/**
* Initialise a single USART device
*/
int32_t PIOS_USART_Init(uint32_t * usart_id, const struct pios_usart_cfg * cfg)
{
PIOS_DEBUG_Assert(usart_id);
PIOS_DEBUG_Assert(cfg);
struct pios_usart_dev * usart_dev;
usart_dev = (struct pios_usart_dev *) PIOS_USART_alloc();
if (!usart_dev) goto out_fail;
/* Bind the configuration to the device instance */
usart_dev->cfg = cfg;
/* Clear buffer counters */
fifoBuf_init(&usart_dev->rx, usart_dev->rx_buffer, sizeof(usart_dev->rx_buffer));
fifoBuf_init(&usart_dev->tx, usart_dev->tx_buffer, sizeof(usart_dev->tx_buffer));
/* Enable the USART Pins Software Remapping */
if (usart_dev->cfg->remap) {
GPIO_PinRemapConfig(usart_dev->cfg->remap, ENABLE);
}
/* Initialize the USART Rx and Tx pins */
GPIO_Init(usart_dev->cfg->rx.gpio, &usart_dev->cfg->rx.init);
GPIO_Init(usart_dev->cfg->tx.gpio, &usart_dev->cfg->tx.init);
/* Enable USART clock */
switch ((uint32_t)usart_dev->cfg->regs) {
case (uint32_t)USART1:
RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE);
break;
case (uint32_t)USART2:
RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE);
break;
case (uint32_t)USART3:
RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE);
break;
}
/* Configure the USART */
USART_Init(usart_dev->cfg->regs, &usart_dev->cfg->init);
*usart_id = (uint32_t)usart_dev;
/* Configure USART Interrupts */
NVIC_Init(&usart_dev->cfg->irq.init);
USART_ITConfig(usart_dev->cfg->regs, USART_IT_RXNE, ENABLE);
USART_ITConfig(usart_dev->cfg->regs, USART_IT_TXE, ENABLE);
/* Enable USART */
USART_Cmd(usart_dev->cfg->regs, ENABLE);
return(0);
out_fail:
return(-1);
}
void systemInit(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
uint8_t i;
gpio_config_t gpio_cfg[] = {
{ LED0_GPIO, LED0_PIN, GPIO_Mode_Out_PP }, // PB3 (LED)
{ LED1_GPIO, LED1_PIN, GPIO_Mode_Out_PP }, // PB4 (LED)
#ifndef FY90Q
{ BEEP_GPIO, BEEP_PIN, GPIO_Mode_Out_OD }, // PA12 (Buzzer)
#endif
};
uint8_t gpio_count = sizeof(gpio_cfg) / sizeof(gpio_cfg[0]);
// Turn on clocks for stuff we use
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM3 | RCC_APB1Periph_TIM4 | RCC_APB1Periph_I2C2, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC | RCC_APB2Periph_TIM1 | RCC_APB2Periph_ADC1 | RCC_APB2Periph_USART1, ENABLE);
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);
RCC_ClearFlag();
// Make all GPIO in by default to save power and reduce noise
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_All;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AIN;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_Init(GPIOC, &GPIO_InitStructure);
// Turn off JTAG port 'cause we're using the GPIO for leds
GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
// Configure gpio
for (i = 0; i < gpio_count; i++) {
GPIO_InitStructure.GPIO_Pin = gpio_cfg[i].pin;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = gpio_cfg[i].mode;
GPIO_Init(gpio_cfg[i].gpio, &GPIO_InitStructure);
}
LED0_OFF;
LED1_OFF;
BEEP_OFF;
// Init cycle counter
cycleCounterInit();
// SysTick
SysTick_Config(SystemCoreClock / 1000);
// Configure the rest of the stuff
adcInit();
#ifndef FY90Q
i2cInit(I2C2);
#endif
// sleep for 100ms
delay(100);
}
//rcc-rcc-rcc-rcc-rcc-rcc-rcc-rcc-rcc-rcc-rcc//
void UsartRcc_Configuration(void)
{
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO,ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1,ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOD | RCC_APB2Periph_AFIO,ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2,ENABLE);
GPIO_PinRemapConfig(GPIO_Remap_USART2, ENABLE);
}
/**
* @brief Configures the UART3/GPS periphral.
