/**
* @brief UART MSP Initialization
* This function configures the hardware resources used in this example:
* - Peripheral's clock enable
* - Peripheral's GPIO Configuration
* - DMA configuration for transmission request by peripheral
* - NVIC configuration for DMA interrupt request enable
* @param huart: UART handle pointer
* @retval None
*/
void HAL_UART_MspInit(UART_HandleTypeDef *huart)
{
static DMA_HandleTypeDef hdma_tx;
static DMA_HandleTypeDef hdma_rx;
GPIO_InitTypeDef GPIO_InitStruct;
/*##-1- Enable peripherals and GPIO Clocks #################################*/
/* Enable GPIO TX/RX clock */
USARTx_TX_GPIO_CLK_ENABLE();
USARTx_RX_GPIO_CLK_ENABLE();
/* Enable USARTx clock */
USARTx_CLK_ENABLE();
/* Enable DMA clock */
DMAx_CLK_ENABLE();
/*##-2- Configure peripheral GPIO ##########################################*/
/* UART TX GPIO pin configuration */
GPIO_InitStruct.Pin = USARTx_TX_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
GPIO_InitStruct.Alternate = USARTx_TX_AF;
HAL_GPIO_Init(USARTx_TX_GPIO_PORT, &GPIO_InitStruct);
/* UART RX GPIO pin configuration */
GPIO_InitStruct.Pin = USARTx_RX_PIN;
GPIO_InitStruct.Alternate = USARTx_RX_AF;
HAL_GPIO_Init(USARTx_RX_GPIO_PORT, &GPIO_InitStruct);
/*##-3- Configure the DMA channels ##########################################*/
/* Configure the DMA handler for Transmission process */
hdma_tx.Instance = USARTx_TX_DMA_STREAM;
hdma_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
hdma_tx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_tx.Init.MemInc = DMA_MINC_ENABLE;
hdma_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_tx.Init.Mode = DMA_NORMAL;
hdma_tx.Init.Priority = DMA_PRIORITY_LOW;
HAL_DMA_Init(&hdma_tx);
/* Associate the initialized DMA handle to the UART handle */
__HAL_LINKDMA(huart, hdmatx, hdma_tx);
/* Configure the DMA handler for reception process */
hdma_rx.Instance = USARTx_RX_DMA_STREAM;
hdma_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma_rx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_rx.Init.MemInc = DMA_MINC_ENABLE;
hdma_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_rx.Init.Mode = DMA_NORMAL;
hdma_rx.Init.Priority = DMA_PRIORITY_HIGH;
HAL_DMA_Init(&hdma_rx);
/* Associate the initialized DMA handle to the the UART handle */
__HAL_LINKDMA(huart, hdmarx, hdma_rx);
/*##-4- Configure the NVIC for DMA #########################################*/
/* NVIC configuration for DMA transfer complete interrupt (USARTx_TX) */
HAL_NVIC_SetPriority(USARTx_DMA_TX_IRQn, 0, 1);
HAL_NVIC_EnableIRQ(USARTx_DMA_TX_IRQn);
/* NVIC configuration for DMA transfer complete interrupt (USARTx_RX) */
HAL_NVIC_SetPriority(USARTx_DMA_RX_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(USARTx_DMA_RX_IRQn);
}
void HAL_UART_MspInit(UART_HandleTypeDef *huart)
{
GPIO_InitTypeDef GPIO_InitStruct;
if( huart == &UartHandle ){
/*##-1- Enable peripherals and GPIO Clocks #################################*/
DMAx_CLK_ENABLE();
/* Enable GPIO TX/RX clock */
USARTx_TX_GPIO_CLK_ENABLE();
USARTx_RX_GPIO_CLK_ENABLE();
/* Enable USART2 clock */
USARTx_CLK_ENABLE();
/* Enable DMA1 clock */
/*##-2- Configure peripheral GPIO ##########################################*/
/* UART TX GPIO pin configuration */
GPIO_InitStruct.Pin = USARTx_TX_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FAST;
GPIO_InitStruct.Alternate = USARTx_TX_AF;
HAL_GPIO_Init(USARTx_TX_GPIO_PORT, &GPIO_InitStruct);
/* UART RX GPIO pin configuration */
GPIO_InitStruct.Pin = USARTx_RX_PIN;
GPIO_InitStruct.Alternate = USARTx_RX_AF;
HAL_GPIO_Init(USARTx_RX_GPIO_PORT, &GPIO_InitStruct);
/*##-3- Configure the DMA streams ##########################################*/
/* Configure the DMA handler for Transmission process */
hdma_tx.Instance = USARTx_TX_DMA_STREAM;
hdma_tx.Init.Channel = USARTx_TX_DMA_CHANNEL;
hdma_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
hdma_tx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_tx.Init.MemInc = DMA_MINC_ENABLE;
hdma_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_tx.Init.Mode = DMA_NORMAL;
hdma_tx.Init.Priority = DMA_PRIORITY_LOW;
hdma_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
hdma_tx.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL;
hdma_tx.Init.MemBurst = DMA_MBURST_INC4;
hdma_tx.Init.PeriphBurst = DMA_PBURST_INC4;
HAL_DMA_Init(&hdma_tx);
/* Associate the initialized DMA handle to the the UART handle */
__HAL_LINKDMA(huart, hdmatx, hdma_tx);
/* Configure the DMA handler for Transmission process */
hdma_rx.Instance = USARTx_RX_DMA_STREAM;
hdma_rx.Init.Channel = USARTx_RX_DMA_CHANNEL;
hdma_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma_rx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_rx.Init.MemInc = DMA_MINC_ENABLE;
hdma_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_rx.Init.Mode = DMA_CIRCULAR;
hdma_rx.Init.Priority = DMA_PRIORITY_HIGH;
hdma_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
hdma_rx.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL;
hdma_rx.Init.MemBurst = DMA_MBURST_INC4;
hdma_rx.Init.PeriphBurst = DMA_PBURST_INC4;
HAL_DMA_Init(&hdma_rx);
/* Associate the initialized DMA handle to the the UART handle */
__HAL_LINKDMA(huart, hdmarx, hdma_rx);
/*##-4- Configure the NVIC for DMA #########################################*/
/* NVIC configuration for DMA transfer complete interrupt (USARTx_TX) */
HAL_NVIC_SetPriority(USARTx_DMA_TX_IRQn, 5, 3);
HAL_NVIC_EnableIRQ(USARTx_DMA_TX_IRQn);
/* NVIC configuration for DMA transfer complete interrupt (USARTx_RX) */
//HAL_NVIC_SetPriority(USARTx_DMA_RX_IRQn, 5, 2);
//HAL_NVIC_EnableIRQ(USARTx_DMA_RX_IRQn);
/* NVIC configuration for USART TC interrupt */
HAL_NVIC_SetPriority(USARTx_IRQn, 6, 1);
HAL_NVIC_EnableIRQ(USARTx_IRQn);
}
}
void HAL_CRYP_MspInit(CRYP_HandleTypeDef *hcryp)
{
static DMA_HandleTypeDef hdmaIn;
static DMA_HandleTypeDef hdmaOut;
/*##-1- Enable peripherals Clock ###########################################*/
/* Enable CRYP clock */
__HAL_RCC_CRYP_CLK_ENABLE();
/* Enable DMA2 clocks */
__HAL_RCC_DMA2_CLK_ENABLE();
/*##-2- Configure the DMA streams ##########################################*/
/***************** Configure common DMA In parameters ***********************/
hdmaIn.Init.Channel = DMA_CHANNEL_2;
hdmaIn.Init.Direction = DMA_MEMORY_TO_PERIPH;
hdmaIn.Init.PeriphInc = DMA_PINC_DISABLE;
hdmaIn.Init.MemInc = DMA_MINC_ENABLE;
hdmaIn.Init.PeriphDataAlignment = DMA_PDATAALIGN_WORD;
hdmaIn.Init.MemDataAlignment = DMA_MDATAALIGN_WORD;
hdmaIn.Init.Mode = DMA_NORMAL;
hdmaIn.Init.Priority = DMA_PRIORITY_HIGH;
hdmaIn.Init.FIFOMode = DMA_FIFOMODE_ENABLE;
hdmaIn.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_HALFFULL;
hdmaIn.Init.MemBurst = DMA_MBURST_SINGLE;
hdmaIn.Init.PeriphBurst = DMA_PBURST_SINGLE;
hdmaIn.Instance = DMA2_Stream6;
/* Associate the DMA handle */
__HAL_LINKDMA(hcryp, hdmain, hdmaIn);
/* Configure the DMA Stream */
HAL_DMA_Init(hcryp->hdmain);
