stm32f4xx_hal_msp.cpp

00001 /**
00002   ******************************************************************************
00003   * @file    Multi/Examples/MotionControl/IHM01A1_ExampleFor1Motor/Src/stm32f4xx_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_STM32F4
00038 /* Includes ------------------------------------------------------------------*/
00039 #include "ihm01a1.h"
00040 #include "mbed.h"
00041 
00042 /** @defgroup MSP_module
00043   * @brief HAL MSP module.
00044   * @{
00045   */
00046 
00047 /* Private typedef -----------------------------------------------------------*/
00048 /* Private define ------------------------------------------------------------*/
00049 /* Private macro -------------------------------------------------------------*/
00050 /* Private variables ---------------------------------------------------------*/
00051 
00052 /* Private function prototypes -----------------------------------------------*/
00053 extern void BSP_MotorControl_StepClockHandler(uint8_t deviceId); 
00054 extern void BSP_MotorControl_FlagInterruptHandler(void);
00055 /* Private functions ---------------------------------------------------------*/
00056 
00057 /** @defgroup HAL_MSP_Private_Functions
00058   * @{
00059   */
00060 
00061 /**
00062   * @brief SPI MSP Initialization 
00063   *        This function configures the hardware resources used in this example: 
00064   *           - Peripheral's clock enable
00065   *           - Peripheral's GPIO Configuration  
00066   * @param[in] hspi SPI handle pointer
00067   * @retval None
00068   */
00069 void HAL_SPI_MspInit(SPI_HandleTypeDef *hspi)
00070 {
00071   GPIO_InitTypeDef  GPIO_InitStruct;
00072   
00073   if(hspi->Instance == SPIx)
00074   {  
00075     /*##-1- Enable peripherals and GPIO Clocks #################################*/
00076     /* Enable GPIO TX/RX clock */
00077     SPIx_SCK_GPIO_CLK_ENABLE();
00078     SPIx_MISO_GPIO_CLK_ENABLE();
00079     SPIx_MOSI_GPIO_CLK_ENABLE();
00080     /* Enable SPI clock */
00081     SPIx_CLK_ENABLE(); 
00082     
00083     /*##-2- Configure peripheral GPIO ##########################################*/  
00084     /* SPI SCK GPIO pin configuration  */
00085     GPIO_InitStruct.Pin       = SPIx_SCK_PIN;
00086     GPIO_InitStruct.Mode      = GPIO_MODE_AF_PP;
00087     GPIO_InitStruct.Pull      = GPIO_NOPULL;
00088     GPIO_InitStruct.Speed     = GPIO_SPEED_MEDIUM;
00089     GPIO_InitStruct.Alternate = SPIx_SCK_AF;
00090     
00091     HAL_GPIO_Init(SPIx_SCK_GPIO_PORT, &GPIO_InitStruct);
00092       
00093     /* SPI MISO GPIO pin configuration  */
00094     GPIO_InitStruct.Pin = SPIx_MISO_PIN;
00095     GPIO_InitStruct.Alternate = SPIx_MISO_AF;
00096     
00097     HAL_GPIO_Init(SPIx_MISO_GPIO_PORT, &GPIO_InitStruct);
00098     
00099     /* SPI MOSI GPIO pin configuration  */
00100     GPIO_InitStruct.Pin = SPIx_MOSI_PIN;
00101     GPIO_InitStruct.Alternate = SPIx_MOSI_AF;
00102       
00103     HAL_GPIO_Init(SPIx_MOSI_GPIO_PORT, &GPIO_InitStruct);   
00104   }
00105 }
00106 
00107 /**
00108   * @brief SPI MSP De-Initialization 
00109   *        This function frees the hardware resources used in this example:
00110   *          - Disable the Peripheral's clock
00111   *          - Revert GPIO configuration to its default state
00112   * @param[in] hspi SPI handle pointer
00113   * @retval None
00114   */
00115 void HAL_SPI_MspDeInit(SPI_HandleTypeDef *hspi)
00116 {
00117   if(hspi->Instance == SPIx)
00118   {  
00119     /*##-1- Reset peripherals ##################################################*/