* @param None
* @retval None
*/
void GPS_Configuration(void) {
GPIO_InitTypeDef GPIO_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
/* Enable GPS GPIO Clock */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOD | RCC_APB2Periph_AFIO, ENABLE);
/* USART3 Remap Configuration */
GPIO_PinRemapConfig(GPIO_PartialRemap_USART3, ENABLE);
/* Enable GPS USART3 Clock */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE);
/* Configure USART3 Tx as alternate function push-pull */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_Init(GPIOD, &GPIO_InitStructure);
/* Configure USART3 Rx as input floating */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(GPIOD, &GPIO_InitStructure);
/* Enable the USART3 Interrupt */
NVIC_InitStructure.NVIC_IRQChannel = USART3_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0F;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
/* USART3 configuration ------------------------------------------------------*/
/* USART3 configured as follow:
- BaudRate = 9600 baud
- Word Length = 8 Bits
- One Stop Bit
- No parity
- Hardware flow control disabled (RTS and CTS signals)
- Receive and transmit enabled
*/
USART_InitTypeDef USART_InitStructure;
USART_InitStructure.USART_BaudRate = 9600;
USART_InitStructure.USART_WordLength = USART_WordLength_8b;
USART_InitStructure.USART_StopBits = USART_StopBits_1;
USART_InitStructure.USART_Parity = USART_Parity_No;
USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
/* Configure USART3 */
USART_Init(USART3, &USART_InitStructure);
/* Enable USART3 Receive and Transmit interrupts */
USART_ITConfig(USART3, USART_IT_RXNE, ENABLE);
/* Enable the USART3 */
USART_Cmd(USART3, ENABLE);
}
//========================================
void GPIO_Configuration(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
GPIO_InitStructure.GPIO_Pin = LED_CLK_PIN;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_Init(LED_CLK_PORT, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = LED_LAT_PIN;
GPIO_Init(LED_LAT_PORT, &GPIO_InitStructure);
/*
#if DISPLAY_LED_STATIC
GPIO_InitStructure.GPIO_Pin = LED_OE_PIN;
GPIO_Init(LED_OE_PORT, &GPIO_InitStructure);
#endif
*/
if(hwConfig.ledType == SCAN_STATIC)
{
GPIO_InitStructure.GPIO_Pin = LED_OE_PIN;
GPIO_Init(LED_OE_PORT, &GPIO_InitStructure);
}
// Config PORTA pins
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_1|GPIO_Pin_2|GPIO_Pin_3|GPIO_Pin_4|GPIO_Pin_5|GPIO_Pin_6|GPIO_Pin_7;
GPIO_Init(GPIOA, &GPIO_InitStructure);
// Config PORTB pins
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_All;
GPIO_Init(GPIOB, &GPIO_InitStructure);
// Config PORTB pins
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_All;
GPIO_Init(GPIOC, &GPIO_InitStructure);
// Config PORTB pins
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_All;
GPIO_Init(GPIOD, &GPIO_InitStructure);
// Config PORTB pins
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_All;
GPIO_Init(GPIOE, &GPIO_InitStructure);
// Set default value for control pins
GPIO_Write(GPIOA,0x0000);
GPIO_Write(GPIOB,0x0000);
GPIO_Write(GPIOC,0x0000);
GPIO_Write(GPIOD,0x0000);
GPIO_Write(GPIOE,0x0000);
// Configure USART1 Rx as input floating
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(GPIOA, &GPIO_InitStructure);
// Configure USART1 Tx as alternate function push-pull
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_Init(GPIOA, &GPIO_InitStructure);
}
void I2C_Configuration(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
I2C_InitTypeDef I2C_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C1, ENABLE);
GPIO_PinRemapConfig(GPIO_Remap_I2C1, ENABLE);
GPIO_InitStructure.GPIO_Pin = I2C_SCL_PIN;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_OD;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_ResetBits(GPIOB, I2C_SCL_PIN);
I2CDelay(SystemCoreClock / 3 / 100000);
GPIO_InitStructure.GPIO_Pin = I2C_SDA_PIN;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_ResetBits(GPIOB, I2C_SDA_PIN);
I2CDelay(SystemCoreClock / 3 / 100000);
GPIO_SetBits(GPIOB, I2C_SCL_PIN);
I2CDelay(SystemCoreClock / 3 / 100000);
GPIO_SetBits(GPIOB, I2C_SDA_PIN);
I2CDelay(SystemCoreClock / 3 / 100000);
GPIO_InitStructure.GPIO_Pin = I2C_SCL_PIN;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = I2C_SDA_PIN;
GPIO_Init(GPIOB, &GPIO_InitStructure);
I2C_DeInit(I2C);
I2C_InitStructure.I2C_Mode = I2C_Mode_I2C;
I2C_InitStructure.I2C_DutyCycle = I2C_DutyCycle_2;
I2C_InitStructure.I2C_OwnAddress1 = I2C_SLAVE_ADDR;
I2C_InitStructure.I2C_Ack = I2C_Ack_Enable;
I2C_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
I2C_InitStructure.I2C_ClockSpeed = I2C_SPEED;
I2C_Init(I2C, &I2C_InitStructure);
I2C_Cmd(I2C, ENABLE);
if (I2C->SR2 & 0x02) //检测I2C
{
while (1) //DEBUG
{
}
}
}
/**
* @brief Initializes the SD_SPI and CS pins.
* @param None
* @retval None
*/
void SD_LowLevel_Init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
SPI_InitTypeDef SPI_InitStructure;
/*!< SD_SPI_CS_GPIO, SD_SPI_MOSI_GPIO, SD_SPI_MISO_GPIO, SD_SPI_DETECT_GPIO
and SD_SPI_SCK_GPIO Periph clock enable */
RCC_APB2PeriphClockCmd(SD_CS_GPIO_CLK | SD_SPI_MOSI_GPIO_CLK | SD_SPI_MISO_GPIO_CLK |
SD_SPI_SCK_GPIO_CLK | SD_DETECT_GPIO_CLK, ENABLE);
/*!< SD_SPI Periph clock enable */
RCC_APB1PeriphClockCmd(SD_SPI_CLK, ENABLE);
/*!< AFIO Periph clock enable */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
/*!< Remap SPI3 Pins */
GPIO_PinRemapConfig(GPIO_Remap_SPI3,ENABLE);
/*!< Configure SD_SPI pins: SCK */
