servo/firmware/Src/spi.c

/* USER CODE BEGIN Header */
/**
 ******************************************************************************
 * @file    spi.c
 * @brief   This file provides code for the configuration
 *          of the SPI instances.
 ******************************************************************************
 * @attention
 *
 * Copyright (c) 2024 STMicroelectronics.
 * All rights reserved.
 *
 * This software is licensed under terms that can be found in the LICENSE file
 * in the root directory of this software component.
 * If no LICENSE file comes with this software, it is provided AS-IS.
 *
 ******************************************************************************
 */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "spi.h"

/* USER CODE BEGIN 0 */

// AS5040 diagnostic bits

uint16_t AS5045_ReadAngle(SPI_HandleTypeDef *hspi, uint8_t *status)
{
  uint16_t rawData = 0;
  HAL_GPIO_WritePin(GPIOB, GPIO_PIN_15, GPIO_PIN_RESET);
  HAL_SPI_Receive(&hspi2, (uint8_t *)&rawData, 2, HAL_MAX_DELAY);
  HAL_GPIO_WritePin(GPIOB, GPIO_PIN_15, GPIO_PIN_SET);
  *status = 0;
  if (rawData & AS5040_DIAG_OC_FAULT)
  {
    *status |= AS5040_DIAG_OC_FAULT;
  }
  if (rawData & AS5040_DIAG_CO_FAULT)
  {
    *status |= AS5040_DIAG_CO_FAULT;
  }
  if (rawData & AS5040_DIAG_LIN_FAULT)
  {
    *status |= AS5040_DIAG_LIN_FAULT;
  }
  return (rawData >> 5) & 0x3FFF;
}

float NormalizeToDegrees(uint16_t angleValue)
{
  float degrees = (angleValue * 360.0f) / 1024.0f;
  return degrees;
}
/* USER CODE END 0 */

SPI_HandleTypeDef hspi2;

/* SPI2 init function */
void MX_SPI2_Init(void)
{

  /* USER CODE BEGIN SPI2_Init 0 */

  /* USER CODE END SPI2_Init 0 */

  /* USER CODE BEGIN SPI2_Init 1 */

  /* USER CODE END SPI2_Init 1 */
  hspi2.Instance = SPI2;
  hspi2.Init.Mode = SPI_MODE_MASTER;
  hspi2.Init.Direction = SPI_DIRECTION_2LINES;
  hspi2.Init.DataSize = SPI_DATASIZE_16BIT;
  hspi2.Init.CLKPolarity = SPI_POLARITY_LOW;
  hspi2.Init.CLKPhase = SPI_PHASE_1EDGE;
  hspi2.Init.NSS = SPI_NSS_SOFT;
  hspi2.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_64;
  hspi2.Init.FirstBit = SPI_FIRSTBIT_MSB;
  hspi2.Init.TIMode = SPI_TIMODE_DISABLE;
  hspi2.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
  hspi2.Init.CRCPolynomial = 10;
  if (HAL_SPI_Init(&hspi2) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN SPI2_Init 2 */
  if (HAL_SPI_Init(&hspi2) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE END SPI2_Init 2 */

}

void HAL_SPI_MspInit(SPI_HandleTypeDef* spiHandle)
{

  GPIO_InitTypeDef GPIO_InitStruct = {0};
  if(spiHandle->Instance==SPI2)
  {
  /* USER CODE BEGIN SPI2_MspInit 0 */

  /* USER CODE END SPI2_MspInit 0 */
    /* SPI2 clock enable */
    __HAL_RCC_SPI2_CLK_ENABLE();

    __HAL_RCC_GPIOC_CLK_ENABLE();
    __HAL_RCC_GPIOB_CLK_ENABLE();
    /**SPI2 GPIO Configuration
    PC1     ------> SPI2_MOSI
    PB10     ------> SPI2_SCK
    PB14     ------> SPI2_MISO
    */
    GPIO_InitStruct.Pin = GPIO_PIN_1;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
    GPIO_InitStruct.Alternate = GPIO_AF7_SPI2;
    HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);

    GPIO_InitStruct.Pin = GPIO_PIN_10|GPIO_PIN_14;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
    GPIO_InitStruct.Alternate = GPIO_AF5_SPI2;
    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

    /* SPI2 interrupt Init */
    HAL_NVIC_SetPriority(SPI2_IRQn, 0, 0);
    HAL_NVIC_EnableIRQ(SPI2_IRQn);
  /* USER CODE BEGIN SPI2_MspInit 1 */

  /* USER CODE END SPI2_MspInit 1 */
  }
}

void HAL_SPI_MspDeInit(SPI_HandleTypeDef* spiHandle)
{

  if(spiHandle->Instance==SPI2)
  {
  /* USER CODE BEGIN SPI2_MspDeInit 0 */

  /* USER CODE END SPI2_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_SPI2_CLK_DISABLE();

    /**SPI2 GPIO Configuration
    PC1     ------> SPI2_MOSI
    PB10     ------> SPI2_SCK
    PB14     ------> SPI2_MISO
    */
    HAL_GPIO_DeInit(GPIOC, GPIO_PIN_1);

    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_10|GPIO_PIN_14);

    /* SPI2 interrupt Deinit */
    HAL_NVIC_DisableIRQ(SPI2_IRQn);
  /* USER CODE BEGIN SPI2_MspDeInit 1 */

  /* USER CODE END SPI2_MspDeInit 1 */
  }
}

/* USER CODE BEGIN 1 */

/* USER CODE END 1 */