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void capture_config(void)
{
TIM_ICInitTypeDef TIM_ICInitStructure;
gpio_af_pp_up_init(GPIOB, GPIO_Pin_6|GPIO_Pin_7|GPIO_Pin_9);//CH1|CH2|CH4
GPIO_PinAFConfig(GPIOB, GPIO_PinSource6, GPIO_AF_TIM4);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource7, GPIO_AF_TIM4);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource9, GPIO_AF_TIM4);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Falling;
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
TIM_ICInitStructure.TIM_ICFilter = 0x0;
TIM_ICInitStructure.TIM_Channel = TIM_Channel_1;
TIM_ICInit(TIM4, &TIM_ICInitStructure);
TIM_ICInitStructure.TIM_Channel = TIM_Channel_2;
TIM_ICInit(TIM4, &TIM_ICInitStructure);
TIM_ICInitStructure.TIM_Channel = TIM_Channel_4;
TIM_ICInit(TIM4, &TIM_ICInitStructure);
TIM_Cmd(TIM4, ENABLE);
TIM_ITConfig(TIM4, TIM_IT_CC1, ENABLE);
TIM_ITConfig(TIM4, TIM_IT_CC2, ENABLE);
TIM_ITConfig(TIM4, TIM_IT_CC4, ENABLE);
nvic_config(TIM4_IRQn, 2);
}
//--------------
//main loop
int main(void)
{
int i=0;
for(i=0;i<100000ul;i++);
rcc_config();
nvic_config();
gpio_config();
usart_config();
USART_puts(USART1, "USART BT initialization complete!\r\n"); // just send a message to indicate that it works
MPU6050_I2C_Init();
MPU6050_Initialize();
if( MPU6050_TestConnection() == 1){
// connection success
USART_puts(USART1, "I2C IMU connection initialization complete!\r\n");
}else{
// connection failed
USART_puts(USART1, "I2C initialization failed!\r\n");
}
//sysTick_Config_Mod(SysTick_CLKSource_HCLK_Div8, 10500000ul); // interruption every 1/2sec from systick
sysTick_Config_Mod(SysTick_CLKSource_HCLK_Div8, 840000ul); // interruption every 0.04sec from systick
while(1)
{
}
}
/*!
\brief main routine
\param[in] none
\param[out] none
\retval none
*/
int main(void)
{
/* system clocks configuration */
rcu_config();
/* GPIO configuration */
gpio_config();
/* USB device configuration */
usbd_core_init(&usb_device_dev);
/* NVIC configuration */
nvic_config();
/* enabled USB pull-up */
gpio_bit_set(USB_PULLUP, USB_PULLUP_PIN);
/* now the usb device is connected */
usb_device_dev.status = USBD_CONNECTED;
while (1)
{
if (USBD_CONFIGURED == usb_device_dev.status) {
cdc_acm_data_receive(&usb_device_dev);
if (0 != receive_length) {
if (1 == packet_sent) {
cdc_acm_data_send(&usb_device_dev, receive_length);
receive_length = 0;
}
}
}
}
}
/*!
\brief main function
\param[in] none
\param[out] none
\retval none
*/
int main(void)
{
can_parameter_struct can_init_parameter;
can_filter_parameter_struct can_filter_parameter;
receive_flag = RESET;
/* configure Tamper key */
gd_eval_keyinit(KEY_TAMPER, KEY_MODE_GPIO);
/* configure GPIO */
gpio_config();
/* configure USART */
gd_eval_COMinit(EVAL_COM2);
/* configure NVIC */
nvic_config();
/* configure leds */
led_config();
/* set all leds off */
gd_eval_ledoff(LED1);
gd_eval_ledoff(LED2);
gd_eval_ledoff(LED3);
gd_eval_ledoff(LED4);
/* initialize CAN */
can_networking_init(can_init_parameter, can_filter_parameter);
/* enable phy */
#ifdef CAN0_USED
can_phy_enable(CANX);
#endif
/* enable CAN receive FIFO0 not empty interrupt */
can_interrupt_enable(CANX, CAN_INTEN_RFNEIE0);
/* initialize transmit message */
transmit_message.can_tx_sfid = 0x321;
transmit_message.can_tx_efid = 0x01;
transmit_message.can_tx_ft = CAN_FT_DATA;
transmit_message.can_tx_ff = CAN_FF_STANDARD;
transmit_message.can_tx_dlen = 1;
printf("please press the Tamper key to transmit data!\r\n");
while(1){
/* waiting for the Tamper key pressed */
while(0 == gd_eval_keygetstate(KEY_TAMPER)){
/* if transmit_number is 0x10, set it to 0x00 */