GPIO_InitStructure.GPIO_Pin = SD_SPI_SCK_PIN;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_Init(SD_SPI_SCK_GPIO_PORT, &GPIO_InitStructure);
/*!< Configure SD_SPI pins: MOSI */
GPIO_InitStructure.GPIO_Pin = SD_SPI_MOSI_PIN;
GPIO_Init(SD_SPI_MOSI_GPIO_PORT, &GPIO_InitStructure);
/*!< Configure SD_SPI pins: MISO */
GPIO_InitStructure.GPIO_Pin = SD_SPI_MISO_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(SD_SPI_MISO_GPIO_PORT, &GPIO_InitStructure);
/*!< Configure SD_SPI_CS_PIN pin: SD Card CS pin */
GPIO_InitStructure.GPIO_Pin = SD_CS_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_Init(SD_CS_GPIO_PORT, &GPIO_InitStructure);
/*!< Configure SD_SPI_DETECT_PIN pin: SD Card detect pin */
GPIO_InitStructure.GPIO_Pin = SD_DETECT_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_Init(SD_DETECT_GPIO_PORT, &GPIO_InitStructure);
/*!< SD_SPI Config */
SPI_InitStructure.SPI_Direction = SPI_Direction_2Lines_FullDuplex;
SPI_InitStructure.SPI_Mode = SPI_Mode_Master;
SPI_InitStructure.SPI_DataSize = SPI_DataSize_8b;
SPI_InitStructure.SPI_CPOL = SPI_CPOL_High;
SPI_InitStructure.SPI_CPHA = SPI_CPHA_2Edge;
SPI_InitStructure.SPI_NSS = SPI_NSS_Soft;
SPI_InitStructure.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_2;
SPI_InitStructure.SPI_FirstBit = SPI_FirstBit_MSB;
SPI_InitStructure.SPI_CRCPolynomial = 7;
SPI_Init(SD_SPI, &SPI_InitStructure);
SPI_Cmd(SD_SPI, ENABLE); /*!< SD_SPI enable */
}
void Tim1_Configuration(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
u16 CCR1_Val = 75; //前面的电机
u16 CCR2_Val = 75; //后面的电机
u16 CCR3_Val = 75; //左面的电机
u16 CCR4_Val = 75; //右面的电机
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1,ENABLE);
GPIO_PinRemapConfig(GPIO_FullRemap_TIM1, ENABLE);
TIM_DeInit(TIM1); //重设为缺省值
/*TIM1时钟配置*/
TIM_TimeBaseStructure.TIM_Prescaler = 6; //预分频(时钟分频)72M/4000=18K
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //向上计数
TIM_TimeBaseStructure.TIM_Period = 999; //装载值 18k/144=125hz 就是说向上加的144便满了
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; //设置了时钟分割 不懂得不管
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0x0; //周期计数器值 不懂得不管
TIM_TimeBaseInit(TIM1,&TIM_TimeBaseStructure); //初始化TIMx的时间基数单位
/* Channel 1 Configuration in PWM mode 通道一的PWM */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //PWM模式2
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //正向通道有效 PA8
//TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable; //反向通道也有效 PB13
TIM_OCInitStructure.TIM_Pulse = CCR1_Val; //占空时间 144 中有40的时间为高，互补的输出正好相反
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low; //输出极性
//TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_Low; //互补端的极性
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset; //空闲状态下的非工作状态 不管
//TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Reset; //先不管
TIM_OC1Init(TIM1,&TIM_OCInitStructure); //数初始化外设TIMx通道1这里2.0库为TIM_OCInit
/* PWM1 Mode configuration: Channel2 */
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = CCR2_Val; //设置通道2的电平跳变值，输出另外一个占空比的PWM
TIM_OC2Init(TIM1, &TIM_OCInitStructure); //使能通道2
TIM_OC2PreloadConfig(TIM1, TIM_OCPreload_Enable);
/* PWM1 Mode configuration: Channel3 */
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = CCR3_Val; //设置通道3的电平跳变值，输出另外一个占空比的PWM
TIM_OC3Init(TIM1, &TIM_OCInitStructure); //使能通道3
TIM_OC3PreloadConfig(TIM1, TIM_OCPreload_Enable);
/* PWM1 Mode configuration: Channel4 */
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = CCR4_Val; //设置通道4的电平跳变值，输出另外一个占空比的PWM
TIM_OC4Init(TIM1, &TIM_OCInitStructure); //使能通道4
TIM_OC4PreloadConfig(TIM1, TIM_OCPreload_Enable);
/* TIM1 counter enable开定时器 */
TIM_Cmd(TIM1,ENABLE);
/* TIM1 Main Output Enable 使能TIM1外设的主输出*/
TIM_CtrlPWMOutputs(TIM1,ENABLE);
}
/*Init GPIOE (9,14,13) for PWM and GPIOC(6-8) for input*/
void modCounter_init_GPIO(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12 | GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOD, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOD, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOD, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = 0;// очищаем после предыдущего
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7 | GPIO_Pin_8 | GPIO_Pin_9;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;//+5 TOLERANT?!!!!!!!!!!!!!!!!!!1
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOC, &GPIO_InitStructure);
///////////////////// ///////////////////////////////////////////////////////
GPIO_InitStructure.GPIO_Pin = 0;// очищаем после предыдущего
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9 | GPIO_Pin_14 | GPIO_Pin_13| GPIO_Pin_11;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOE, &GPIO_InitStructure);
GPIO_PinRemapConfig(GPIO_FullRemap_TIM1, ENABLE);
///////////////////////////////////////////////
GPIO_PinRemapConfig(GPIO_FullRemap_TIM3, ENABLE);
GPIO_PinRemapConfig(GPIO_Remap_USART2, ENABLE);
GPIO_PinRemapConfig(GPIO_Remap_TIM4, ENABLE);
}
void ledInit(){
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
GPIO_InitTypeDef gpioInit;
gpioInit.GPIO_Pin = ledPins[0] | ledPins[1] | ledPins[2] | ledPins[3];
gpioInit.GPIO_Mode = GPIO_Mode_Out_PP;
gpioInit.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_Init(GPIOB, &gpioInit);
}
/**
* @brief 配置指定SPI的引脚
* @param SPIx 需要使用的SPI
* @retval None
*/
static void SPI_GPIO_Configuration(SPI_TypeDef* SPIx , u8 Remap )
{
GPIO_InitTypeDef GPIO_InitStruct;
if(Remap==0) //SPI没有重映射
{
if(SPIx==SPI1){
GPIO_InitStruct.GPIO_Pin = GPIO_Pin_5 | GPIO_Pin_6|GPIO_Pin_7;
GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_Init(GPIOA, &GPIO_InitStruct);
//初始化片选输出引脚
GPIO_InitStruct.GPIO_Pin = GPIO_Pin_4;
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_Init(GPIOA, &GPIO_InitStruct);
GPIO_SetBits(GPIOA,GPIO_Pin_4);
}else{
GPIO_InitStruct.GPIO_Pin = GPIO_Pin_13 | GPIO_Pin_14|GPIO_Pin_15;
GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_Init(GPIOB, &GPIO_InitStruct);
//初始化片选输出引脚
GPIO_InitStruct.GPIO_Pin = GPIO_Pin_12;
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_Init(GPIOB, &GPIO_InitStruct);
GPIO_SetBits(GPIOB,GPIO_Pin_12);
}
}
if(Remap==1) //SPI有重映射
{
GPIO_PinRemapConfig(GPIO_Remap_SPI1, ENABLE); //SPI1重映射使能
if(SPIx==SPI1){
GPIO_InitStruct.GPIO_Pin = GPIO_Pin_3 | GPIO_Pin_4|GPIO_Pin_5;
GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_Init(GPIOB, &GPIO_InitStruct);
//初始化片选输出引脚
GPIO_InitStruct.GPIO_Pin = GPIO_Pin_15;
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_Init(GPIOA, &GPIO_InitStruct);
GPIO_SetBits(GPIOA,GPIO_Pin_15);
}else{
GPIO_InitStruct.GPIO_Pin = GPIO_Pin_13 | GPIO_Pin_14|GPIO_Pin_15;
GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_Init(GPIOB, &GPIO_InitStruct);
//初始化片选输出引脚
GPIO_InitStruct.GPIO_Pin = GPIO_Pin_12;
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_Init(GPIOB, &GPIO_InitStruct);
GPIO_SetBits(GPIOB,GPIO_Pin_12);
}
}
}
void HAL_USART_Begin(HAL_USART_Serial serial, uint32_t baud)
{
// AFIO clock enable
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
// Enable USART Clock
*usartMap[serial]->usart_apbReg |= usartMap[serial]->usart_clock_en;
NVIC_InitTypeDef NVIC_InitStructure;
// Enable the USART Interrupt
NVIC_InitStructure.NVIC_IRQChannel = usartMap[serial]->usart_int_n;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 7;//USART2_IRQ_PRIORITY;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
// Configure USART Rx as input floating
HAL_Pin_Mode(usartMap[serial]->usart_rx_pin, INPUT);
// Configure USART Tx as alternate function push-pull
HAL_Pin_Mode(usartMap[serial]->usart_tx_pin, AF_OUTPUT_PUSHPULL);
// Remap USARTn to alternate pins EG. USART1 to pins TX/PB6, RX/PB7
GPIO_PinRemapConfig(usartMap[serial]->usart_pin_remap, ENABLE);
// USART default configuration
// USART configured as follow:
// - BaudRate = (set baudRate as 9600 baud)
// - Word Length = 8 Bits
// - One Stop Bit
// - No parity
// - Hardware flow control disabled (RTS and CTS signals)
// - Receive and transmit enabled
USART_InitStructure.USART_BaudRate = baud;
USART_InitStructure.USART_WordLength = USART_WordLength_8b;
USART_InitStructure.USART_StopBits = USART_StopBits_1;
USART_InitStructure.USART_Parity = USART_Parity_No;
USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
// Configure USART
USART_Init(usartMap[serial]->usart_peripheral, &USART_InitStructure);
// Enable USART Receive and Transmit interrupts
USART_ITConfig(usartMap[serial]->usart_peripheral, USART_IT_RXNE, ENABLE);
USART_ITConfig(usartMap[serial]->usart_peripheral, USART_IT_TXE, ENABLE);
// Enable the USART
USART_Cmd(usartMap[serial]->usart_peripheral, ENABLE);
usartMap[serial]->usart_enabled = true;
usartMap[serial]->usart_transmitting = false;
}
void Bsp_Init(void)
{
RCC_Configuration();
/*********************************************************************************************/
//
GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable,ENABLE);
//初始化LED灯
led_init_com();
led_init_io();
//初始化串口
UART1_NVIC_Configuration();
UART1_Configuration();
UART1_GPIO_Configuration();
UART2_NVIC_Configuration();
UART2_Configuration();
UART2_GPIO_Configuration();
//清除标志位，否则第一位会丢失
USART_ClearFlag(USART1,USART_FLAG_TC);
USART_ClearFlag(USART2,USART_FLAG_TC);
//初始化输入输出接口
Io_Init();
//初始化E13_TLL模块
/***
E13_Io_Init();
//配置E13_TLL模块
if (E13_Configuration()==1) //E13模块配置失效，闪烁发送和接受LED灯，进入死循环
{
while(1)
{
Delay_Ms(25);
led_on_com_r();
led_on_com_t();
Delay_Ms(25);
led_off_r();
led_off_t();
}
}
*///////////////
led_on_in_3(); //点亮IN3作为电源指示灯
//初始化flash
data_error =Read_Flash(0x0801fc00);
communication_over_time =Read_Flash(0x0801f800);
communication_miss =Read_Flash(0x0801f400);
power_up=Read_Flash(0x0801f000);
//Write_Flash(0x0801fc00,0);
//Write_Flash(0x0801f800,0);
}
static void RCC_Configuration(void)
{
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
#ifdef RT_USING_UART1
/* Enable USART1 and GPIOA clocks */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1 | RCC_APB2Periph_GPIOA, ENABLE);
#endif
#ifdef RT_USING_UART2
#if (defined(STM32F10X_LD) || defined(STM32F10X_MD)) //|| defined(STM32F10X_CL))--2011del
/* Enable AFIO and GPIOD clock */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOD, ENABLE);
/* Enable the USART2 Pins Software Remapping */
GPIO_PinRemapConfig(GPIO_Remap_USART2, ENABLE);
#else
/* Enable AFIO and GPIOA clock */
// RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOA, ENABLE);
GPIO_PinRemapConfig(GPIO_Remap_USART2, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOD, ENABLE);
#endif
/* Enable USART2 clock */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE);
#endif
#ifdef RT_USING_UART3
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
/* Enable USART3 clock */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE);
/* DMA clock enable */
//RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);
#endif
#ifdef RT_USING_UART4
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC,ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_UART4, ENABLE);
#endif
}
/**
* @brief Configures the different GPIO ports.