/* NVIC configuration for DMA Input data interrupt */
HAL_NVIC_SetPriority(DMA2_Stream6_IRQn, 0x0F, 0);
HAL_NVIC_EnableIRQ(DMA2_Stream6_IRQn);
/***************** Configure common DMA Out parameters **********************/
hdmaOut.Init.Channel = DMA_CHANNEL_2;
hdmaOut.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdmaOut.Init.PeriphInc = DMA_PINC_DISABLE;
hdmaOut.Init.MemInc = DMA_MINC_ENABLE;
hdmaOut.Init.PeriphDataAlignment = DMA_PDATAALIGN_WORD;
hdmaOut.Init.MemDataAlignment = DMA_MDATAALIGN_WORD;
hdmaOut.Init.Mode = DMA_NORMAL;
hdmaOut.Init.Priority = DMA_PRIORITY_VERY_HIGH;
hdmaOut.Init.FIFOMode = DMA_FIFOMODE_ENABLE;
hdmaOut.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_HALFFULL;
hdmaOut.Init.MemBurst = DMA_MBURST_SINGLE;
hdmaOut.Init.PeriphBurst = DMA_PBURST_SINGLE;
hdmaOut.Instance = DMA2_Stream5;
/* Associate the DMA handle */
__HAL_LINKDMA(hcryp, hdmaout, hdmaOut);
/* Configure the DMA Stream */
HAL_DMA_Init(&hdmaOut);
/*##-3- Configure the NVIC for DMA #########################################*/
/* NVIC configuration for DMA output data interrupt */
HAL_NVIC_SetPriority(DMA2_Stream5_IRQn, 0x0F, 0);
HAL_NVIC_EnableIRQ(DMA2_Stream5_IRQn);
}
/**
* @brief I2C MSP Initialization
* This function configures the hardware resources used in this example:
* - Peripheral's clock enable
* - Peripheral's GPIO Configuration
* - DMA configuration for transmission request by peripheral
* - NVIC configuration for DMA interrupt request enable
* @param hi2c: I2C handle pointer
* @retval None
*/
void HAL_I2C_MspInit(I2C_HandleTypeDef *hi2c)
{
static DMA_HandleTypeDef hdma_tx;
static DMA_HandleTypeDef hdma_rx;
GPIO_InitTypeDef GPIO_InitStruct;
/*##-1- Enable peripherals and GPIO Clocks #################################*/
/* Enable GPIO TX/RX clock */
I2Cx_SCL_GPIO_CLK_ENABLE();
I2Cx_SDA_GPIO_CLK_ENABLE();
/* Enable I2C1 clock */
I2Cx_CLK_ENABLE();
/* Enable DMA2 clock */
DMAx_CLK_ENABLE();
/*##-2- Configure peripheral GPIO ##########################################*/
/* I2C TX GPIO pin configuration */
GPIO_InitStruct.Pin = I2Cx_SCL_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_FAST;
GPIO_InitStruct.Alternate = I2Cx_SCL_AF;
HAL_GPIO_Init(I2Cx_SCL_GPIO_PORT, &GPIO_InitStruct);
/* I2C RX GPIO pin configuration */
GPIO_InitStruct.Pin = I2Cx_SDA_PIN;
GPIO_InitStruct.Alternate = I2Cx_SDA_AF;
HAL_GPIO_Init(I2Cx_SDA_GPIO_PORT, &GPIO_InitStruct);
/*##-3- Configure the DMA streams ##########################################*/
/* Configure the DMA handler for Transmission process */
hdma_tx.Instance = I2Cx_TX_DMA_STREAM;
hdma_tx.Init.Channel = I2Cx_TX_DMA_CHANNEL;
hdma_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
hdma_tx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_tx.Init.MemInc = DMA_MINC_ENABLE;
hdma_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_tx.Init.Mode = DMA_NORMAL;
hdma_tx.Init.Priority = DMA_PRIORITY_LOW;
hdma_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
hdma_tx.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL;
hdma_tx.Init.MemBurst = DMA_MBURST_INC4;
hdma_tx.Init.PeriphBurst = DMA_PBURST_INC4;
HAL_DMA_Init(&hdma_tx);
/* Associate the initialized DMA handle to the the I2C handle */
__HAL_LINKDMA(hi2c, hdmatx, hdma_tx);
/* Configure the DMA handler for Transmission process */
hdma_rx.Instance = I2Cx_RX_DMA_STREAM;
hdma_rx.Init.Channel = I2Cx_RX_DMA_CHANNEL;
hdma_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma_rx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_rx.Init.MemInc = DMA_MINC_ENABLE;
hdma_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_rx.Init.Mode = DMA_NORMAL;
hdma_rx.Init.Priority = DMA_PRIORITY_HIGH;
hdma_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
hdma_rx.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL;
hdma_rx.Init.MemBurst = DMA_MBURST_INC4;
hdma_rx.Init.PeriphBurst = DMA_PBURST_INC4;
HAL_DMA_Init(&hdma_rx);
/* Associate the initialized DMA handle to the the I2C handle */
__HAL_LINKDMA(hi2c, hdmarx, hdma_rx);
/*##-4- Configure the NVIC for DMA #########################################*/
/* NVIC configuration for DMA transfer complete interrupt (I2C1_TX) */
HAL_NVIC_SetPriority(I2Cx_DMA_TX_IRQn, 0, 1);
HAL_NVIC_EnableIRQ(I2Cx_DMA_TX_IRQn);
/* NVIC configuration for DMA transfer complete interrupt (I2C1_RX) */
HAL_NVIC_SetPriority(I2Cx_DMA_RX_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(I2Cx_DMA_RX_IRQn);
}
/**
* @brief Initializes the PCD MSP.
* @param hpcd: PCD handle
* @retval None
*/
void HAL_PCD_MspInit(PCD_HandleTypeDef *hpcd)
{
GPIO_InitTypeDef GPIO_InitStruct;
/* Enable the GPIOA clock for USB DataLines */
__GPIOA_CLK_ENABLE();
/* Enable the GPIOB clock for USB external Pull-Up */
__GPIOB_CLK_ENABLE();
/* Configure USB DM and DP pins */
GPIO_InitStruct.Pin = (GPIO_PIN_11 | GPIO_PIN_12);
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* Enable USB FS Clock */
__USB_CLK_ENABLE();
/* Enable SYSCFG Clock */
__SYSCFG_CLK_ENABLE();
#if defined (USE_USB_INTERRUPT_REMAPPED)
/*USB interrupt remapping enable */
__HAL_REMAPINTERRUPT_USB_ENABLE();
#endif
if(hpcd->Init.low_power_enable == 1)
{
/* Enable EXTI Line 18 for USB wakeup */
__HAL_USB_EXTI_CLEAR_FLAG();
__HAL_USB_EXTI_SET_RISING_EDGE_TRIGGER();
__HAL_USB_EXTI_ENABLE_IT();
#if defined (USE_USB_INTERRUPT_DEFAULT)
/* USB Default Wakeup Interrupt */
HAL_NVIC_EnableIRQ(USBWakeUp_IRQn);
/* Enable USB Wake-up interrupt */
HAL_NVIC_SetPriority(USBWakeUp_IRQn, 0, 0);
#elif defined (USE_USB_INTERRUPT_REMAPPED)
/* USB Remapped Wakeup Interrupt */
HAL_NVIC_EnableIRQ(USBWakeUp_RMP_IRQn);
/* Enable USB Wake-up interrupt */
HAL_NVIC_SetPriority(USBWakeUp_RMP_IRQn, 0, 0);
#endif
}
#if defined (USE_USB_INTERRUPT_DEFAULT)
/* Set USB Default FS Interrupt priority */
HAL_NVIC_SetPriority(USB_LP_CAN_RX0_IRQn, 0x0F, 0);
/* Enable USB FS Interrupt */
HAL_NVIC_EnableIRQ(USB_LP_CAN_RX0_IRQn);
#elif defined (USE_USB_INTERRUPT_REMAPPED)
/* Set USB Remapped FS Interrupt priority */
HAL_NVIC_SetPriority(USB_LP_IRQn, 0x0F, 0);
/* Enable USB FS Interrupt */
HAL_NVIC_EnableIRQ(USB_LP_IRQn);
#endif
}
/** Configure pins as
* Analog
* Input
* Output
* EVENT_OUT
* EXTI
*/
void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct;
/* GPIO Ports Clock Enable */
__GPIOC_CLK_ENABLE();
__GPIOA_CLK_ENABLE();
__GPIOB_CLK_ENABLE();
/*Configure GPIO pin : PA1 */
GPIO_InitStruct.Pin = GPIO_PIN_1;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/*Configure GPIO pins : PA4 PA7 PA8 PA15 */
GPIO_InitStruct.Pin = GPIO_PIN_4|GPIO_PIN_7|GPIO_PIN_8|GPIO_PIN_15;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/*Configure GPIO pin : PB0 */
GPIO_InitStruct.Pin = GPIO_PIN_0;
GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pins : PB1 PB13 */
GPIO_InitStruct.Pin = GPIO_PIN_1|GPIO_PIN_13;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pin : PB12 */
GPIO_InitStruct.Pin = GPIO_PIN_12;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pins : PB14 PB15 PB7 */
