不知道你的具体使用环境，我还是告诉你去哪里找参考吧。 ST有一个3D打印机的EVK，叫STEVAL-3DP001V1，里面用的是6个L6470H级联，L6470和L6480的通讯协议和控制部分基本相同，你可以参考这个开源的代码。 源代码地址在http://www.st.com/content/st_com/en/products/embedded-software/evaluation-tool-software/stsw-3dp001.html#get-software 怪事，原来是放在github上的，怎么现在要注册才能下载了。。。工程很大，你自己去下载吧。 在UM2076里面说了，stm32_cube\Drivers\BSP\STM32F4xx-3dPrinter\stm32f4xx_3dprinter_misc.c是步进驱动相关的代码 这个驱动的文件我拷贝在这给你悄悄，不够信息就要你自己去下载完整工程啦。 /** ****************************************************************************** * @file stm32f4xx_3dPrinter_motor.c * @author IPC Rennes * @version V1.0.0 * @date January 29, 2015 * @brief motor functions of 3D Printer BSP driver * (based on L6474) ****************************************************************************** * @attention * * <h2><center>© COPYRIGHT(c) 2015 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. * ****************************************************************************** */ /* Includes ------------------------------------------------------------------*/ #include "l6474.h" #include "stm32f4xx_3dprinter_motor.h" #include "motorcontrol.h" /** @addtogroup BSP * @{ */ /** @defgroup STM32F4XX_3DPRINTER_MOTOR * @{ */ /* Private constants ---------------------------------------------------------*/ /** @defgroup STM32F4XX_3DPRINTER_MOTOR_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 STM32F4XX_3DPRINTER_MOTOR_Board_Private_Variables * @{ */ /// SPI handler declaration static SPI_HandleTypeDef SpiHandle; /// Timer handler for PWMX TIM_HandleTypeDef hTimPwmX; /// Timer handler for PWMY TIM_HandleTypeDef hTimPwmY; /// Timer handler for PWMZ TIM_HandleTypeDef hTimPwmZ; /// Timer handler for PWME1 TIM_HandleTypeDef hTimPwmE1; /// Timer handler for PWME2 TIM_HandleTypeDef hTimPwmE2; /// Timer handler for PWME3 TIM_HandleTypeDef hTimPwmE3; /** * @} */ /** @defgroup STM32F4XX_3DPRINTER_MOTOR_Board_Private_Function_Prototypes * @{ */ void BSP_MotorControlBoard_Delay(uint32_t delay); //Delay of the requested number of milliseconds void BSP_MotorControlBoard_DisableIrq(void); //Disable Irq void BSP_MotorControlBoard_EnableIrq(void); //Enable Irq void BSP_MotorControlBoard_GpioInit(uint8_t nbDevices); //Initialise GPIOs used for L6474s void BSP_MotorControlBoard_PwmXSetFreq(uint16_t newFreq); //Set PWM_X frequency and start it void BSP_MotorControlBoard_PwmYSetFreq(uint16_t newFreq); //Set PWM_Y frequency and start it void BSP_MotorControlBoard_PwmZSetFreq(uint16_t newFreq); //Set PWM_Z frequency and start it void BSP_MotorControlBoard_PwmE1SetFreq(uint16_t newFreq); //Set PWM_E1 frequency and start it void BSP_MotorControlBoard_PwmE2SetFreq(uint16_t newFreq); //Set PWM_E2 frequency and start it void BSP_MotorControlBoard_PwmE3SetFreq(uint16_t newFreq); //Set PWM_E3 frequency and start it void BSP_MotorControlBoard_PwmE4SetFreq(uint16_t newFreq); //Set PWM_E4 frequency and start it void BSP_MotorControlBoard_PwmInit(uint8_t deviceId); //Init the PWM of the specified device void BSP_MotorControlBoard_PwmStop(uint8_t deviceId); //Stop the PWM of the specified device void BSP_MotorControlBoard_ReleaseReset(void); //Reset the L6474 reset pin void BSP_MotorControlBoard_Reset(void); //Set the L6474 reset pin void BSP_MotorControlBoard_SetDirectionGpio(uint8_t deviceId, uint8_t gpioState); //Set direction GPIO uint8_t BSP_MotorControlBoard_SpiInit(void); //Initialise the SPI used for L6474s uint8_t BSP_MotorControlBoard_SpiWriteBytes(uint8_t *pByteToTransmit, uint8_t *pReceivedByte, uint8_t