* @param None
* @retval None
*/
void GPIO_Configuration(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
#ifdef USE_STM3210E_EVAL
/* Disable the JTAG interface and enable the SWJ interface
This operation is not necessary for Connectivity-Line devices since
SPI3 I/Os can be remapped on other GPIO pins */
GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
#endif /* USE_STM3210E_EVAL */
/* Configure SPI2 pins: CK, WS and SD ---------------------------------*/
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12 | GPIO_Pin_13 | GPIO_Pin_15;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_Init(GPIOB, &GPIO_InitStructure);
#ifdef USE_STM3210C_EVAL
/* Remap SPI3 on PC10-PC11-PC12-PA4 GPIO pins ------------------------*/
GPIO_PinRemapConfig(GPIO_Remap_SPI3, ENABLE);
/* Configure SPI3 pins: CK and SD ------------------------------------*/
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10 | GPIO_Pin_12;
GPIO_Init(GPIOC, &GPIO_InitStructure);
/* Configure SPI3 pins: WS -------------------------------------------*/
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4;
GPIO_Init(GPIOA, &GPIO_InitStructure);
#elif defined (USE_STM3210E_EVAL)
/* Configure SPI3 pins: CK and SD ------------------------------------*/
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3 | GPIO_Pin_5;
GPIO_Init(GPIOB, &GPIO_InitStructure);
/* Configure SPI3 pins: WS -------------------------------------------*/
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_15;
GPIO_Init(GPIOA, &GPIO_InitStructure);
#endif /* USE_STM3210C_EVAL */
}
static void rccInit(void)
{
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_SPI1, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE);
GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
}
static int uart_Init(const uart_cfg_t *cfg)
{
GPIO_InitTypeDef GPIO_InitStructure;
USART_InitTypeDef uartinfo;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE);
#ifdef CONFIG_STM32F10X_CL
/*configure PD5<uart2.tx>, PD6<uart2.rx>*/
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOD | RCC_APB2Periph_AFIO, ENABLE);
GPIO_PinRemapConfig(GPIO_Remap_USART2, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_Init(GPIOD, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(GPIOD, &GPIO_InitStructure);
#else
/*configure PA2<uart2.tx>, PA3<uart2.rx>*/
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(GPIOA, &GPIO_InitStructure);
#endif
/*init serial port*/
USART_StructInit(&uartinfo);
uartinfo.USART_BaudRate = cfg->baud;
USART_Init(uart, &uartinfo);
#ifdef ENABLE_TX_DMA
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);
uart_SetupTxDMA(uart_fifo_tx, 0);
USART_DMACmd(uart, USART_DMAReq_Tx, ENABLE);
uart_fifo_tn = 0;
uart_fifo_tp = 0;
#endif
#ifdef ENABLE_RX_DMA
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);
uart_SetupRxDMA(uart_fifo_rx, RX_FIFO_SZ);
USART_DMACmd(uart, USART_DMAReq_Rx, ENABLE);
uart_fifo_rn = 0;
#endif
USART_Cmd(uart, ENABLE);
return 0;
}
/* ---------------------------------------------------------------------------
** Initialize the HW modules needed for I2C communication
** -------------------------------------------------------------------------*/
void I2CInit(void)
{
I2C_InitTypeDef I2C_InitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
#ifdef I2C_REMAP
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOB,ENABLE);
#else
/*!< I2C_SCL_GPIO_CLK and I2C_SDA_GPIO_CLK Periph clock enable */
RCC_APB2PeriphClockCmd(RCC_APB1Periph_I2C1 | RCC_APB2Periph_GPIOB, ENABLE);
#endif
/*!< I2C Periph clock enable */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C1, ENABLE);
/*!< GPIO configuration */
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD;
#ifdef I2C_REMAP
GPIO_PinRemapConfig(GPIO_Remap_I2C1, ENABLE);
/*!< Configure I2C pins: SCL -- PB8, SDA -- PB9*/
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9;
#else
/*!< Configure I2C pins: SCK -- PB6, SDA -- PB7*/
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
#endif
GPIO_Init(GPIOB, &GPIO_InitStructure);
// #endif
/*!< I2C configuration */
I2C_InitStructure.I2C_Mode = I2C_Mode_I2C;
I2C_InitStructure.I2C_DutyCycle = I2C_DutyCycle_2;
I2C_InitStructure.I2C_Ack = I2C_Ack_Enable;
I2C_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
I2C_InitStructure.I2C_ClockSpeed = I2C_SPEED;
/* I2C Peripheral Enable */
I2C_Cmd(I2C1, ENABLE);
/* Apply I2C configuration after enabling it */
I2C_Init(I2C1, &I2C_InitStructure);
}
void uart3_init( void ) {
/* init RCC */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
/* Enable USART3 interrupts */
NVIC_InitTypeDef nvic;
nvic.NVIC_IRQChannel = USART3_IRQn;
nvic.NVIC_IRQChannelPreemptionPriority = 2;
nvic.NVIC_IRQChannelSubPriority = 1;
nvic.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&nvic);
/* Init GPIOS */
GPIO_PinRemapConfig(GPIO_PartialRemap_USART3, ENABLE);
GPIO_InitTypeDef gpio;
/* GPIOC: GPIO_Pin_10 USART3 Tx push-pull */
gpio.GPIO_Pin = UART3_TxPin;
gpio.GPIO_Mode = GPIO_Mode_AF_PP;
gpio.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(UART3_TxPort, &gpio);
/* GPIOC: GPIO_Pin_11 USART3 Rx pin as floating input */
gpio.GPIO_Pin = UART3_RxPin;
gpio.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(UART3_RxPort, &gpio);
/* Configure USART3 */
USART_InitTypeDef usart;
usart.USART_BaudRate = UART3_BAUD;
usart.USART_WordLength = USART_WordLength_8b;
usart.USART_StopBits = USART_StopBits_1;
usart.USART_Parity = USART_Parity_No;
usart.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