GPIO_InitStruct.Pin = GPIO_PIN_14|GPIO_PIN_15|GPIO_PIN_7;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pins : PA9 PA10 PA12 */
GPIO_InitStruct.Pin = GPIO_PIN_9|GPIO_PIN_10|GPIO_PIN_12;
GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/*Configure GPIO pin : PA11 */
GPIO_InitStruct.Pin = GPIO_PIN_11;
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/*Configure GPIO pin : PB6 */
GPIO_InitStruct.Pin = GPIO_PIN_6;
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING_FALLING;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4|GPIO_PIN_7|GPIO_PIN_8|GPIO_PIN_15, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_1, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_12|GPIO_PIN_13, GPIO_PIN_SET);
/* EXTI interrupt init*/
HAL_NVIC_SetPriority(EXTI0_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(EXTI0_IRQn);
HAL_NVIC_SetPriority(EXTI9_5_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(EXTI9_5_IRQn);
HAL_NVIC_SetPriority(EXTI15_10_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(EXTI15_10_IRQn);
}
/**
* @brief ADC MSP initialization
* This function configures the hardware resources used in this example:
* - Enable clock of ADC peripheral
* - Configure the GPIO associated to the peripheral channels
* - Configure the DMA associated to the peripheral
* - Configure the NVIC associated to the peripheral interruptions
* @param hadc: ADC handle pointer
* @retval None
*/
void HAL_ADC_MspInit(ADC_HandleTypeDef *hadc)
{
GPIO_InitTypeDef GPIO_InitStruct;
static DMA_HandleTypeDef DmaHandle;
/*##-1- Enable peripherals and GPIO Clocks #################################*/
/* Enable clock of GPIO associated to the peripheral channels */
ADCx_CHANNELa_GPIO_CLK_ENABLE();
/* Enable clock of ADCx peripheral */
ADCx_CLK_ENABLE();
/* Note: In case of usage of ADC dedicated asynchronous clock, with ADC */
/* setting "AdcHandle.Init.ClockPrescaler = ADC_CLOCK_ASYNC", */
/* the clock source has to be enabled using this macro: */
/* __HAL_RCC_ADC12_CONFIG(RCC_ADC12PLLCLK_DIV1); */
/* Enable asynchronous clock source of ADCx */
__HAL_RCC_ADC1_CONFIG(RCC_ADC1PLLCLK_DIV1);
/* Enable clock of DMA associated to the peripheral */
ADCx_DMA_CLK_ENABLE();
/*##-2- Configure peripheral GPIO ##########################################*/
/* ADCx Channel GPIO pin configuration */
GPIO_InitStruct.Pin = ADCx_CHANNELa_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(ADCx_CHANNELa_GPIO_PORT, &GPIO_InitStruct);
/*##-3- Configure the DMA streams ##########################################*/
/* Configure DMA parameters */
DmaHandle.Instance = ADCx_DMA_STREAM;
DmaHandle.Init.Direction = DMA_PERIPH_TO_MEMORY;
DmaHandle.Init.PeriphInc = DMA_PINC_DISABLE;
DmaHandle.Init.MemInc = DMA_MINC_ENABLE;
DmaHandle.Init.PeriphDataAlignment = DMA_PDATAALIGN_WORD; /* Transfer from ADC by word to match with ADC resolution 10 or 12 bits */
DmaHandle.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD; /* Transfer to memory by half-word to match with buffer variable type: half-word */
DmaHandle.Init.Mode = DMA_CIRCULAR;
DmaHandle.Init.Priority = DMA_PRIORITY_HIGH;
/* Deinitialize & Initialize the DMA for new transfer */
HAL_DMA_DeInit(&DmaHandle);
HAL_DMA_Init(&DmaHandle);
/* Associate the initialized DMA handle to the ADC handle */
__HAL_LINKDMA(hadc, DMA_Handle, DmaHandle);
/*##-4- Configure the NVIC #################################################*/
/* NVIC configuration for DMA interrupt (transfer completion or error) */
/* Priority: high-priority */
HAL_NVIC_SetPriority(ADCx_DMA_IRQn, 1, 0);
HAL_NVIC_EnableIRQ(ADCx_DMA_IRQn);
/* NVIC configuration for ADC interrupt */
/* Priority: high-priority */
HAL_NVIC_SetPriority(ADCx_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(ADCx_IRQn);
}
/**
* @brief Initializes the SD MSP.
* @param None
* @retval None
*/
static void SD_MspInit(void)
{
static DMA_HandleTypeDef dmaRxHandle;
static DMA_HandleTypeDef dmaTxHandle;
GPIO_InitTypeDef GPIO_Init_Structure;
SD_HandleTypeDef *hsd = &uSdHandle;
/* Enable SDIO clock */
__SDIO_CLK_ENABLE();
/* Enable DMA2 clocks */
__DMAx_TxRx_CLK_ENABLE();
/* Enable GPIOs clock */
__GPIOC_CLK_ENABLE();
__GPIOD_CLK_ENABLE();
/* Common GPIO configuration */
GPIO_Init_Structure.Mode = GPIO_MODE_AF_PP;
GPIO_Init_Structure.Pull = GPIO_PULLUP;
GPIO_Init_Structure.Speed = GPIO_SPEED_HIGH;
GPIO_Init_Structure.Alternate = GPIO_AF12_SDIO;
/* GPIOC configuration */
GPIO_Init_Structure.Pin = GPIO_PIN_8 | GPIO_PIN_9 | GPIO_PIN_10 | GPIO_PIN_11 | GPIO_PIN_12;
HAL_GPIO_Init(GPIOC, &GPIO_Init_Structure);
/* GPIOD configuration */
GPIO_Init_Structure.Pin = GPIO_PIN_2;
HAL_GPIO_Init(GPIOD, &GPIO_Init_Structure);
/* NVIC configuration for SDIO interrupts */
HAL_NVIC_SetPriority(SDIO_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(SDIO_IRQn);
/* Configure DMA Rx parameters */
dmaRxHandle.Init.Channel = SD_DMAx_Rx_CHANNEL;
dmaRxHandle.Init.Direction = DMA_PERIPH_TO_MEMORY;
dmaRxHandle.Init.PeriphInc = DMA_PINC_DISABLE;
dmaRxHandle.Init.MemInc = DMA_MINC_ENABLE;
dmaRxHandle.Init.PeriphDataAlignment = DMA_PDATAALIGN_WORD;
dmaRxHandle.Init.MemDataAlignment = DMA_MDATAALIGN_WORD;
dmaRxHandle.Init.Mode = DMA_PFCTRL;
dmaRxHandle.Init.Priority = DMA_PRIORITY_VERY_HIGH;
dmaRxHandle.Init.FIFOMode = DMA_FIFOMODE_ENABLE;
dmaRxHandle.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL;
dmaRxHandle.Init.MemBurst = DMA_MBURST_INC4;
dmaRxHandle.Init.PeriphBurst = DMA_PBURST_INC4;
dmaRxHandle.Instance = SD_DMAx_Rx_STREAM;
/* Associate the DMA handle */
__HAL_LINKDMA(hsd, hdmarx, dmaRxHandle);
/* Deinitialize the stream for new transfer */
HAL_DMA_DeInit(&dmaRxHandle);
/* Configure the DMA stream */
HAL_DMA_Init(&dmaRxHandle);
/* Configure DMA Tx parameters */
dmaTxHandle.Init.Channel = SD_DMAx_Tx_CHANNEL;
dmaTxHandle.Init.Direction = DMA_MEMORY_TO_PERIPH;
dmaTxHandle.Init.PeriphInc = DMA_PINC_DISABLE;
dmaTxHandle.Init.MemInc = DMA_MINC_ENABLE;
dmaTxHandle.Init.PeriphDataAlignment = DMA_PDATAALIGN_WORD;
dmaTxHandle.Init.MemDataAlignment = DMA_MDATAALIGN_WORD;
dmaTxHandle.Init.Mode = DMA_PFCTRL;
dmaTxHandle.Init.Priority = DMA_PRIORITY_VERY_HIGH;
dmaTxHandle.Init.FIFOMode = DMA_FIFOMODE_ENABLE;
dmaTxHandle.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL;
dmaTxHandle.Init.MemBurst = DMA_MBURST_INC4;
dmaTxHandle.Init.PeriphBurst = DMA_PBURST_INC4;
dmaTxHandle.Instance = SD_DMAx_Tx_STREAM;
/* Associate the DMA handle */
__HAL_LINKDMA(hsd, hdmatx, dmaTxHandle);
/* Deinitialize the stream for new transfer */
HAL_DMA_DeInit(&dmaTxHandle);
/* Configure the DMA stream */
HAL_DMA_Init(&dmaTxHandle);
/* NVIC configuration for DMA transfer complete interrupt */
HAL_NVIC_SetPriority(SD_DMAx_Rx_IRQn, 6, 0);
HAL_NVIC_EnableIRQ(SD_DMAx_Rx_IRQn);
/* NVIC configuration for DMA transfer complete interrupt */
HAL_NVIC_SetPriority(SD_DMAx_Tx_IRQn, 6, 0);
HAL_NVIC_EnableIRQ(SD_DMAx_Tx_IRQn);
}
/**
* @brief Initializes SDRAM MSP.