if(transmit_number == 0x10){
transmit_number = 0x00;
}else{
transmit_message.can_tx_data[0] = transmit_number++;
printf("transmit data: %x\r\n", transmit_message.can_tx_data[0]);
/* transmit message */
can_transmit_message(CANX, &transmit_message);
delay();
/* waiting for Tamper key up */
while(0 == gd_eval_keygetstate(KEY_TAMPER));
}
}
if(SET == receive_flag){
gd_eval_ledtoggle(LED1);
receive_flag = RESET;
printf("recive data: %x\r\n", receive_message.can_rx_data[0]);
}
}
}
//输入捕获配置
void capture_config(void)
{
TIM_ICInitTypeDef TIM_ICInitStructure;
gpio_af_pp_up_init(GPIOC, GPIO_Pin_8|GPIO_Pin_9);//CH3|CH4
GPIO_PinAFConfig(GPIOC, GPIO_PinSource8, GPIO_AF_TIM3);
GPIO_PinAFConfig(GPIOC, GPIO_PinSource9, GPIO_AF_TIM3);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_BothEdge;
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
TIM_ICInitStructure.TIM_ICFilter = 10;
TIM_ICInitStructure.TIM_Channel = TIM_Channel_3;
TIM_ICInit(TIM3, &TIM_ICInitStructure);
TIM_ICInitStructure.TIM_Channel = TIM_Channel_4;
TIM_ICInit(TIM3, &TIM_ICInitStructure);
TIM_Cmd(TIM3, ENABLE);
TIM_ITConfig(TIM3, TIM_IT_CC3, ENABLE);
TIM_ITConfig(TIM3, TIM_IT_CC4, ENABLE);
nvic_config(TIM3_IRQn, 0);
TIM7_init(500, 8400);
}
void usart6_init(uint32_t baudRate)
{
USART_InitTypeDef USART_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART6, ENABLE);
GPIO_PinAFConfig(GPIOC, GPIO_PinSource6, GPIO_AF_USART6);
GPIO_PinAFConfig(GPIOC, GPIO_PinSource7, GPIO_AF_USART6);
gpio_af_pp_up_init(GPIOC, GPIO_Pin_6|GPIO_Pin_7);
USART_InitStructure.USART_BaudRate = baudRate;
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;
USART_Init(USART6, &USART_InitStructure);
#ifndef DEBUG_HAHA
USART_ITConfig(USART6, USART_IT_RXNE,ENABLE);
#endif
USART_Cmd(USART6, ENABLE);
USART_ClearFlag(USART6, USART_FLAG_TC);
#ifndef DEBUG_HAHA
nvic_config(USART6_IRQn, 4);
#endif
}
/**
* @brief Main program
* @param None
* @retval None
*/
int main(void)
{
nvic_config();
uart_init();
printf("hello!welcome to F4...\r\n ");
while(1)
{
}
}
//定时器触发的ADC配置
void adc_tim_trig_config(uint32_t period, uint32_t prescaler)
{
ADC_CommonInitTypeDef ADC_CommonInitStructure;
ADC_InitTypeDef ADC_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_DMA2, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1, ENABLE);
gpio_an_no_init(GPIOC, GPIO_Pin_5);
ADC_CommonInitStructure.ADC_Mode = ADC_Mode_Independent; //独立模式
ADC_CommonInitStructure.ADC_TwoSamplingDelay = ADC_TwoSamplingDelay_5Cycles; //两个采样阶段之间的延迟5个时钟
ADC_CommonInitStructure.ADC_DMAAccessMode = ADC_DMAAccessMode_Disabled; //DMA失能
ADC_CommonInitStructure.ADC_Prescaler = ADC_Prescaler_Div4; //ADCCLK=PCLK2/4=84/4=21Mhz
ADC_CommonInit(&ADC_CommonInitStructure);
ADC_InitStructure.ADC_Resolution = ADC_Resolution_12b; //12位模式
ADC_InitStructure.ADC_ScanConvMode = DISABLE; //关闭扫描模式
ADC_InitStructure.ADC_ContinuousConvMode = DISABLE; //关闭连续转换
ADC_InitStructure.ADC_ExternalTrigConvEdge = ADC_ExternalTrigConvEdge_Rising; //外部触发上升沿
ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_T2_CC2;
ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right; //右对齐
ADC_InitStructure.ADC_NbrOfConversion = 1; //规则序列中有1个转换
ADC_Init(ADC1, &ADC_InitStructure);
ADC_RegularChannelConfig(ADC1, ADC_Channel_15, 1, ADC_SampleTime_84Cycles ); //设置通道5采样顺序为1, 采样时间为84个周期
ADC_ITConfig(ADC1, ADC_IT_EOC, ENABLE);
ADC_Cmd(ADC1, ENABLE);
nvic_config(ADC_IRQn, 2);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
TIM_TimeBaseStructure.TIM_Period = period-1;
TIM_TimeBaseStructure.TIM_Prescaler = prescaler-1;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
