP_MotorControl_StepClockHandler(uint8_t deviceId); 
00055 extern void BSP_MotorControl_FlagInterruptHandler(void);
00056 /* Private functions ---------------------------------------------------------*/
00057 
00058 /** @defgroup HAL_MSP_Private_Functions
00059   * @{
00060   */
00061 
00062 /**
00063   * @brief SPI MSP Initialization 
00064   *        This function configures the hardware resources used in this example: 
00065   *           - Peripheral's clock enable
00066   *           - Peripheral's GPIO Configuration  
00067   * @param[in] hspi SPI handle pointer
00068   * @retval None
00069   */
00070 void HAL_SPI_MspInit(SPI_HandleTypeDef *hspi)
00071 {
00072   GPIO_InitTypeDef  GPIO_InitStruct;
00073   
00074   if(hspi->Instance == SPIx)
00075   {  
00076     /*##-1- Enable peripherals and GPIO Clocks #################################*/
00077     /* Enable GPIO TX/RX clock */
00078     SPIx_SCK_GPIO_CLK_ENABLE();
00079     SPIx_MISO_GPIO_CLK_ENABLE();
00080     SPIx_MOSI_GPIO_CLK_ENABLE();
00081     /* Enable SPI clock */
00082     SPIx_CLK_ENABLE(); 
00083     
00084     /*##-2- Configure peripheral GPIO ##########################################*/  
00085     /* SPI SCK GPIO pin configuration  */
00086     GPIO_InitStruct.Pin       = SPIx_SCK_PIN;
00087     GPIO_InitStruct.Mode      = GPIO_MODE_AF_PP;
00088     GPIO_InitStruct.Pull      = GPIO_NOPULL;
00089     GPIO_InitStruct.Speed     = GPIO_SPEED_MEDIUM;
00090     GPIO_InitStruct.Alternate = SPIx_SCK_AF;
00091     
00092     HAL_GPIO_Init(SPIx_SCK_GPIO_PORT, &GPIO_InitStruct);
00093       
00094     /* SPI MISO GPIO pin configuration  */
00095     GPIO_InitStruct.Pin = SPIx_MISO_PIN;
00096     GPIO_InitStruct.Alternate = SPIx_MISO_AF;
00097     
00098     HAL_GPIO_Init(SPIx_MISO_GPIO_PORT, &GPIO_InitStruct);
00099     
00100     /* SPI MOSI GPIO pin configuration  */
00101     GPIO_InitStruct.Pin = SPIx_MOSI_PIN;
00102     GPIO_InitStruct.Alternate = SPIx_MOSI_AF;
00103       
00104     HAL_GPIO_Init(SPIx_MOSI_GPIO_PORT, &GPIO_InitStruct);   
00105   }
00106 }
00107 
00108 /**
00109   * @brief SPI MSP De-Initialization 
00110   *        This function frees the hardware resources used in this example:
00111   *          - Disable the Peripheral's clock
00112   *          - Revert GPIO configuration to its default state
00113   * @param[in] hspi SPI handle pointer
00114   * @retval None
00115   */
00116 void HAL_SPI_MspDeInit(SPI_HandleTypeDef *hspi)
00117 {
00118   if(hspi->Instance == SPIx)
00119   {  
00120     /*##-1- Reset peripherals ##################################################*/
00121     SPIx_FORCE_RESET();
00122     SPIx_RELEASE_RESET();
00123 
00124     /*##-2- Disable peripherals and GPIO Clocks ################################*/
00125     /* Configure SPI SCK as alternate function  */
00126     HAL_GPIO_DeInit(SPIx_SCK_GPIO_PORT, SPIx_SCK_PIN);
00127     /* Configure SPI MISO as alternate function  */
00128     HAL_GPIO_DeInit(SPIx_MISO_GPIO_PORT, SPIx_MISO_PIN);
00129     /* Configure SPI MOSI as alternate function  */
00130     HAL_GPIO_DeInit(SPIx_MOSI_GPIO_PORT, SPIx_MOSI_PIN);