* @param hsdram: SDRAM handle
* @param Params
* @retval None
*/
__weak void SDRAM_MspInit(SDRAM_HandleTypeDef *hsdram, void *Params)
{
static DMA_HandleTypeDef dma_handle;
GPIO_InitTypeDef gpio_init_structure;
/* Enable FMC clock */
__HAL_RCC_FMC_CLK_ENABLE();
/* Enable chosen DMAx clock */
__DMAx_CLK_ENABLE();
/* Enable GPIOs clock */
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
__HAL_RCC_GPIOE_CLK_ENABLE();
__HAL_RCC_GPIOF_CLK_ENABLE();
__HAL_RCC_GPIOG_CLK_ENABLE();
__HAL_RCC_GPIOH_CLK_ENABLE();
/* Common GPIO configuration */
gpio_init_structure.Mode = GPIO_MODE_AF_PP;
gpio_init_structure.Pull = GPIO_PULLUP;
gpio_init_structure.Speed = GPIO_SPEED_FAST;
gpio_init_structure.Alternate = GPIO_AF12_FMC;
/* GPIOC configuration */
gpio_init_structure.Pin = GPIO_PIN_3;
HAL_GPIO_Init(GPIOC, &gpio_init_structure);
/* GPIOD configuration */
gpio_init_structure.Pin = GPIO_PIN_0 | GPIO_PIN_1 | GPIO_PIN_8 | GPIO_PIN_9 |
GPIO_PIN_10 | GPIO_PIN_14 | GPIO_PIN_15;
HAL_GPIO_Init(GPIOD, &gpio_init_structure);
/* GPIOE configuration */
gpio_init_structure.Pin = GPIO_PIN_0 | GPIO_PIN_1 | GPIO_PIN_7| GPIO_PIN_8 | GPIO_PIN_9 |\
GPIO_PIN_10 | GPIO_PIN_11 | GPIO_PIN_12 | GPIO_PIN_13 | GPIO_PIN_14 |\
GPIO_PIN_15;
HAL_GPIO_Init(GPIOE, &gpio_init_structure);
/* GPIOF configuration */
gpio_init_structure.Pin = GPIO_PIN_0 | GPIO_PIN_1 | GPIO_PIN_2| GPIO_PIN_3 | GPIO_PIN_4 |\
GPIO_PIN_5 | GPIO_PIN_11 | GPIO_PIN_12 | GPIO_PIN_13 | GPIO_PIN_14 |\
GPIO_PIN_15;
HAL_GPIO_Init(GPIOF, &gpio_init_structure);
/* GPIOG configuration */
gpio_init_structure.Pin = GPIO_PIN_0 | GPIO_PIN_1 | GPIO_PIN_4| GPIO_PIN_5 | GPIO_PIN_8 |\
GPIO_PIN_15;
HAL_GPIO_Init(GPIOG, &gpio_init_structure);
/* GPIOH configuration */
gpio_init_structure.Pin = GPIO_PIN_3 | GPIO_PIN_5;
HAL_GPIO_Init(GPIOH, &gpio_init_structure);
/* Configure common DMA parameters */
dma_handle.Init.Channel = SDRAM_DMAx_CHANNEL;
dma_handle.Init.Direction = DMA_MEMORY_TO_MEMORY;
dma_handle.Init.PeriphInc = DMA_PINC_ENABLE;
dma_handle.Init.MemInc = DMA_MINC_ENABLE;
dma_handle.Init.PeriphDataAlignment = DMA_PDATAALIGN_WORD;
dma_handle.Init.MemDataAlignment = DMA_MDATAALIGN_WORD;
dma_handle.Init.Mode = DMA_NORMAL;
dma_handle.Init.Priority = DMA_PRIORITY_HIGH;
dma_handle.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
dma_handle.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL;
dma_handle.Init.MemBurst = DMA_MBURST_SINGLE;
dma_handle.Init.PeriphBurst = DMA_PBURST_SINGLE;
dma_handle.Instance = SDRAM_DMAx_STREAM;
/* Associate the DMA handle */
__HAL_LINKDMA(hsdram, hdma, dma_handle);
/* Deinitialize the stream for new transfer */
HAL_DMA_DeInit(&dma_handle);
/* Configure the DMA stream */
HAL_DMA_Init(&dma_handle);
/* NVIC configuration for DMA transfer complete interrupt */
HAL_NVIC_SetPriority(SDRAM_DMAx_IRQn, 0x0F, 0);
HAL_NVIC_EnableIRQ(SDRAM_DMAx_IRQn);
}
/**
* @brief Main program
* @param None
* @retval None
*/
int main(void)
{
#ifndef BOARD_IN_STOP_MODE
GPIO_InitTypeDef GPIO_InitStruct;
#endif
/* STM32F0xx HAL library initialization:
- Configure the Flash prefetch
- Systick timer is configured by default as source of time base, but user
can eventually implement his proper time base source (a general purpose
timer for example or other time source), keeping in mind that Time base
duration should be kept 1ms since PPP_TIMEOUT_VALUEs are defined and
handled in milliseconds basis.