nbDevices); //Write bytes to the L6474s via SPI /** * @} */ /** @defgroup STM32F4XX_3DPRINTER_MOTOR_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 */ __GPIOA_CLK_ENABLE(); __GPIOB_CLK_ENABLE(); __GPIOC_CLK_ENABLE(); __GPIOD_CLK_ENABLE(); __GPIOE_CLK_ENABLE(); /* Configure L6474 - DIR pin for device 0 -------------------------------*/ GPIO_InitStruct.Pin = BSP_MOTOR_CONTROL_BOARD_DIR_X_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_X_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(BSP_MOTOR_CONTROL_BOARD_FLAG_IRQn, 7, 0); /* Enable the External Line Interrupt used for the Flag interrupt*/ HAL_NVIC_EnableIRQ(BSP_MOTOR_CONTROL_BOARD_FLAG_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_X_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_X_PORT, &GPIO_InitStruct); GPIO_InitStruct.Pin = BSP_MOTOR_CONTROL_BOARD_RESET_Y_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_Y_PORT, &GPIO_InitStruct); GPIO_InitStruct.Pin = BSP_MOTOR_CONTROL_BOARD_RESET_Z_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_Z_PORT, &GPIO_InitStruct); GPIO_InitStruct.Pin = BSP_MOTOR_CONTROL_BOARD_RESET_E1_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_E1_PORT, &GPIO_InitStruct); GPIO_InitStruct.Pin = BSP_MOTOR_CONTROL_BOARD_RESET_E2_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_E2_PORT, &GPIO_InitStruct); GPIO_InitStruct.Pin = BSP_MOTOR_CONTROL_BOARD_RESET_E3_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_E3_PORT, &GPIO_InitStruct); BSP_MotorControlBoard_Reset(); if (nbDevices > 1) { /* Configure L6474 - DIR pin for device 1 ----------------------------*/ GPIO_InitStruct.Pin = BSP_MOTOR_CONTROL_BOARD_DIR_Y_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_Y_PORT, &GPIO_InitStruct); } if (nbDevices > 2) { /* Configure L6474 - DIR pin for device 2 ----------------------------*/ GPIO_InitStruct.Pin = BSP_MOTOR_CONTROL_BOARD_DIR_Z_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_Z_PORT, &GPIO_InitStruct); } if (nbDevices > 3) { /* Configure L6474 - DIR pin for device 3 ----------------------------*/ GPIO_InitStruct.Pin = BSP_MOTOR_CONTROL_BOARD_DIR_E1_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_E1_PORT, &GPIO_InitStruct); } if (nbDevices > 4) { /* Configure L6474 - DIR pin for device 4 ----------------------------*/ GPIO_InitStruct.Pin = BSP_MOTOR_CONTROL_BOARD_DIR_E2_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_E2_PORT, &GPIO_InitStruct); } if (nbDevices > 5) { /* Configure L6474 - DIR pin for device 5 ----------------------------*/ GPIO_InitStruct.Pin = BSP_MOTOR_CONTROL_BOARD_DIR_E3_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_E3_PORT, &GPIO_InitStruct); } } /******************************************************//** * @brief Sets the frequency of PWM_X 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_PwmXSetFreq(uint16_t newFreq) { uint32_t sysFreq = HAL_RCC_GetSysClockFreq(); uint32_t period = (sysFreq/ (TIMER_PRESCALER * BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_X_FREQ_RESCALER * (uint32_t)newFreq)) - 1; __HAL_TIM_SetAutoreload(&hTimPwmX, period); __HAL_TIM_SetCompare(&hTimPwmX, BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM_X, period >> 1); HAL_TIM_PWM_Start_IT(&hTimPwmX, BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM_X); } /******************************************************//** * @brief Sets the frequency of PWM_Y 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_PwmYSetFreq(uint16_t newFreq) { uint32_t