00131   }
00132 }
00133 
00134 /**
00135   * @brief PWM MSP Initialization 
00136   * @param[in] htim_pwm PWM handle pointer
00137   * @retval None
00138   */
00139 void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* htim_pwm)
00140 {
00141   GPIO_InitTypeDef GPIO_InitStruct;
00142   if(htim_pwm->Instance == BSP_MOTOR_CONTROL_BOARD_TIMER_PWM1)
00143   {
00144     /* Peripheral clock enable */
00145     __BSP_MOTOR_CONTROL_BOARD_TIMER_PWM1_CLCK_ENABLE();
00146   
00147     /* GPIO configuration */
00148     GPIO_InitStruct.Pin = BSP_MOTOR_CONTROL_BOARD_PWM_1_PIN;
00149     GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
00150     GPIO_InitStruct.Pull = GPIO_NOPULL;
00151     GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
00152     GPIO_InitStruct.Alternate = BSP_MOTOR_CONTROL_BOARD_AFx_TIMx_PWM1;
00153     HAL_GPIO_Init(BSP_MOTOR_CONTROL_BOARD_PWM_1_PORT, &GPIO_InitStruct);
00154 
00155     /* Set Interrupt Group Priority of Timer Interrupt*/ 
00156     HAL_NVIC_SetPriority(BSP_MOTOR_CONTROL_BOARD_PWM1_IRQn, 4, 0);
00157     
00158     /* Enable the timer global Interrupt */
00159     HAL_NVIC_EnableIRQ(BSP_MOTOR_CONTROL_BOARD_PWM1_IRQn);  
00160   }
00161   else if(htim_pwm->Instance == BSP_MOTOR_CONTROL_BOARD_TIMER_PWM2)
00162   {
00163     /* Peripheral clock enable */
00164     __BSP_MOTOR_CONTROL_BOARD_TIMER_PWM2_CLCK_ENABLE();
00165   
00166     /* GPIO configuration */
00167     GPIO_InitStruct.Pin = BSP_MOTOR_CONTROL_BOARD_PWM_2_PIN;
00168     GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
00169     GPIO_InitStruct.Pull = GPIO_NOPULL;
00170     GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
00171     HAL_GPIO_Init(BSP_MOTOR_CONTROL_BOARD_PWM_2_PORT, &GPIO_InitStruct);
00172     
00173     /* Set Interrupt Group Priority of Timer Interrupt*/ 
00174     HAL_NVIC_SetPriority(BSP_MOTOR_CONTROL_BOARD_PWM2_IRQn, 3, 0);
00175     
00176     /* Enable the timer global Interrupt */
00177     HAL_NVIC_EnableIRQ(BSP_MOTOR_CONTROL_BOARD_PWM2_IRQn);    
00178 
00179   }
00180   else if(htim_pwm->Instance == BSP_MOTOR_CONTROL_BOARD_TIMER_PWM3)
00181   {
00182     /* Peripheral clock enable */
00183     __BSP_MOTOR_CONTROL_BOARD_TIMER_PWM3_CLCK_ENABLE();
00184   
00185     /* GPIO configuration */
00186     GPIO_InitStruct.Pin = BSP_MOTOR_CONTROL_BOARD_PWM_3_PIN;
00187     GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
00188     GPIO_InitStruct.Pull = GPIO_NOPULL;
00189     GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
00190     HAL_GPIO_Init(BSP_MOTOR_CONTROL_BOARD_PWM_3_PORT, &GPIO_InitStruct);    
00191     
00192     /* Set Interrupt Group Priority of Timer Interrupt*/ 
00193     HAL_NVIC_SetPriority(BSP_MOTOR_CONTROL_BOARD_PWM3_IRQn, 3, 0);
00194     
00195     /* Enable the timer global Interrupt */
00196     HAL_NVIC_EnableIRQ(BSP_MOTOR_CONTROL_BOARD_PWM3_IRQn);  
00197   }
00198 }
00199 
00200 /**
00201   * @brief PWM MSP De-Initialization
00202   * @param[in] htim_pwm PWM handle pointer
00203   * @retval None
00204   */
00205 void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef* htim_pwm)