- Low Level Initialization
*/
HAL_Init();
/* Configure the system clock to 48 MHz */
SystemClock_Config();
/* Configure LED3 */
BSP_LED_Init(LED3);
#ifdef BOARD_IN_STOP_MODE
/* HSI must be UART clock source to be able to wake up the MCU */
__HAL_RCC_USART1_CONFIG(RCC_USART1CLKSOURCE_HSI);
#endif
/*##-1- Configure the UART peripheral ######################################*/
/* Put the USART peripheral in the Asynchronous mode (UART Mode) */
/* UART configured as follows:
- Word Length = 8 Bits
- Stop Bit = One Stop bit
- Parity = None
- BaudRate = 9600 baud
- Hardware flow control disabled (RTS and CTS signals) */
UartHandle.Instance = USARTx;
HAL_UART_DeInit(&UartHandle);
UartHandle.Init.BaudRate = 9600;
UartHandle.Init.WordLength = UART_WORDLENGTH_8B;
UartHandle.Init.StopBits = UART_STOPBITS_1;
UartHandle.Init.Parity = UART_PARITY_NONE;
UartHandle.Init.HwFlowCtl = UART_HWCONTROL_NONE;
UartHandle.Init.Mode = UART_MODE_TX_RX;
UartHandle.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
if(HAL_UART_Init(&UartHandle) != HAL_OK)
{
Error_Handler();
}
#ifdef BOARD_IN_STOP_MODE
BSP_LED_On(LED3);
/* wait for two seconds before test start */
HAL_Delay(2000);
/* make sure that no UART transfer is on-going */
while(__HAL_UART_GET_FLAG(&UartHandle, USART_ISR_BUSY) == SET);
/* make sure that UART is ready to receive
* (test carried out again later in HAL_UARTEx_StopModeWakeUpSourceConfig) */
while(__HAL_UART_GET_FLAG(&UartHandle, USART_ISR_REACK) == RESET);
/* set the wake-up event:
* specify wake-up on RXNE flag */
WakeUpSelection.WakeUpEvent = UART_WAKEUP_ON_READDATA_NONEMPTY;
if (HAL_UARTEx_StopModeWakeUpSourceConfig(&UartHandle, WakeUpSelection)!= HAL_OK)
{
Error_Handler();
}
/* Enable the UART Wake UP from stop mode Interrupt */
__HAL_UART_ENABLE_IT(&UartHandle, UART_IT_WUF);
/* about to enter stop mode: switch off LED */
BSP_LED_Off(LED3);
/* enable MCU wake-up by UART */
HAL_UARTEx_EnableStopMode(&UartHandle);
/* enter stop mode */
HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
/* ... STOP mode ... */
SystemClock_Config_fromSTOP();
/* at that point, MCU has been awoken: the LED has been turned back on */
/* Wake Up based on RXNE flag successful */
HAL_UARTEx_DisableStopMode(&UartHandle);
/* wait for some delay */
HAL_Delay(100);
/* Inform other board that wake up is successful */
if (HAL_UART_Transmit(&UartHandle, (uint8_t*)aTxBuffer1, COUNTOF(aTxBuffer1)-1, 5000)!= HAL_OK)
{
Error_Handler();
}
/*##-2- Wake Up second step ###############################################*/
/* make sure that no UART transfer is on-going */
while(__HAL_UART_GET_FLAG(&UartHandle, USART_ISR_BUSY) == SET);
/* make sure that UART is ready to receive
* (test carried out again later in HAL_UARTEx_StopModeWakeUpSourceConfig) */
while(__HAL_UART_GET_FLAG(&UartHandle, USART_ISR_REACK) == RESET);
/* set the wake-up event:
* specify wake-up on start-bit detection */
WakeUpSelection.WakeUpEvent = UART_WAKEUP_ON_STARTBIT;
if (HAL_UARTEx_StopModeWakeUpSourceConfig(&UartHandle, WakeUpSelection)!= HAL_OK)
{
Error_Handler();
}
/* Enable the UART Wake UP from stop mode Interrupt */
__HAL_UART_ENABLE_IT(&UartHandle, UART_IT_WUF);
/* about to enter stop mode: switch off LED */
BSP_LED_Off(LED3);
/* enable MCU wake-up by UART */
HAL_UARTEx_EnableStopMode(&UartHandle);
/* enter stop mode */
HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
/* ... STOP mode ... */
SystemClock_Config_fromSTOP();
/* at that point, MCU has been awoken: the LED has been turned back on */
/* Wake Up on start bit detection successful */
HAL_UARTEx_DisableStopMode(&UartHandle);
/* wait for some delay */
HAL_Delay(100);
/* Inform other board that wake up is successful */
if (HAL_UART_Transmit(&UartHandle, (uint8_t*)aTxBuffer2, COUNTOF(aTxBuffer2)-1, 5000)!= HAL_OK)
{
Error_Handler();
}
/*##-3- Wake Up third step ################################################*/
/* make sure that no UART transfer is on-going */
while(__HAL_UART_GET_FLAG(&UartHandle, USART_ISR_BUSY) == SET);
/* make sure that UART is ready to receive
* (test carried out again later in HAL_UARTEx_StopModeWakeUpSourceConfig) */
while(__HAL_UART_GET_FLAG(&UartHandle, USART_ISR_REACK) == RESET);
/* set the wake-up event:
* specify address-to-match type.
* The address is 0x29, meaning the character triggering the
* address match is 0xA9 */
WakeUpSelection.WakeUpEvent = UART_WAKEUP_ON_ADDRESS;
WakeUpSelection.AddressLength = UART_ADDRESS_DETECT_7B;
WakeUpSelection.Address = 0x29;
if (HAL_UARTEx_StopModeWakeUpSourceConfig(&UartHandle, WakeUpSelection)!= HAL_OK)
{
Error_Handler();
}
/* Enable the UART Wake UP from stop mode Interrupt */
__HAL_UART_ENABLE_IT(&UartHandle, UART_IT_WUF);
/* about to enter stop mode: switch off LED */
BSP_LED_Off(LED3);
/* enable MCU wake-up by UART */
HAL_UARTEx_EnableStopMode(&UartHandle);
/* enter stop mode */
HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
/* ... STOP mode ... */
SystemClock_Config_fromSTOP();
/* at that point, MCU has been awoken: the LED has been turned back on */
/* Wake Up on 7-bit address detection successful */
HAL_UARTEx_DisableStopMode(&UartHandle);
/* wait for some delay */
HAL_Delay(100);
/* Inform other board that wake up is successful */
if (HAL_UART_Transmit(&UartHandle, (uint8_t*)aTxBuffer3, COUNTOF(aTxBuffer3)-1, 5000)!= HAL_OK)
{
Error_Handler();
}
/*##-4- Wake Up fourth step ###############################################*/
/* make sure that no UART transfer is on-going */
while(__HAL_UART_GET_FLAG(&UartHandle, USART_ISR_BUSY) == SET);
/* make sure that UART is ready to receive
* (test carried out again later in HAL_UARTEx_StopModeWakeUpSourceConfig) */
while(__HAL_UART_GET_FLAG(&UartHandle, USART_ISR_REACK) == RESET);
/* set the wake-up event:
* specify address-to-match type.
* The address is 0x2, meaning the character triggering the
* address match is 0x82 */
WakeUpSelection.WakeUpEvent = UART_WAKEUP_ON_ADDRESS;
WakeUpSelection.AddressLength = UART_ADDRESS_DETECT_4B;
WakeUpSelection.Address = 0x2;
if (HAL_UARTEx_StopModeWakeUpSourceConfig(&UartHandle, WakeUpSelection)!= HAL_OK)
{
Error_Handler();
}
/* Enable the UART Wake UP from stop mode Interrupt */
__HAL_UART_ENABLE_IT(&UartHandle, UART_IT_WUF);
/* about to enter stop mode: switch off LED */
BSP_LED_Off(LED3);
/* enable MCU wake-up by UART */
HAL_UARTEx_EnableStopMode(&UartHandle);
/* enter stop mode */
HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
/* ... STOP mode ... */
SystemClock_Config_fromSTOP();
/* at that point, MCU has been awoken: the LED has been turned back on */
/* Wake Up on 4-bit address detection successful */
/* wait for some delay */
HAL_Delay(100);
/* Inform other board that wake up is successful */
if (HAL_UART_Transmit(&UartHandle, (uint8_t*)aTxBuffer4, COUNTOF(aTxBuffer4)-1, 5000)!= HAL_OK)
{
Error_Handler();
}
#else
/* Configure PA.12 (Arduino D2) as input with External interrupt */
GPIO_InitStruct.Pin = GPIO_PIN_12;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
/* Enable GPIOA clock */
__HAL_RCC_GPIOA_CLK_ENABLE();
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* Enable and set PA.12 (Arduino D2) EXTI Interrupt to the lowest priority */
NVIC_SetPriority((IRQn_Type)(EXTI4_15_IRQn), 0x03);
HAL_NVIC_EnableIRQ((IRQn_Type)(EXTI4_15_IRQn));
/* Wait for the user to set GPIOA to GND before starting the Communication.