usart.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
USART_Init(USART3, &usart);
/* Enable USART3 Receive interrupts */
USART_ITConfig(USART3, USART_IT_RXNE, ENABLE);
pprz_usart_set_baudrate(USART3, UART3_BAUD);
/* Enable the USART3 */
USART_Cmd(USART3, ENABLE);
// initialize the transmit data queue
uart3_tx_extract_idx = 0;
uart3_tx_insert_idx = 0;
uart3_tx_running = FALSE;
// initialize the receive data queuenn
uart3_rx_extract_idx = 0;
uart3_rx_insert_idx = 0;
}
/* The core is running at 72MHz */
int main(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
/* Set the Vector Table base adress at 0x8004000 */
NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x4000);
RCC_APB2PeriphClockCmd (RCC_APB2Periph_GPIOB|RCC_APB2Periph_GPIOA , ENABLE);
/* Full SWJ Disabled (JTAG-DP + SW-DP) */
GPIO_PinRemapConfig (GPIO_Remap_SWJ_Disable, ENABLE);
//LED0 -> PB0, LED1 -> PB1
// Reset GPIO init structure
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_Init(GPIOB, &GPIO_InitStructure);
// Configure PA1 as input floating
// Reset GPIO init structure
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;//GPIO_Mode_IPD;
GPIO_Init(GPIOA, &GPIO_InitStructure);
USART1_Init();
ADC_Configuration();
while (1)
{
/* LED0-ON LED1-OFF */
GPIO_SetBits(GPIOB , GPIO_Pin_0);
GPIO_ResetBits(GPIOB , GPIO_Pin_1);
Delay(0xfffff);
/* LED0-OFF LED1-ON */
GPIO_ResetBits(GPIOB , GPIO_Pin_0);
GPIO_SetBits(GPIOB , GPIO_Pin_1);
Delay(0xfffff);
/* Print the ADC PA1 DIP Switch value to USART */
USART1_Print_Int(readDIPSwitch());
if (GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_1) == 1) USART1_Print(", ON\n");
else USART1_Print(", OFF\n");
}
}
/*
* 函数名：TIM3_PWM_In_Init
* 描述 ：定时器3输入捕获初始化函数
* 输入 ：arr：自动重装载寄存器周期的值；psc：时钟频率除数的预分频值
* 输出 ：无
*/
void TIM3_PWM_In_Init(u16 arr,u16 psc)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM3_ICInitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE); //使能GPIOB时钟
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); //使能TIM3时钟
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
GPIO_PinRemapConfig(GPIO_PartialRemap_TIM3,ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_ResetBits(GPIOB,GPIO_Pin_4);
GPIO_ResetBits(GPIOB,GPIO_Pin_5);
//初始化TIM3
TIM_TimeBaseStructure.TIM_Period = arr; //设定计数器自动重装值
TIM_TimeBaseStructure.TIM_Prescaler =psc; //预分频器
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; //设置时钟分割
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数模式
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure); //初始化TIMx的时间基数单位
//初始化TIM3通道1输入捕获参数
TIM3_ICInitStructure.TIM_Channel = TIM_Channel_1 ; //选择输入端 IC1映射到TI1上
TIM3_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; //上升沿捕获
TIM3_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; //映射到TI1上
TIM3_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; //配置输入分频,不分频
TIM3_ICInitStructure.TIM_ICFilter = 0x00; //配置输入滤波器,不滤波
TIM_ICInit(TIM3, &TIM3_ICInitStructure);
//初始化TIM3通道2输入捕获参数
TIM3_ICInitStructure.TIM_Channel = TIM_Channel_2 ; //选择输入端 IC1映射到TI1上
TIM3_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; //上升沿捕获
TIM3_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; //映射到TI1上
TIM3_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; //配置输入分频,不分频
TIM3_ICInitStructure.TIM_ICFilter = 0x00; //配置输入滤波器 不滤波
TIM_ICInit(TIM3, &TIM3_ICInitStructure);
//中断分组初始化
NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn ; //TIM3中断
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 3; //先占优先级
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1; //从优先级
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道被使能
NVIC_Init(&NVIC_InitStructure); //初始化外设NVIC寄存器
TIM_ITConfig(TIM3,TIM_IT_Update | TIM_IT_CC1 | TIM_IT_CC2,ENABLE); //允许更新中断 ,允许CC1IE捕获中断
TIM_Cmd(TIM3,ENABLE ); //使能定时器3
}
void GPIO_Configuration(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_PinRemapConfig(GPIO_Remap_I2C1,ENABLE);
/* Configure I2C_EE pins: SCL and SDA */
GPIO_InitStructure.GPIO_Pin = I2C_EE_SCL | I2C_EE_SDA;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD;
GPIO_Init(I2C_EE_GPIO, &GPIO_InitStructure);
}
void uartInit(void)
{
USART_InitTypeDef USART_InitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
/* Enable GPIO and USART clock */
RCC_APB2PeriphClockCmd(UART_GPIO_PERIF, ENABLE);
#if defined PLATFORM_REV_DEXMO_A_RIGHT
RCC_APB1PeriphClockCmd(UART_PERIF, ENABLE);
#elif defined PLATFORM_REV_DEXMO_A_LEFT || defined PLATFORM_REV_DEXMO_DONGLE_A
RCC_APB2PeriphClockCmd(UART_PERIF, ENABLE);
#endif
/* Configure USART Rx as input floating */
GPIO_InitStructure.GPIO_Pin = UART_GPIO_RX;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(UART_GPIO_PORT, &GPIO_InitStructure);
/* Configure USART Tx as alternate function push-pull */
GPIO_InitStructure.GPIO_Pin = UART_GPIO_TX;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_Init(UART_GPIO_PORT, &GPIO_InitStructure);
#ifdef PLATFORM_REV_DEXMO_A_RIGHT
GPIO_PinRemapConfig(GPIO_PartialRemap_USART3, ENABLE);
#endif
USART_InitStructure.USART_BaudRate = 230400;
USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
USART_InitStructure.USART_WordLength = USART_WordLength_8b;
USART_InitStructure.USART_StopBits = USART_StopBits_1;
USART_InitStructure.USART_Parity = USART_Parity_No ;
USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
USART_Init(UART_TYPE, &USART_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel = UART_NVIC_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