00206 {
00207   if(htim_pwm->Instance == BSP_MOTOR_CONTROL_BOARD_TIMER_PWM1)
00208   {
00209     /* Peripheral clock disable */
00210     __BSP_MOTOR_CONTROL_BOARD_TIMER_PWM1_CLCK_DISABLE();
00211   
00212     /* GPIO Deconfiguration */
00213     HAL_GPIO_DeInit(BSP_MOTOR_CONTROL_BOARD_PWM_1_PORT, BSP_MOTOR_CONTROL_BOARD_PWM_1_PIN);
00214 
00215   }
00216   else if(htim_pwm->Instance == BSP_MOTOR_CONTROL_BOARD_TIMER_PWM2)
00217   {
00218     /* Peripheral clock disable */
00219     __BSP_MOTOR_CONTROL_BOARD_TIMER_PWM2_CLCK_DISABLE();
00220   
00221     /* GPIO Deconfiguration */
00222     HAL_GPIO_DeInit(BSP_MOTOR_CONTROL_BOARD_PWM_2_PORT, BSP_MOTOR_CONTROL_BOARD_PWM_2_PIN);
00223 
00224   }
00225   else if(htim_pwm->Instance == BSP_MOTOR_CONTROL_BOARD_TIMER_PWM3)
00226   {
00227     /* Peripheral clock disable */
00228     __BSP_MOTOR_CONTROL_BOARD_TIMER_PWM3_CLCK_DISABLE();
00229     
00230     /* GPIO Deconfiguration */
00231     HAL_GPIO_DeInit(BSP_MOTOR_CONTROL_BOARD_PWM_3_PORT, BSP_MOTOR_CONTROL_BOARD_PWM_3_PIN);
00232   }
00233 }
00234 
00235 /**
00236   * @brief PWM Callback
00237   * @param[in] htim PWM handle pointer
00238   * @retval None
00239   */
00240 void HAL_TIM_PWM_PulseFinishedCallback(TIM_HandleTypeDef *htim)
00241 {
00242   if ((htim->Instance == BSP_MOTOR_CONTROL_BOARD_TIMER_PWM1)&& (htim->Channel == BSP_MOTOR_CONTROL_BOARD_HAL_ACT_CHAN_TIMER_PWM1))
00243   {
00244     if (BSP_MotorControl_GetDeviceState(0) != INACTIVE)
00245     {
00246       BSP_MotorControl_StepClockHandler(0);
00247     }
00248   }
00249   if ((htim->Instance == BSP_MOTOR_CONTROL_BOARD_TIMER_PWM2)&& (htim->Channel == BSP_MOTOR_CONTROL_BOARD_HAL_ACT_CHAN_TIMER_PWM2))
00250   {
00251     HAL_GPIO_TogglePin(BSP_MOTOR_CONTROL_BOARD_PWM_2_PORT, BSP_MOTOR_CONTROL_BOARD_PWM_2_PIN);
00252     if ((BSP_MotorControl_GetDeviceState(1) != INACTIVE)&& 
00253         (HAL_GPIO_ReadPin(BSP_MOTOR_CONTROL_BOARD_PWM_2_PORT, BSP_MOTOR_CONTROL_BOARD_PWM_2_PIN) == GPIO_PIN_SET))
00254     { 
00255       BSP_MotorControl_StepClockHandler(1);
00256     }
00257   }
00258   if ((htim->Instance == BSP_MOTOR_CONTROL_BOARD_TIMER_PWM3)&& (htim->Channel == BSP_MOTOR_CONTROL_BOARD_HAL_ACT_CHAN_TIMER_PWM3))
00259   {
00260     HAL_GPIO_TogglePin(BSP_MOTOR_CONTROL_BOARD_PWM_3_PORT, BSP_MOTOR_CONTROL_BOARD_PWM_3_PIN);
00261     if ((BSP_MotorControl_GetDeviceState(2) != INACTIVE)&& 
00262         (HAL_GPIO_ReadPin(BSP_MOTOR_CONTROL_BOARD_PWM_3_PORT, BSP_MOTOR_CONTROL_BOARD_PWM_3_PIN) == GPIO_PIN_SET))
00263     {
00264       BSP_MotorControl_StepClockHandler(2);
00265     }
00266   }
00267 }
00268 
00269 /**
00270   * @brief External Line Callback 
00271   * @param[in] GPIO_Pin pin number
00272   * @retval None
00273   */
00274 void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
00275 {
00276   if (GPIO_Pin == BSP_MOTOR_CONTROL_BOARD_FLAG_PIN)
00277   {
00278     BSP_MotorControl_FlagInterruptHandler();
00279   }
00280  }
00281 /**
00282   * @}
00283   */
00284 
00285 /**
00286   * @}
00287   */
00288 #endif
00289 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/