00120     SPIx_FORCE_RESET();
00121     SPIx_RELEASE_RESET();
00122 
00123     /*##-2- Disable peripherals and GPIO Clocks ################################*/
00124     /* Configure SPI SCK as alternate function  */
00125     HAL_GPIO_DeInit(SPIx_SCK_GPIO_PORT, SPIx_SCK_PIN);
00126     /* Configure SPI MISO as alternate function  */
00127     HAL_GPIO_DeInit(SPIx_MISO_GPIO_PORT, SPIx_MISO_PIN);
00128     /* Configure SPI MOSI as alternate function  */
00129     HAL_GPIO_DeInit(SPIx_MOSI_GPIO_PORT, SPIx_MOSI_PIN);
00130   }
00131 }
00132 
00133 /**
00134   * @brief PWM MSP Initialization 
00135   * @param[in] htim_pwm PWM handle pointer
00136   * @retval None
00137   */
00138 void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* htim_pwm)
00139 {
00140   GPIO_InitTypeDef GPIO_InitStruct;
00141   if(htim_pwm->Instance == BSP_MOTOR_CONTROL_BOARD_TIMER_PWM1)
00142   {
00143     /* Peripheral clock enable */
00144     __BSP_MOTOR_CONTROL_BOARD_TIMER_PWM1_CLCK_ENABLE();
00145   
00146     /* GPIO configuration */
00147     GPIO_InitStruct.Pin = BSP_MOTOR_CONTROL_BOARD_PWM_1_PIN;
00148     GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
00149     GPIO_InitStruct.Pull = GPIO_NOPULL;
00150     GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
00151     GPIO_InitStruct.Alternate = BSP_MOTOR_CONTROL_BOARD_AFx_TIMx_PWM1;
00152     HAL_GPIO_Init(BSP_MOTOR_CONTROL_BOARD_PWM_1_PORT, &GPIO_InitStruct);
00153 
00154     /* Set Interrupt Group Priority of Timer Interrupt*/ 
00155     HAL_NVIC_SetPriority(BSP_MOTOR_CONTROL_BOARD_PWM1_IRQn, 4, 0);
00156     
00157     /* Enable the timer global Interrupt */
00158     HAL_NVIC_EnableIRQ(BSP_MOTOR_CONTROL_BOARD_PWM1_IRQn);  
00159   }
00160   else if(htim_pwm->Instance == BSP_MOTOR_CONTROL_BOARD_TIMER_PWM2)
00161   {
00162     /* Peripheral clock enable */
00163     __BSP_MOTOR_CONTROL_BOARD_TIMER_PWM2_CLCK_ENABLE();
00164   
00165     /* GPIO configuration */
00166     GPIO_InitStruct.Pin = BSP_MOTOR_CONTROL_BOARD_PWM_2_PIN;
00167     GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
00168     GPIO_InitStruct.Pull = GPIO_NOPULL;
00169     GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
00170     GPIO_InitStruct.Alternate = BSP_MOTOR_CONTROL_BOARD_AFx_TIMx_PWM2;
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, 4, 0);
00175     
00176     /* Enable the timer2 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     if (BSP_MotorControl_GetDeviceState(1) != INACTIVE)
00252     { 
00253       BSP_MotorControl_StepClockHandler(1);
00254     }
00255   }
00256   if ((htim->Instance == BSP_MOTOR_CONTROL_BOARD_TIMER_PWM3)&& (htim->Channel == BSP_MOTOR_CONTROL_BOARD_HAL_ACT_CHAN_TIMER_PWM3))
00257   {
00258     HAL_GPIO_TogglePin(BSP_MOTOR_CONTROL_BOARD_PWM_3_PORT, BSP_MOTOR_CONTROL_BOARD_PWM_3_PIN);
00259     if ((BSP_MotorControl_GetDeviceState(2) != INACTIVE)&& 
00260         (HAL_GPIO_ReadPin(BSP_MOTOR_CONTROL_BOARD_PWM_3_PORT, BSP_MOTOR_CONTROL_BOARD_PWM_3_PIN) == GPIO_PIN_SET))
00261     {
00262       BSP_MotorControl_StepClockHandler(2);
00263     }
00264   }
00265 }
00266 
00267 /**
00268   * @brief External Line Callback 
00269   * @param[in] GPIO_Pin pin number
00270   * @retval None
00271   */
00272 void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
00273 {
00274   if (GPIO_Pin == BSP_MOTOR_CONTROL_BOARD_FLAG_PIN)
00275   {
00276     BSP_MotorControl_FlagInterruptHandler();
00277   }
00278  }
00279 /**
00280   * @}
00281   */
00282 
00283 /**
00284   * @}
00285   */
00286 
00287 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
00288 #endif