sysFreq = HAL_RCC_GetSysClockFreq(); uint32_t period = (sysFreq/ (TIMER_PRESCALER * BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_Y_FREQ_RESCALER * (uint32_t)newFreq)) - 1; __HAL_TIM_SetAutoreload(&hTimPwmY, period); __HAL_TIM_SetCompare(&hTimPwmY, BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM_Y, period >> 1); HAL_TIM_PWM_Start_IT(&hTimPwmY, BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM_Y); } /******************************************************//** * @brief Sets the frequency of PWM_Z 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_PwmZSetFreq(uint16_t newFreq) { uint32_t sysFreq = HAL_RCC_GetSysClockFreq(); uint32_t period = (sysFreq/ (TIMER_PRESCALER * BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_Z_FREQ_RESCALER * (uint32_t)newFreq)) - 1; __HAL_TIM_SetAutoreload(&hTimPwmZ, period); __HAL_TIM_SetCompare(&hTimPwmZ, BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM_Z, period >> 1); HAL_TIM_PWM_Start_IT(&hTimPwmZ, BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM_Z); } /******************************************************//** * @brief Sets the frequency of PWM_E1 used by device 3 * @param[in] newFreq in Hz * @retval None * @note The frequency is directly the current speed of the device **********************************************************/ void BSP_MotorControlBoard_PwmE1SetFreq(uint16_t newFreq) { uint32_t sysFreq = HAL_RCC_GetSysClockFreq(); uint32_t period = (sysFreq/ (TIMER_PRESCALER * BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_E1_FREQ_RESCALER * (uint32_t)newFreq)) - 1; __HAL_TIM_SetAutoreload(&hTimPwmE1, period); __HAL_TIM_SetCompare(&hTimPwmE1, BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM_E1, period >> 1); HAL_TIM_PWM_Start_IT(&hTimPwmE1, BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM_E1); } /******************************************************//** * @brief Sets the frequency of PWM_E2 used by device 4 * @param[in] newFreq in Hz * @retval None * @note The frequency is directly the current speed of the device **********************************************************/ void BSP_MotorControlBoard_PwmE2SetFreq(uint16_t newFreq) { uint32_t sysFreq = HAL_RCC_GetSysClockFreq(); uint32_t period = (sysFreq/ (TIMER_PRESCALER * BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_E2_FREQ_RESCALER * (uint32_t)newFreq)) - 1; __HAL_TIM_SetAutoreload(&hTimPwmE2, period); __HAL_TIM_SetCompare(&hTimPwmE2, BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM_E2, period >> 1); HAL_TIM_PWM_Start_IT(&hTimPwmE2, BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM_E2); } /******************************************************//** * @brief Sets the frequency of PWM_E3 used by device 5 * @param[in] newFreq in Hz * @retval None * @note The frequency is directly the current speed of the device **********************************************************/ void BSP_MotorControlBoard_PwmE3SetFreq(uint16_t newFreq) { uint32_t sysFreq = HAL_RCC_GetSysClockFreq(); uint32_t period = (sysFreq/ (TIMER_PRESCALER * BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_E3_FREQ_RESCALER * (uint32_t)newFreq)) - 1; __HAL_TIM_SetAutoreload(&hTimPwmE3, period); __HAL_TIM_SetCompare(&hTimPwmE3, BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM_E3, period >> 1); HAL_TIM_PWM_Start_IT(&hTimPwmE3, BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM_E3); } /******************************************************//** * @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 = &hTimPwmX; pHTim->Instance = BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_X; channel = BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM_X; break; case 1: pHTim = &hTimPwmY; pHTim->Instance = BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_Y; channel = BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM_Y; break; case 2: pHTim = &hTimPwmZ; pHTim->Instance = BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_Z; channel = BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM_Z; break; case 3: pHTim = &hTimPwmE1; pHTim->Instance = BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_E1; channel = BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM_E1; break; case 4: pHTim = &hTimPwmE2; pHTim->Instance = BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_E2; channel = BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM_E2; break; case 5: pHTim = &hTimPwmE3; pHTim->Instance = BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_E3; channel = BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM_E3; 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(&hTimPwmX,BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM_X); break; case 1: HAL_TIM_PWM_Stop(&hTimPwmY,BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM_Y); break; case 2: HAL_TIM_PWM_Stop(&hTimPwmZ,BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM_Z); break; case 3: HAL_TIM_PWM_Stop(&hTimPwmE1,BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM_E1); break; case 4: HAL_TIM_PWM_Stop(&hTimPwmE2,BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM_E2); break; case 5: HAL_TIM_PWM_Stop(&hTimPwmE3,BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM_E3); 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_X_PORT, BSP_MOTOR_CONTROL_BOARD_RESET_X_PIN, GPIO_PIN_SET); HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_RESET_Y_PORT, BSP_MOTOR_CONTROL_BOARD_RESET_Y_PIN, GPIO_PIN_SET); HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_RESET_Z_PORT, BSP_MOTOR_CONTROL_BOARD_RESET_Z_PIN, GPIO_PIN_SET); HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_RESET_E1_PORT, BSP_MOTOR_CONTROL_BOARD_RESET_E1_PIN, GPIO_PIN_SET); HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_RESET_E2_PORT, BSP_MOTOR_CONTROL_BOARD_RESET_E2_PIN, GPIO_PIN_SET); HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_RESET_E3_PORT, BSP_MOTOR_CONTROL_BOARD_RESET_E3_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_X_PORT, BSP_MOTOR_CONTROL_BOARD_RESET_X_PIN, GPIO_PIN_RESET); HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_RESET_Y_PORT, BSP_MOTOR_CONTROL_BOARD_RESET_Y_PIN, GPIO_PIN_RESET); HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_RESET_Z_PORT, BSP_MOTOR_CONTROL_BOARD_RESET_Z_PIN, GPIO_PIN_RESET); HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_RESET_E1_PORT, BSP_MOTOR_CONTROL_BOARD_RESET_E1_PIN, GPIO_PIN_RESET); HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_RESET_E2_PORT, BSP_MOTOR_CONTROL_BOARD_RESET_E2_PIN, GPIO_PIN_RESET); HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_RESET_E3_PORT, BSP_MOTOR_CONTROL_BOARD_RESET_E3_PIN, GPIO_PIN_RESET); } /******************************************************//** * @brief Set the GPIO used for the direction * @param[in] deviceId (from 0 to 6) * @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 5: HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_DIR_E3_PORT, BSP_MOTOR_CONTROL_BOARD_DIR_E3_PIN, (GPIO_PinState)gpioState); break; case 