In the meantime, LED3 is blinking */
while(VirtualUserButtonStatus == 0)
{
/* Toggle LED3*/
BSP_LED_Toggle(LED3);
HAL_Delay(100);
}
/*##-2- Send the wake-up from stop mode first trigger ######################*/
/* (RXNE flag setting) */
BSP_LED_On(LED3);
if(HAL_UART_Transmit(&UartHandle, (uint8_t*)aWakeUpTrigger1, COUNTOF(aWakeUpTrigger1)-1, 5000)!= HAL_OK)
{
Error_Handler();
}
/* Put UART peripheral in reception process to wait for other board
wake up confirmation */
if(HAL_UART_Receive(&UartHandle, (uint8_t *)aRxBuffer, COUNTOF(aTxBuffer1)-1, 10000) != HAL_OK)
{
Error_Handler();
}
BSP_LED_Off(LED3);
/* Compare the expected and received buffers */
if(Buffercmp((uint8_t*)aTxBuffer1,(uint8_t*)aRxBuffer,COUNTOF(aTxBuffer1)-1))
{
Error_Handler();
}
/* wait for two seconds before test second step */
HAL_Delay(2000);
/*##-3- Send the wake-up from stop mode second trigger #####################*/
/* (start Bit detection) */
BSP_LED_On(LED3);
if(HAL_UART_Transmit(&UartHandle, (uint8_t*)aWakeUpTrigger2, COUNTOF(aWakeUpTrigger2)-1, 5000)!= HAL_OK)
{
Error_Handler();
}
/* Put UART peripheral in reception process to wait for other board
wake up confirmation */
if(HAL_UART_Receive(&UartHandle, (uint8_t *)aRxBuffer, COUNTOF(aTxBuffer2)-1, 10000) != HAL_OK)
{
Error_Handler();
}
BSP_LED_Off(LED3);
/* Compare the expected and received buffers */
if(Buffercmp((uint8_t*)aTxBuffer2,(uint8_t*)aRxBuffer,COUNTOF(aTxBuffer2)-1))
{
Error_Handler();
}
/* wait for two seconds before test third step */
HAL_Delay(2000);
/*##-4- Send the wake-up from stop mode third trigger ######################*/
/* (7-bit address match) */
BSP_LED_On(LED3);
if(HAL_UART_Transmit(&UartHandle, (uint8_t*)aWakeUpTrigger3, 1, 5000)!= HAL_OK)
{
Error_Handler();
}
/* Put UART peripheral in reception process to wait for other board
wake up confirmation */
if(HAL_UART_Receive(&UartHandle, (uint8_t *)aRxBuffer, COUNTOF(aTxBuffer3)-1, 10000) != HAL_OK)
{
Error_Handler();
}
BSP_LED_Off(LED3);
/* Compare the expected and received buffers */
if(Buffercmp((uint8_t*)aTxBuffer3,(uint8_t*)aRxBuffer,COUNTOF(aTxBuffer3)-1))
{
Error_Handler();
}
/* wait for two seconds before test fourth and last step */
HAL_Delay(2000);
/*##-5- Send the wake-up from stop mode fourth trigger #####################*/
/* (4-bit address match) */
BSP_LED_On(LED3);
if(HAL_UART_Transmit(&UartHandle, (uint8_t*)aWakeUpTrigger4, 1, 5000)!= HAL_OK)
{
Error_Handler();
}
/* Put UART peripheral in reception process to wait for other board
wake up confirmation */
if(HAL_UART_Receive(&UartHandle, (uint8_t *)aRxBuffer, COUNTOF(aTxBuffer4)-1, 10000) != HAL_OK)
{
Error_Handler();
}
BSP_LED_Off(LED3);
/* Compare the expected and received buffers */
if(Buffercmp((uint8_t*)aTxBuffer4,(uint8_t*)aRxBuffer,COUNTOF(aTxBuffer4)-1))
{
Error_Handler();
}
HAL_Delay(2000);
#endif /* BOARD_IN_STOP_MODE */
/* Turn on LED3 if test passes then enter infinite loop */
BSP_LED_On(LED3);
while (1)
{
}
}
void HAL_UART_MspInit(UART_HandleTypeDef* huart)
{
GPIO_InitTypeDef GPIO_InitStruct;
if(huart->Instance==USART1)
{
/* USER CODE BEGIN USART1_MspInit 0 */
/* USER CODE END USART1_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_USART1_CLK_ENABLE();
/**USART1 GPIO Configuration
PA9 ------> USART1_TX
PA10 ------> USART1_RX
*/
GPIO_InitStruct.Pin = GPIO_PIN_9|GPIO_PIN_10;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
// GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF7_USART1;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USER CODE BEGIN USART1_MspInit 1 */
HAL_NVIC_SetPriority(USART1_IRQn, 0, 1);
HAL_NVIC_EnableIRQ(USART1_IRQn);
/* USER CODE END USART1_MspInit 1 */
}
else if(huart->Instance==USART2)
{
/* USER CODE BEGIN USART2_MspInit 0 */
/* USER CODE END USART2_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_USART2_CLK_ENABLE();
/**USART2 GPIO Configuration
PD5 ------> USART2_TX
PD6 ------> USART2_RX
*/
GPIO_InitStruct.Pin = GPIO_PIN_5|GPIO_PIN_6;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
// GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF7_USART2;
HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
/* USER CODE BEGIN USART2_MspInit 1 */
HAL_NVIC_SetPriority(USART2_IRQn, 0, 1);
HAL_NVIC_EnableIRQ(USART2_IRQn);
/* USER CODE END USART2_MspInit 1 */
}
else if(huart->Instance==USART3)
{
/* USER CODE BEGIN USART3_MspInit 0 */
/* USER CODE END USART3_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_USART3_CLK_ENABLE();
/**USART3 GPIO Configuration
PD8 ------> USART3_TX
PD9 ------> USART3_RX
*/
GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_9;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF7_USART3;
HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
/* USER CODE BEGIN USART3_MspInit 1 */
/* USER CODE END USART3_MspInit 1 */
}
}
/**
* @brief Initializes the PCD MSP.
* @param hpcd: PCD handle
* @retval None
*/
void HAL_PCD_MspInit(PCD_HandleTypeDef *hpcd)
{
GPIO_InitTypeDef GPIO_InitStruct;
if(hpcd->Instance == USB_OTG_FS)
{
/* Configure USB FS GPIOs */
__GPIOA_CLK_ENABLE();
/* Configure DM DP Pins */
GPIO_InitStruct.Pin = (GPIO_PIN_11 | GPIO_PIN_12);
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF10_OTG_FS;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* Configure VBUS Pin */
GPIO_InitStruct.Pin = GPIO_PIN_9;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* Configure ID pin */
GPIO_InitStruct.Pin = GPIO_PIN_10;
GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Alternate = GPIO_AF10_OTG_FS;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* Enable USB FS Clock */
__USB_OTG_FS_CLK_ENABLE();
/* Set USBFS Interrupt priority */
HAL_NVIC_SetPriority(OTG_FS_IRQn, 5, 0);
/* Enable USBFS Interrupt */
HAL_NVIC_EnableIRQ(OTG_FS_IRQn);
if(hpcd->Init.low_power_enable == 1)
{
/* Enable EXTI Line 18 for USB wakeup*/
__HAL_USB_FS_EXTI_CLEAR_FLAG();
__HAL_USB_FS_EXTI_SET_RISING_EGDE_TRIGGER();
__HAL_USB_FS_EXTI_ENABLE_IT();
/* Set EXTI Wakeup Interrupt priority*/
HAL_NVIC_SetPriority(OTG_FS_WKUP_IRQn, 0, 0);
/* Enable EXTI Interrupt */
HAL_NVIC_EnableIRQ(OTG_FS_WKUP_IRQn);
}
}
else if(hpcd->Instance == USB_OTG_HS)
{
/* Configure USB FS GPIOs */
__GPIOA_CLK_ENABLE();
__GPIOB_CLK_ENABLE();
__GPIOC_CLK_ENABLE();
__GPIOH_CLK_ENABLE();
__GPIOI_CLK_ENABLE();
/* CLK */
GPIO_InitStruct.Pin = GPIO_PIN_5;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF10_OTG_HS;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* D0 */
GPIO_InitStruct.Pin = GPIO_PIN_3;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF10_OTG_HS;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* D1 D2 D3 D4 D5 D6 D7 */
GPIO_InitStruct.Pin = GPIO_PIN_0 | GPIO_PIN_1 | GPIO_PIN_5 |\
GPIO_PIN_10 | GPIO_PIN_11 | GPIO_PIN_12 | GPIO_PIN_13;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Alternate = GPIO_AF10_OTG_HS;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* STP */
GPIO_InitStruct.Pin = GPIO_PIN_0;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Alternate = GPIO_AF10_OTG_HS;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/* NXT */
GPIO_InitStruct.Pin = GPIO_PIN_4;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Alternate = GPIO_AF10_OTG_HS;
HAL_GPIO_Init(GPIOH, &GPIO_InitStruct);
/* DIR */
GPIO_InitStruct.Pin = GPIO_PIN_11;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Alternate = GPIO_AF10_OTG_HS;
HAL_GPIO_Init(GPIOI, &GPIO_InitStruct);
/* Enable USB HS Clocks */
__USB_OTG_HS_CLK_ENABLE();
__USB_OTG_HS_ULPI_CLK_ENABLE();
/* Set USBHS Interrupt priority */
HAL_NVIC_SetPriority(OTG_HS_IRQn, 5, 0);
/* Enable USBHS Interrupt */
HAL_NVIC_EnableIRQ(OTG_HS_IRQn);
if(hpcd->Init.low_power_enable == 1)
{
/* Enable EXTI Line 20 for USB wakeup*/
__HAL_USB_HS_EXTI_CLEAR_FLAG();
__HAL_USB_HS_EXTI_SET_RISING_EGDE_TRIGGER();
__HAL_USB_HS_EXTI_ENABLE_IT();
/* Set EXTI Wakeup Interrupt priority*/
HAL_NVIC_SetPriority(OTG_HS_WKUP_IRQn, 0, 0);
/* Enable EXTI Interrupt */
HAL_NVIC_EnableIRQ(OTG_HS_WKUP_IRQn);
}
}
}
/**
* @brief Initializes SDRAM MSP.