USART_ITConfig(UART_TYPE, USART_IT_RXNE, ENABLE);
USART_Cmd(UART_TYPE, ENABLE);
// uartDmaInit();
DEBUG_PRINT("init successfully\n");
}
void USART3_Init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
USART_InitTypeDef USART_InitStructure;
/* Clock configuration -------------------------------------------------------*/
/* Configure the GPIO ports( USART3 Transmit and Receive Lines) */
/* Configure the USART3_Tx as Alternate function Push-Pull */
/* Configure USART3_Tx as alternate function push-pull */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOD,ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
GPIO_PinRemapConfig(GPIO_FullRemap_USART3,ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_Init(GPIOD, &GPIO_InitStructure);
/* Configure USART3_Rx as input floating */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(GPIOD, &GPIO_InitStructure);
/* USART3 configuration ------------------------------------------------------*/
/* USART3 configured as follow:
- BaudRate = 9600 baud
- Word Length = 8 Bits
- One Stop Bit
- No parity
- Hardware flow control disabled (RTS and CTS signals)
- Receive and transmit enabled
*/
USART_InitStructure.USART_BaudRate = 9600;
USART_InitStructure.USART_WordLength = USART_WordLength_8b;
USART_InitStructure.USART_StopBits = USART_StopBits_1;
USART_InitStructure.USART_Parity = USART_Parity_No;
USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
/* Configure the USART3 */
USART_Init(USART3, &USART_InitStructure);
/* Enable USART3 interrupt */
USART_ITConfig(USART3, USART_IT_RXNE, ENABLE);
/* Enable the USART3 */
USART_Cmd(USART3, ENABLE);
}
//核心组件初始化,包括串口(用于打印调试信息)
static void coreInit()
{
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
SystemCoreClockUpdate();
SysTick_Init();
LED_Config();
USART_Config(Debug_USART, Debug_BaudRate);
//enable remap for max6675 pins
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
}
void eBoxInit(void)
{
SysTick_Config(SysTickOverFlowValue);// 每隔 (nhz/9,000,000)s产生一次中断
SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK_Div8);//9Mhz的systemticks clock；
Init_ADC1();
NVIC_PriorityGroupConfig(NVIC_GROUP_CONFIG);
//将pb4默认设置为IO口，仅用jtag
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO,ENABLE);
GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable,ENABLE);
}
/**
* @brief Configure the IO pins used by the I2C device.
* @param Device : I2C Device instance.
* @retval None.
*/
void CPAL_I2C_HAL_GPIOInit(CPAL_DevTypeDef Device)
{
GPIO_InitTypeDef GPIO_InitStructure;
/* Enable I2Cx SCL and SDA Pin Clock */
__I2C_GPIO_CLK_CMD((CPAL_I2C_SCL_GPIO_CLK[Device] | CPAL_I2C_SDA_GPIO_CLK[Device]), ENABLE);
/* Enable Pin Remap if PB8 (SCL) and PB9 (SDA) is used for I2C1 */
if ((Device == CPAL_I2C1) && (CPAL_I2C1_SCL_GPIO_PIN == GPIO_Pin_8) && (CPAL_I2C1_SDA_GPIO_PIN == GPIO_Pin_9))
{
/* Enable GPIO Alternative Functions */
__AFIO_CLK_CMD(ENABLE);
/* Enable I2C1 pin Remap */
GPIO_PinRemapConfig(GPIO_Remap_I2C1, ENABLE);
}
/* Set GPIO frequency to 50MHz */
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
/* Select Output open-drain mode */
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_OD;
/* Initialize I2Cx SCL Pin */
GPIO_InitStructure.GPIO_Pin = CPAL_I2C_SCL_GPIO_PIN[Device];
GPIO_Init((GPIO_TypeDef*)CPAL_I2C_SCL_GPIO_PORT[Device], &GPIO_InitStructure);
/* Initialize I2Cx SDA Pin */
GPIO_InitStructure.GPIO_Pin = CPAL_I2C_SDA_GPIO_PIN[Device];
GPIO_Init((GPIO_TypeDef*)CPAL_I2C_SDA_GPIO_PORT[Device], &GPIO_InitStructure);
i2cdevUnlockBus((GPIO_TypeDef*)CPAL_I2C_SCL_GPIO_PORT[Device],
(GPIO_TypeDef*)CPAL_I2C_SDA_GPIO_PORT[Device],
CPAL_I2C_SCL_GPIO_PIN[Device],
CPAL_I2C_SDA_GPIO_PIN[Device]);
/* Select Output open-drain mode */
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD;
/* Initialize I2Cx SCL Pin */
GPIO_InitStructure.GPIO_Pin = CPAL_I2C_SCL_GPIO_PIN[Device];
GPIO_Init((GPIO_TypeDef*)CPAL_I2C_SCL_GPIO_PORT[Device], &GPIO_InitStructure);
/* Initialize I2Cx SDA Pin */
GPIO_InitStructure.GPIO_Pin = CPAL_I2C_SDA_GPIO_PIN[Device];
GPIO_Init((GPIO_TypeDef*)CPAL_I2C_SDA_GPIO_PORT[Device], &GPIO_InitStructure);
}
void init_SPI1()
{
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO | RCC_APB2Periph_SPI1, ENABLE);
GPIO_InitTypeDef GPIO_InitStructure;
SPI_InitTypeDef SPI_InitStructure;
SPI_StructInit(&SPI_InitStructure);
//NSS вход выбор чипа
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_15;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA , &GPIO_InitStructure);
//CLK
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
//MISO
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
//MOSI
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_PinRemapConfig(GPIO_Remap_SPI1, ENABLE);
//Заполняем структуру с параметрами SPI модуля
SPI_InitStructure.SPI_Direction = SPI_Direction_2Lines_FullDuplex; //полный дуплекс
SPI_InitStructure.SPI_DataSize = SPI_DataSize_8b; // передаем по 8 бит
SPI_InitStructure.SPI_CPOL = SPI_CPOL_Low; // Полярность и
SPI_InitStructure.SPI_CPHA = SPI_CPHA_1Edge; // фаза тактового сигнала
SPI_InitStructure.SPI_NSS = SPI_NSS_Hard; // Управлять состоянием сигнала NSS аппаратно
SPI_InitStructure.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_2; // Предделитель SCK
SPI_InitStructure.SPI_FirstBit = SPI_FirstBit_MSB; // Первым отправляется старший бит
SPI_InitStructure.SPI_Mode = SPI_Mode_Slave; // Режим - слейв
SPI_Init(SPI1, &SPI_InitStructure); //Настраиваем SPI1
SPI_Cmd(SPI1, ENABLE); // Включаем модуль SPI1....