4: HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_DIR_E2_PORT, BSP_MOTOR_CONTROL_BOARD_DIR_E2_PIN, (GPIO_PinState)gpioState); break; case 3: HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_DIR_E1_PORT, BSP_MOTOR_CONTROL_BOARD_DIR_E1_PIN, (GPIO_PinState)gpioState); break; case 2: HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_DIR_Z_PORT, BSP_MOTOR_CONTROL_BOARD_DIR_Z_PIN, (GPIO_PinState)gpioState); break; case 1: HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_DIR_Y_PORT, BSP_MOTOR_CONTROL_BOARD_DIR_Y_PIN, (GPIO_PinState)gpioState); break; case 0: HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_DIR_X_PORT, BSP_MOTOR_CONTROL_BOARD_DIR_X_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 = HAL_ERROR; 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; } /** * @} */ /** * @} */ /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ /** ****************************************************************************** * @file stm32f4xx_3dPrinter_motor.h * @author IPC Rennes * @version V1.0.0 * @date January 29, 2015 * @brief Header for motor functions of 3D Printer BSP driver * (based on L6474) ****************************************************************************** * @attention * * <h2><center>© 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. * ****************************************************************************** */ /* Define to prevent recursive inclusion -------------------------------------*/ #ifndef __STM32F4XX_3DPRINTER_MOTOR_H #define __STM32F4XX_3DPRINTER_MOTOR_H #ifdef __cplusplus extern "C" { #endif /* Includes ------------------------------------------------------------------*/ //#include "stm32f4xx_nucleo.h" #include "stm32f4xx_hal.h" /** @addtogroup BSP * @{ */ /** @addtogroup STM32F4XX_3DPRINTER_MOTOR * @{ */ /* Exported Constants --------------------------------------------------------*/ /** @defgroup STM32F4XX_3DPRINTER_MOTOR_Exported_Constants * @{ */ /******************************************************************************/ /* USE_STM32F4XX_NUCLEO */ /******************************************************************************/ /** @defgroup Constants_For_STM32F4XX_3DPRINTER_MOTOR_MOTOR * @{ */ /// Interrupt line used for L6474 FLAG #define BSP_MOTOR_CONTROL_BOARD_FLAG_IRQn (EXTI15_10_IRQn) /// Timer used for PWM_X #define BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_X (TIM1) /// Channel Timer used for PWM_X #define BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM_X (TIM_CHANNEL_4) /// HAL Active Channel Timer used for PWM_X #define BSP_MOTOR_CONTROL_BOARD_HAL_ACT_CHAN_TIMER_PWM_X (HAL_TIM_ACTIVE_CHANNEL_4) /// Timer Clock Enable for PWM1 #define __BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_X_CLCK_ENABLE() __TIM1_CLK_ENABLE() /// Timer Clock Disable for PWM1 #define __BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_X_CLCK_DISABLE() __TIM1_CLK_DISABLE() /// PWM_X global interrupt #define BSP_MOTOR_CONTROL_BOARD_PWM_X_IRQn (TIM1_CC_IRQn) /// PWM1 GPIO alternate function #define BSP_MOTOR_CONTROL_BOARD_AFx_TIMx_PWM_X (GPIO_AF1_TIM1) /// PWM1 frequency rescaler (1 for HW PWM, 2 for SW PWM) #define BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_X_FREQ_RESCALER (1) /// Timer used for PWM_Y #define BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_Y (TIM2) /// Channel Timer used for PWM_Y #define BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM_Y (TIM_CHANNEL_3) /// HAL Active Channel Timer used for PWM_Y #define BSP_MOTOR_CONTROL_BOARD_HAL_ACT_CHAN_TIMER_PWM_Y (HAL_TIM_ACTIVE_CHANNEL_3) /// Timer Clock Enable for PWM_Y #define __BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_Y_CLCK_ENABLE() __TIM2_CLK_ENABLE() /// Timer Clock Disable for PWM_Y #define __BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_Y_CLCK_DISABLE() __TIM2_CLK_DISABLE() /// PWM_Y global interrupt #define BSP_MOTOR_CONTROL_BOARD_PWM_Y_IRQn (TIM2_IRQn) /// PWM_Y GPIO alternate function #define BSP_MOTOR_CONTROL_BOARD_AFx_TIMx_PWM_Y (GPIO_AF1_TIM2) /// PWM_Y frequency rescaler (1 for HW PWM, 2 for SW PWM) #define BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_Y_FREQ_RESCALER (1) /// Timer used for PWM_Z #define BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_Z (TIM3) /// Channel Timer used for PWM_Z #define BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM_Z (TIM_CHANNEL_1) /// HAL Active Channel Timer used for PWM_Z #define BSP_MOTOR_CONTROL_BOARD_HAL_ACT_CHAN_TIMER_PWM_Z (HAL_TIM_ACTIVE_CHANNEL_1) /// Timer Clock Enable for PWM_Z #define __BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_Z_CLCK_ENABLE() __TIM3_CLK_ENABLE() /// Timer Clock Disable for PWM_Z #define __BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_Z_CLCK_DISABLE() __TIM3_CLK_DISABLE() /// PWM_Z global interrupt #define BSP_MOTOR_CONTROL_BOARD_PWM_Z_IRQn (TIM3_IRQn) /// PWM_Z GPIO alternate function #define BSP_MOTOR_CONTROL_BOARD_AFx_TIMx_PWM_Z (GPIO_AF2_TIM3) /// PWM_Z frequency rescaler (1 for HW PWM, 2 for SW PWM) #define BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_Z_FREQ_RESCALER (1) /// Timer used for PWM_E1 #define BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_E1 (TIM4) /// Channel Timer used for PWM_E1 #define BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM_E1 (TIM_CHANNEL_1) /// HAL Active Channel Timer used for PWM_E1 #define BSP_MOTOR_CONTROL_BOARD_HAL_ACT_CHAN_TIMER_PWM_E1 (HAL_TIM_ACTIVE_CHANNEL_1) /// Timer Clock Enable for PWM_E1 #define __BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_E1_CLCK_ENABLE() __TIM4_CLK_ENABLE() /// Timer Clock Disable for PWM_E1 #define __BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_E1_CLCK_DISABLE() __TIM4_CLK_DISABLE() /// PWM_E1 global interrupt #define BSP_MOTOR_CONTROL_BOARD_PWM_E1_IRQn (TIM4_IRQn) /// PWM_E1 GPIO alternate function #define BSP_MOTOR_CONTROL_BOARD_AFx_TIMx_PWM_E1 (GPIO_AF2_TIM4) /// PWM_E1 frequency rescaler (1 for HW PWM, 2 for SW PWM) #define BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_E1_FREQ_RESCALER (1) /// Timer used for PWM_E2 #define BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_E2 (TIM9) /// Channel Timer used for PWM_E2 #define BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM_E2 (TIM_CHANNEL_1) /// HAL Active Channel Timer used for PWM_E2 #define BSP_MOTOR_CONTROL_BOARD_HAL_ACT_CHAN_TIMER_PWM_E2 (HAL_TIM_ACTIVE_CHANNEL_1) /// Timer Clock Enable for PWM_E2 #define __BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_E2_CLCK_ENABLE() __TIM9_CLK_ENABLE() /// Timer Clock Disable for PWM_E2 #define __BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_E2_CLCK_DISABLE() __TIM9_CLK_DISABLE() /// PWM_E2 global interrupt #define BSP_MOTOR_CONTROL_BOARD_PWM_E2_IRQn (TIM1_BRK_TIM9_IRQn) /// PWM_E2 GPIO alternate function #define BSP_MOTOR_CONTROL_BOARD_AFx_TIMx_PWM_E2 (GPIO_AF3_TIM9) /// PWM_E2 frequency