* @param None
* @retval None
*/
static void MspInit(void)
{
static DMA_HandleTypeDef dmaHandle;
GPIO_InitTypeDef GPIO_InitStructure;
SDRAM_HandleTypeDef *hsdram = &SdramHandle;
/* Enable FMC clock */
__FMC_CLK_ENABLE();
/* Enable chosen DMAx clock */
__DMAx_CLK_ENABLE();
/* Enable GPIOs clock */
__GPIOB_CLK_ENABLE();
__GPIOC_CLK_ENABLE();
__GPIOD_CLK_ENABLE();
__GPIOE_CLK_ENABLE();
__GPIOF_CLK_ENABLE();
__GPIOG_CLK_ENABLE();
/*-- GPIOs Configuration -----------------------------------------------------*/
/*
+-------------------+--------------------+--------------------+--------------------+
+ SDRAM pins assignment +
+-------------------+--------------------+--------------------+--------------------+
| PD0 <-> FMC_D2 | PE0 <-> FMC_NBL0 | PF0 <-> FMC_A0 | PG0 <-> FMC_A10 |
| PD1 <-> FMC_D3 | PE1 <-> FMC_NBL1 | PF1 <-> FMC_A1 | PG1 <-> FMC_A11 |
| PD8 <-> FMC_D13 | PE7 <-> FMC_D4 | PF2 <-> FMC_A2 | PG8 <-> FMC_SDCLK |
| PD9 <-> FMC_D14 | PE8 <-> FMC_D5 | PF3 <-> FMC_A3 | PG15 <-> FMC_NCAS |
| PD10 <-> FMC_D15 | PE9 <-> FMC_D6 | PF4 <-> FMC_A4 |--------------------+
| PD14 <-> FMC_D0 | PE10 <-> FMC_D7 | PF5 <-> FMC_A5 |
| PD15 <-> FMC_D1 | PE11 <-> FMC_D8 | PF11 <-> FMC_NRAS |
+-------------------| PE12 <-> FMC_D9 | PF12 <-> FMC_A6 |
| PE13 <-> FMC_D10 | PF13 <-> FMC_A7 |
| PE14 <-> FMC_D11 | PF14 <-> FMC_A8 |
| PE15 <-> FMC_D12 | PF15 <-> FMC_A9 |
+-------------------+--------------------+--------------------+
| PB5 <-> FMC_SDCKE1|
| PB6 <-> FMC_SDNE1 |
| PC0 <-> FMC_SDNWE |
+-------------------+
*/
/* Common GPIO configuration */
GPIO_InitStructure.Mode = GPIO_MODE_AF_PP;
GPIO_InitStructure.Speed = GPIO_SPEED_FAST;
GPIO_InitStructure.Pull = GPIO_NOPULL;
GPIO_InitStructure.Alternate = GPIO_AF12_FMC;
/* GPIOB configuration */
GPIO_InitStructure.Pin = GPIO_PIN_5 | GPIO_PIN_6;
HAL_GPIO_Init(GPIOB, &GPIO_InitStructure);
/* GPIOC configuration */
GPIO_InitStructure.Pin = GPIO_PIN_0;
HAL_GPIO_Init(GPIOC, &GPIO_InitStructure);
/* GPIOD configuration */
GPIO_InitStructure.Pin = GPIO_PIN_0 | GPIO_PIN_1 | GPIO_PIN_8 |
GPIO_PIN_9 | GPIO_PIN_10 | GPIO_PIN_14 |
GPIO_PIN_15;
HAL_GPIO_Init(GPIOD, &GPIO_InitStructure);
/* GPIOE configuration */
GPIO_InitStructure.Pin = GPIO_PIN_0 | GPIO_PIN_1 | GPIO_PIN_7 |
GPIO_PIN_8 | GPIO_PIN_9 | GPIO_PIN_10 |
GPIO_PIN_11 | GPIO_PIN_12 | GPIO_PIN_13 |
GPIO_PIN_14 | GPIO_PIN_15;
HAL_GPIO_Init(GPIOE, &GPIO_InitStructure);
/* GPIOF configuration */
GPIO_InitStructure.Pin = GPIO_PIN_0 | GPIO_PIN_1 | GPIO_PIN_2 |
GPIO_PIN_3 | GPIO_PIN_4 | GPIO_PIN_5 |
GPIO_PIN_11 | GPIO_PIN_12 | GPIO_PIN_13 |
GPIO_PIN_14 | GPIO_PIN_15;
HAL_GPIO_Init(GPIOF, &GPIO_InitStructure);
/* GPIOG configuration */
GPIO_InitStructure.Pin = GPIO_PIN_0 | GPIO_PIN_1 | GPIO_PIN_4 |
GPIO_PIN_5 | GPIO_PIN_8 | GPIO_PIN_15;
HAL_GPIO_Init(GPIOG, &GPIO_InitStructure);
/* Configure common DMA parameters */
dmaHandle.Init.Channel = SDRAM_DMAx_CHANNEL;
dmaHandle.Init.Direction = DMA_MEMORY_TO_MEMORY;
dmaHandle.Init.PeriphInc = DMA_PINC_ENABLE;
dmaHandle.Init.MemInc = DMA_MINC_ENABLE;
dmaHandle.Init.PeriphDataAlignment = DMA_PDATAALIGN_WORD;
dmaHandle.Init.MemDataAlignment = DMA_MDATAALIGN_WORD;
dmaHandle.Init.Mode = DMA_NORMAL;
dmaHandle.Init.Priority = DMA_PRIORITY_HIGH;
dmaHandle.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
dmaHandle.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL;
dmaHandle.Init.MemBurst = DMA_MBURST_SINGLE;
dmaHandle.Init.PeriphBurst = DMA_PBURST_SINGLE;
dmaHandle.Instance = SDRAM_DMAx_STREAM;
/* Associate the DMA handle */
__HAL_LINKDMA(hsdram, hdma, dmaHandle);
/* Deinitialize the stream for new transfer */
HAL_DMA_DeInit(&dmaHandle);
/* Configure the DMA stream */
HAL_DMA_Init(&dmaHandle);
/* NVIC configuration for DMA transfer complete interrupt */
HAL_NVIC_SetPriority(SDRAM_DMAx_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(SDRAM_DMAx_IRQn);
}
/** Configure pins as
* Analog
* Input
* Output
* EVENT_OUT
* EXTI
PB10 ------> SPI2_SCK
*/
void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct;
/* GPIO Ports Clock Enable */
__GPIOE_CLK_ENABLE();
__GPIOC_CLK_ENABLE();
__GPIOF_CLK_ENABLE();
__GPIOH_CLK_ENABLE();
__GPIOA_CLK_ENABLE();
__GPIOB_CLK_ENABLE();
__GPIOG_CLK_ENABLE();
__GPIOD_CLK_ENABLE();
/*Configure GPIO pins : PEPin PEPin PE7 PE8
PE12 PE13 PE14 PE15 */
GPIO_InitStruct.Pin = out_CAN1_SD_Pin|out_CAN2_SD_Pin|GPIO_PIN_7|GPIO_PIN_8
|GPIO_PIN_12|GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
/*Configure GPIO pin : PtPin */
GPIO_InitStruct.Pin = in_CALL_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(in_CALL_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : PFPin PF13 PFPin */
GPIO_InitStruct.Pin = in_IGN_STM_Pin|GPIO_PIN_13|in_case_open_sw_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOF, &GPIO_InitStruct);
/*Configure GPIO pin : PtPin */
GPIO_InitStruct.Pin = in_1_wire_in_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(in_1_wire_in_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : PtPin */
GPIO_InitStruct.Pin = out_1_Wire_ctrl_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
HAL_GPIO_Init(out_1_Wire_ctrl_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : PB0 PBPin */
GPIO_InitStruct.Pin = GPIO_PIN_0|out_SPI2_NSS_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pins : PF11 PF12 */
GPIO_InitStruct.Pin = GPIO_PIN_11|GPIO_PIN_12;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
HAL_GPIO_Init(GPIOF, &GPIO_InitStruct);
/*Configure GPIO pins : PG0 PG1 */
GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOG, &GPIO_InitStruct);
/*Configure GPIO pins : PE9 PE11 */
GPIO_InitStruct.Pin = GPIO_PIN_9|GPIO_PIN_11;
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
/*Configure GPIO pin : PB10 */
GPIO_InitStruct.Pin = GPIO_PIN_10;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF5_SPI2;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pins : PG2 PGPin */