SPI_I2S_ITConfig(SPI1, SPI_I2S_IT_RXNE, ENABLE); //Включаем прерывание по приему байта
NVIC_EnableIRQ(SPI1_IRQn); //Разрешаем прерывания от SPI1
}
void systemInit(void) {
GPIO_InitTypeDef GPIO_InitStructure;
gpio_config_t gpio_cfg[] = {
{ LEDR_GPIO, LEDR_PIN, GPIO_Mode_Out_PP },
{ LEDG_GPIO, LEDG_PIN, GPIO_Mode_Out_PP },
};
uint8_t gpio_count = sizeof(gpio_cfg) / sizeof(gpio_cfg[0]);
uint32_t i;
// This is needed because some shit inside Keil startup f***s with SystemCoreClock, setting it back to 72MHz even on HSI.
SystemCoreClockUpdate();
// Turn on clocks for stuff we use
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM3 | RCC_APB1Periph_TIM4 | RCC_APB1Periph_I2C2 | RCC_APB1Periph_SPI2, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC | RCC_APB2Periph_TIM1 | RCC_APB2Periph_ADC1 | RCC_APB2Periph_USART1, ENABLE);
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);
RCC_ClearFlag();
// Make all GPIO in by default to save power and reduce noise
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_All;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AIN;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_Init(GPIOC, &GPIO_InitStructure);
// Turn off JTAG port 'cause we're using the GPIO for leds
GPIO_PinRemapConfig(GPIO_Remap_SWJ_Disable, ENABLE);
// Configure gpio
for (i = 0; i < gpio_count; i++) {
GPIO_InitStructure.GPIO_Pin = gpio_cfg[i].pin;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_InitStructure.GPIO_Mode = gpio_cfg[i].mode;
GPIO_Init(gpio_cfg[i].gpio, &GPIO_InitStructure);
}
LEDR_OFF
LEDG_OFF
// Init cycle counter
cycleCounterInit();
// SysTick
SysTick_Config(SystemCoreClock / 1000);
// Configure the rest of the stuff
i2cInit(I2C2);
// sleep for 100ms
delay(100);
}
void TIM3_PWM_Init(u16 arr,u16 psc)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC | RCC_APB2Periph_AFIO, ENABLE); //使能GPIO外设和AFIO复用功能模块时钟使能
GPIO_PinRemapConfig(GPIO_FullRemap_TIM3, ENABLE); //Timer3全映射 GPIOC-> 6,7,8,9 //用于TIM3的CH2输出的PWM通过该LED显示
//设置该引脚为复用输出功能,输出TIM3 CH1 CH2 CH3 CH4 的PWM脉冲波形
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9; //初始化GPIO
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //复用推挽输出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOC, &GPIO_InitStructure);
TIM_TimeBaseStructure.TIM_Period = arr; //设置在下一个更新事件装入活动的自动重装载寄存器周期的值
TIM_TimeBaseStructure.TIM_Prescaler =psc; //设置用来作为TIMx时钟频率除数的预分频值 不分频
TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟分割:TDTS = Tck_tim
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数模式
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; //选择定时器模式:TIM脉冲宽度调制模式1
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能
TIM_OCInitStructure.TIM_Pulse = 0; //设置待装入捕获比较寄存器的脉冲值
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //输出极性:TIM输出比较极性高
TIM_OC1Init(TIM3, &TIM_OCInitStructure); //根据TIM_OCInitStruct中指定的参数初始化外设TIMx
TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable); //使能TIMx在CCR1上的预装载寄存器
TIM_OC2Init(TIM3, &TIM_OCInitStructure); //根据TIM_OCInitStruct中指定的参数初始化外设TIMx
TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable); //使能TIMx在CCR2上的预装载寄存器
TIM_OC3Init(TIM3, &TIM_OCInitStructure); //根据TIM_OCInitStruct中指定的参数初始化外设TIMx
TIM_OC3PreloadConfig(TIM3, TIM_OCPreload_Enable); //使能TIMx在CCR3上的预装载寄存器
TIM_OC4Init(TIM3, &TIM_OCInitStructure); //根据TIM_OCInitStruct中指定的参数初始化外设TIMx
TIM_OC4PreloadConfig(TIM3, TIM_OCPreload_Enable); //使能TIMx在CCR4上的预装载寄存器
TIM_ARRPreloadConfig(TIM3, ENABLE); //使能TIMx在ARR上的预装载寄存器
TIM_Cmd(TIM3, ENABLE); //使能TIMx外设
}