rescaler (1 for HW PWM, 2 for SW PWM) #define BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_E2_FREQ_RESCALER (1) /// Timer used for PWM_E3 #define BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_E3 (TIM10) /// Channel Timer used for PWM_E3 #define BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM_E3 (TIM_CHANNEL_1) /// HAL Active Channel Timer used for PWM_E3 #define BSP_MOTOR_CONTROL_BOARD_HAL_ACT_CHAN_TIMER_PWM_E3 (HAL_TIM_ACTIVE_CHANNEL_1) /// Timer Clock Enable for PWM_E3 #define __BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_E3_CLCK_ENABLE() __TIM10_CLK_ENABLE() /// Timer Clock Disable for PWM_E3 #define __BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_E3_CLCK_DISABLE() __TIM10_CLK_DISABLE() /// PWM_E3 global interrupt #define BSP_MOTOR_CONTROL_BOARD_PWM_E3_IRQn (TIM1_UP_TIM10_IRQn) /// PWM_E3 GPIO alternate function #define BSP_MOTOR_CONTROL_BOARD_AFx_TIMx_PWM_E3 (GPIO_AF3_TIM10) /// PWM_E3 frequency rescaler (1 for HW PWM, 2 for SW PWM) #define BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_E3_FREQ_RESCALER (1) /** * @} */ /******************************************************************************/ /* Independent plateform definitions */ /******************************************************************************/ /** @defgroup Constants_For_Motor_GPIO_Mapping * @{ */ /// GPIO Pin used for the L6474 flag pin #define BSP_MOTOR_CONTROL_BOARD_FLAG_PIN (GPIO_PIN_1) /// GPIO port used for the L6474 flag pin #define BSP_MOTOR_CONTROL_BOARD_FLAG_PORT (GPIOE) /// GPIO Pin used for the L6474 step clock pin of device 0 #define BSP_MOTOR_CONTROL_BOARD_PWM_X_PIN (GPIO_PIN_14) /// GPIO Port used for the L6474 step clock pin of device 0 #define BSP_MOTOR_CONTROL_BOARD_PWM_X_PORT (GPIOE) /// GPIO Pin used for the L6474 step clock pin of device 1 #define BSP_MOTOR_CONTROL_BOARD_PWM_Y_PIN (GPIO_PIN_10) /// GPIO port used for the L6474 step clock pin of device 1 #define BSP_MOTOR_CONTROL_BOARD_PWM_Y_PORT (GPIOB) /// GPIO Pin used for the L6474 step clock pin of device 2 #define BSP_MOTOR_CONTROL_BOARD_PWM_Z_PIN (GPIO_PIN_6) /// GPIO port used for the L6474 step clock pin of device 2 #define BSP_MOTOR_CONTROL_BOARD_PWM_Z_PORT (GPIOC) /// GPIO Pin used for the L6474 step clock pin of device 3 #define BSP_MOTOR_CONTROL_BOARD_PWM_E1_PIN (GPIO_PIN_12) /// GPIO port used for the L6474 step clock pin of device 3 #define BSP_MOTOR_CONTROL_BOARD_PWM_E1_PORT (GPIOD) /// GPIO Pin used for the L6474 step clock pin of device 4 #define BSP_MOTOR_CONTROL_BOARD_PWM_E2_PIN (GPIO_PIN_5) /// GPIO port used for the L6474 step clock pin of device 4 #define BSP_MOTOR_CONTROL_BOARD_PWM_E2_PORT (GPIOE) /// GPIO Pin used for the L6474 step clock pin of device 5 #define BSP_MOTOR_CONTROL_BOARD_PWM_E3_PIN (GPIO_PIN_8) /// GPIO port used for the L6474 step clock pin of device 5 #define BSP_MOTOR_CONTROL_BOARD_PWM_E3_PORT (GPIOB) /// GPIO Pin used for the L6474 direction pin of device 0 * #define BSP_MOTOR_CONTROL_BOARD_DIR_X_PIN (GPIO_PIN_15) /// GPIO port used for the L6474 direction pin of device 0 * #define BSP_MOTOR_CONTROL_BOARD_DIR_X_PORT (GPIOE) /// GPIO Pin used for the L6474 direction pin of device 1 * #define BSP_MOTOR_CONTROL_BOARD_DIR_Y_PIN (GPIO_PIN_9) /// GPIO port used for the L6474 direction pin of device 1 * #define BSP_MOTOR_CONTROL_BOARD_DIR_Y_PORT (GPIOE) /// GPIO Pin used for the L6474 direction pin of device 2 * #define BSP_MOTOR_CONTROL_BOARD_DIR_Z_PIN (GPIO_PIN_0) /// GPIO