TIM_OCInitStructure.TIM_Pulse = period/2;
TIM_OC2Init(TIM2, &TIM_OCInitStructure);
TIM_Cmd(TIM2, ENABLE);
TIM_InternalClockConfig(TIM2);
TIM_OC2PreloadConfig(TIM2, TIM_OCPreload_Enable);
TIM_UpdateDisableConfig(TIM2, DISABLE);
}
void micros_time_16_1_init(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM14, ENABLE);
TIM_TimeBaseStructure.TIM_Period = 0XFFFF;
TIM_TimeBaseStructure.TIM_Prescaler = (84-1);
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM14, &TIM_TimeBaseStructure);
TIM_Cmd(TIM14, ENABLE);
TIM_ITConfig(TIM14, TIM_IT_Update, ENABLE);
nvic_config(TIM8_TRG_COM_TIM14_IRQn, 5);
}
//TIM6挂在APB1，输入时钟为42*2=84MHz
void TIM6_init(uint32_t period, uint16_t prescaler)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE);
TIM_TimeBaseStructure.TIM_Period = period-1;
TIM_TimeBaseStructure.TIM_Prescaler = prescaler-1;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM6, &TIM_TimeBaseStructure);
TIM_Cmd (TIM6, ENABLE);
TIM_ITConfig(TIM6, TIM_IT_Update, ENABLE);
nvic_config(TIM6_DAC_IRQn, 1); //优先级暂定为1
}
void uart4_init(uint32_t baudRate)
{
USART_InitTypeDef USART_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_UART4, ENABLE);
GPIO_PinAFConfig(GPIOC, GPIO_PinSource10, GPIO_AF_UART4);
GPIO_PinAFConfig(GPIOC, GPIO_PinSource11, GPIO_AF_UART4);
gpio_af_pp_up_init(GPIOC, GPIO_Pin_10|GPIO_Pin_11);
USART_InitStructure.USART_BaudRate = baudRate;
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;
USART_Init(UART4, &USART_InitStructure);
USART_ITConfig(UART4, USART_IT_RXNE,ENABLE);
USART_Cmd(UART4, ENABLE);
USART_ClearFlag(UART4, USART_FLAG_TC);
nvic_config(UART4_IRQn, 4);
}
/*!
\brief main routine will construct a MSC device
\param[in] none
\param[out] none
\retval none
*/
int main(void)
{
/* system clocks configuration */
rcu_config();
/* GPIO configuration */
gpio_config();
/* USB device configuration */
usbd_core_init(&usb_device_dev);
/* NVIC configuration */
nvic_config();
/* enabled USB pull-up */
gpio_bit_set(USB_PULLUP, USB_PULLUP_PIN);
/* now the usb device is connected */
usb_device_dev.status = USBD_CONNECTED;
while(usb_device_dev.status != USBD_CONFIGURED);
while (1){}
}
void exti_config(GPIO_TypeDef *gpiox, u8 pin_num)
{
EXTI_InitTypeDef EXTI_InitStructure;
u8 exti_port_source_gpio;
u32 pin_line = 0x00000001<<pin_num;
uint8_t irq_channel;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG, ENABLE);
gpio_in_up_init(gpiox, pin_line);
if(gpiox == GPIOA){
exti_port_source_gpio = EXTI_PortSourceGPIOA;
}
else if(gpiox == GPIOB){
exti_port_source_gpio = EXTI_PortSourceGPIOB;
}
else if(gpiox == GPIOC){
exti_port_source_gpio = EXTI_PortSourceGPIOC;
}
else if(gpiox == GPIOD){
exti_port_source_gpio = EXTI_PortSourceGPIOD;
}
else if(gpiox == GPIOE){
exti_port_source_gpio = EXTI_PortSourceGPIOE;
}
else if(gpiox == GPIOF){
exti_port_source_gpio = EXTI_PortSourceGPIOF;
}
else if(gpiox == GPIOG){
exti_port_source_gpio = EXTI_PortSourceGPIOG;
}
else if(gpiox == GPIOH){
exti_port_source_gpio = EXTI_PortSourceGPIOH;
}
else if(gpiox == GPIOI){
exti_port_source_gpio = EXTI_PortSourceGPIOI;
}
else if(gpiox == GPIOJ){
exti_port_source_gpio = EXTI_PortSourceGPIOJ;
}
else if(gpiox == GPIOK){
exti_port_source_gpio = EXTI_PortSourceGPIOK;
}
else{
printf("GPIO Port is not supported!\r\n");
while(1);
}
SYSCFG_EXTILineConfig(exti_port_source_gpio, pin_num);
EXTI_InitStructure.EXTI_Line = pin_line;
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStructure);
if(pin_num >= 10){
irq_channel = EXTI15_10_IRQn;
}
else if(pin_num >= 5){
irq_channel = EXTI9_5_IRQn;
}
else {
irq_channel = pin_num + 6;
}
nvic_config(irq_channel, 10);
}