port used for the L6474 direction pin of device 2 * #define BSP_MOTOR_CONTROL_BOARD_DIR_Z_PORT (GPIOC) /// GPIO Pin used for the L6474 direction pin of device 3 * #define BSP_MOTOR_CONTROL_BOARD_DIR_E1_PIN (GPIO_PIN_13) /// GPIO port used for the L6474 direction pin of device 3 * #define BSP_MOTOR_CONTROL_BOARD_DIR_E1_PORT (GPIOC) /// GPIO Pin used for the L6474 direction pin of device 4 #define BSP_MOTOR_CONTROL_BOARD_DIR_E2_PIN (GPIO_PIN_6) /// GPIO port used for the L6474 direction pin of device 4 #define BSP_MOTOR_CONTROL_BOARD_DIR_E2_PORT (GPIOE) /// GPIO Pin used for the L6474 direction pin of device 5 #define BSP_MOTOR_CONTROL_BOARD_DIR_E3_PIN (GPIO_PIN_2) /// GPIO port used for the L6474 direction pin of device 5 #define BSP_MOTOR_CONTROL_BOARD_DIR_E3_PORT (GPIOE) /// GPIO Pin used for the L6474 reset pin (device 0) * #define BSP_MOTOR_CONTROL_BOARD_RESET_X_PIN (GPIO_PIN_13) /// GPIO port used for the L6474 reset (device 0) * #define BSP_MOTOR_CONTROL_BOARD_RESET_X_PORT (GPIOE) /// GPIO Pin used for the L6474 reset pin (device 1) * #define BSP_MOTOR_CONTROL_BOARD_RESET_Y_PIN (GPIO_PIN_10) /// GPIO port used for the L6474 reset pin (device 1) * #define BSP_MOTOR_CONTROL_BOARD_RESET_Y_PORT (GPIOE) /// GPIO Pin used for the L6474 reset pin (device 2) * #define BSP_MOTOR_CONTROL_BOARD_RESET_Z_PIN (GPIO_PIN_15) /// GPIO port used for the L6474 reset pin (device 2) * #define BSP_MOTOR_CONTROL_BOARD_RESET_Z_PORT (GPIOC) /// GPIO Pin used for the L6474 reset pin (device 3) * #define BSP_MOTOR_CONTROL_BOARD_RESET_E1_PIN (GPIO_PIN_14) /// GPIO port used for the L6474 reset pin (device 3) * #define BSP_MOTOR_CONTROL_BOARD_RESET_E1_PORT (GPIOC) /// GPIO Pin used for the L6474 reset pin (device 4) #define BSP_MOTOR_CONTROL_BOARD_RESET_E2_PIN (GPIO_PIN_4) /// GPIO port used for the L6474 reset pin (device 4) #define BSP_MOTOR_CONTROL_BOARD_RESET_E2_PORT (GPIOE) /// GPIO Pin used for the L6474 reset pin (device 5) #define BSP_MOTOR_CONTROL_BOARD_RESET_E3_PIN (GPIO_PIN_3) /// GPIO port used for the L6474 reset pin (device 5) #define BSP_MOTOR_CONTROL_BOARD_RESET_E3_PORT (GPIOE) /// GPIO Pin used for the L6474 SPI chip select pin #define BSP_MOTOR_CONTROL_BOARD_CS_PIN (GPIO_PIN_4) /// GPIO port used for the L6474 SPI chip select pin #define BSP_MOTOR_CONTROL_BOARD_CS_PORT (GPIOA) /* Definition for SPIx clock resources */ /// Used SPI #define SPIx (SPI1) /// SPI clock enable #define SPIx_CLK_ENABLE() __SPI1_CLK_ENABLE() /// SPI SCK enable #define SPIx_SCK_GPIO_CLK_ENABLE() __GPIOA_CLK_ENABLE() /// SPI MISO enable #define SPIx_MISO_GPIO_CLK_ENABLE() __GPIOA_CLK_ENABLE() /// SPI MOSI enable #define SPIx_MOSI_GPIO_CLK_ENABLE() __GPIOA_CLK_ENABLE() /// SPI Force reset #define SPIx_FORCE_RESET() __SPI1_FORCE_RESET() /// SPI Release reset #define SPIx_RELEASE_RESET() __SPI1_RELEASE_RESET() /// SPI SCK pin #define SPIx_SCK_PIN (GPIO_PIN_5) /// SPI SCK port #define SPIx_SCK_GPIO_PORT (GPIOA) /// SPI MISO pin #define SPIx_MISO_PIN (GPIO_PIN_6) /// SPI MISO port #define SPIx_MISO_GPIO_PORT (GPIOA) /// SPI MOSI pin #define SPIx_MOSI_PIN (GPIO_PIN_7) /// SPI MOSI port #define SPIx_MOSI_GPIO_PORT (GPIOA) /// SPI_SCK alternate function #define SPIx_SCK_AF (GPIO_AF5_SPI1) /// SPI MISO AF #define SPIx_MISO_AF (SPIx_SCK_AF) /// SPI MOSI AF #define SPIx_MOSI_AF (SPIx_SCK_AF) /** * @} */ /** * @} */ /** * @} */ #ifdef __cplusplus } #endif #endif /* __STM32F4XX_3DPRINTER_MOTOR_H */ /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