GPIO_InitStruct.Pin = GPIO_PIN_2|out_UART6_dir_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
HAL_GPIO_Init(GPIOG, &GPIO_InitStruct);
/*Configure GPIO pin : PtPin */
GPIO_InitStruct.Pin = out_UART1_dir_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
HAL_GPIO_Init(out_UART1_dir_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : PDPin PDPin */
GPIO_InitStruct.Pin = out_UART5_dir_Pin|out_UART4_dir_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
/* EXTI interrupt init*/
HAL_NVIC_SetPriority(EXTI9_5_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(EXTI9_5_IRQn);
HAL_NVIC_SetPriority(EXTI15_10_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(EXTI15_10_IRQn);
/* USER CODE BEGIN 2 */
HAL_GPIO_WritePin(GPIOE, out_CAN1_SD_Pin, GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOE, out_CAN2_SD_Pin, GPIO_PIN_RESET);
/* USER CODE END 2 */
}
/**
* @brief LTDC MSP Initialization
* This function configures the hardware resources used in this example:
* - Peripheral's clock enable
* - Peripheral's GPIO Configuration
* @param hltdc: LTDC handle pointer
* @retval None
*/
void HAL_LTDC_MspInit(LTDC_HandleTypeDef *hltdc)
{
GPIO_InitTypeDef GPIO_Init_Structure;
/*##-1- Enable peripherals and GPIO Clocks #################################*/
/* Enable the LTDC Clock */
__HAL_RCC_LTDC_CLK_ENABLE();
/* Enable GPIOs clock */
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
__HAL_RCC_GPIOF_CLK_ENABLE();
__HAL_RCC_GPIOG_CLK_ENABLE();
/*##-2- Configure peripheral GPIO ##########################################*/
/******************** LTDC Pins configuration *************************/
/*
+------------------------+-----------------------+----------------------------+
+ LCD pins assignment +
+------------------------+-----------------------+----------------------------+
| LCD_TFT R2 <-> PC.10 | LCD_TFT G2 <-> PA.06 | LCD_TFT B2 <-> PD.06 |
| LCD_TFT R3 <-> PB.00 | LCD_TFT G3 <-> PG.10 | LCD_TFT B3 <-> PG.11 |
| LCD_TFT R4 <-> PA.11 | LCD_TFT G4 <-> PB.10 | LCD_TFT B4 <-> PG.12 |
| LCD_TFT R5 <-> PA.12 | LCD_TFT G5 <-> PB.11 | LCD_TFT B5 <-> PA.03 |
| LCD_TFT R6 <-> PB.01 | LCD_TFT G6 <-> PC.07 | LCD_TFT B6 <-> PB.08 |
| LCD_TFT R7 <-> PG.06 | LCD_TFT G7 <-> PD.03 | LCD_TFT B7 <-> PB.09 |
-------------------------------------------------------------------------------
| LCD_TFT HSYNC <-> PC.06 | LCDTFT VSYNC <-> PA.04 |
| LCD_TFT CLK <-> PG.07 | LCD_TFT DE <-> PF.10 |
-----------------------------------------------------
*/
/* LTDC pins configuraiton: PA3 -- 12 */
GPIO_Init_Structure.Pin = GPIO_PIN_3 | GPIO_PIN_4 | GPIO_PIN_6 |
GPIO_PIN_11 | GPIO_PIN_12;
GPIO_Init_Structure.Mode = GPIO_MODE_AF_PP;
GPIO_Init_Structure.Pull = GPIO_NOPULL;
GPIO_Init_Structure.Speed = GPIO_SPEED_FAST;
GPIO_Init_Structure.Alternate= GPIO_AF14_LTDC;
HAL_GPIO_Init(GPIOA, &GPIO_Init_Structure);
/* LTDC pins configuraiton: PB8 -- 11 */
GPIO_Init_Structure.Pin = GPIO_PIN_8 | \
GPIO_PIN_9 | GPIO_PIN_10 | GPIO_PIN_11;
HAL_GPIO_Init(GPIOB, &GPIO_Init_Structure);
/* LTDC pins configuraiton: PC6 -- 10 */
GPIO_Init_Structure.Pin = GPIO_PIN_6 | GPIO_PIN_7 | GPIO_PIN_10;
HAL_GPIO_Init(GPIOC, &GPIO_Init_Structure);
/* LTDC pins configuraiton: PD3 -- 6 */
GPIO_Init_Structure.Pin = GPIO_PIN_3 | GPIO_PIN_6;
HAL_GPIO_Init(GPIOD, &GPIO_Init_Structure);
/* LTDC pins configuraiton: PF10*/
GPIO_Init_Structure.Pin = GPIO_PIN_10;
HAL_GPIO_Init(GPIOF, &GPIO_Init_Structure);
/* LTDC pins configuraiton: PG6 -- 7 */
GPIO_Init_Structure.Pin = GPIO_PIN_6 | GPIO_PIN_7 | \
GPIO_PIN_11;
HAL_GPIO_Init(GPIOG, &GPIO_Init_Structure);
/* LTDC pins configuraiton: PB1 -- 1 */
GPIO_Init_Structure.Pin = GPIO_PIN_0 | GPIO_PIN_1;
GPIO_Init_Structure.Alternate= GPIO_AF14_LTDC;
HAL_GPIO_Init(GPIOB, &GPIO_Init_Structure);
/* LTDC pins configuraiton: PG10 -- 12 */
GPIO_Init_Structure.Pin = GPIO_PIN_10 | GPIO_PIN_12;
HAL_GPIO_Init(GPIOG, &GPIO_Init_Structure);
/* Set LTDC Interrupt to the lowest priority */
HAL_NVIC_SetPriority(LTDC_IRQn, 0xE, 0);
/* Enable LTDC Interrupt */
HAL_NVIC_EnableIRQ(LTDC_IRQn);
}
/**
* @brief Initializes the HCD MSP.
* @param hhcd: HCD handle
* @retval None
*/
void HAL_HCD_MspInit(HCD_HandleTypeDef *hhcd)
{
GPIO_InitTypeDef GPIO_InitStruct;
if(hhcd->Instance == USB_OTG_FS)
{
/* Configure USB FS GPIOs */
__HAL_RCC_GPIOA_CLK_ENABLE();
GPIO_InitStruct.Pin = (GPIO_PIN_11 | GPIO_PIN_12);
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF10_OTG_FS;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GPIO_PIN_10;
GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Alternate = GPIO_AF10_OTG_FS;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* Configure POWER_SWITCH IO pin */
BSP_IO_ConfigPin(OTG_FS1_POWER_SWITCH_PIN, IO_MODE_OUTPUT);
/* Enable USB FS Clocks */
__HAL_RCC_USB_OTG_FS_CLK_ENABLE();
/* Set USBFS Interrupt to the lowest priority */
HAL_NVIC_SetPriority(OTG_FS_IRQn, 5, 0);
/* Enable USBFS Interrupt */
HAL_NVIC_EnableIRQ(OTG_FS_IRQn);
}
else if(hhcd->Instance == USB_OTG_HS)
{
#ifdef USE_USB_HS_IN_FS
/* Configure POWER_SWITCH IO pin */
BSP_IO_ConfigPin(OTG_FS2_POWER_SWITCH_PIN, IO_MODE_OUTPUT);
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO for HS on FS mode*/
GPIO_InitStruct.Pin = GPIO_PIN_12 | GPIO_PIN_13 | GPIO_PIN_14 |GPIO_PIN_15;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Alternate = GPIO_AF12_OTG_HS_FS;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
#else
/* Configure USB FS GPIOs */
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOH_CLK_ENABLE();
__HAL_RCC_GPIOI_CLK_ENABLE();
/* CLK */
GPIO_InitStruct.Pin = GPIO_PIN_5;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF10_OTG_HS;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* D0 */
GPIO_InitStruct.Pin = GPIO_PIN_3;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF10_OTG_HS;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* D1 D2 D3 D4 D5 D6 D7 */
GPIO_InitStruct.Pin = GPIO_PIN_0 | GPIO_PIN_1 | GPIO_PIN_5 |\
GPIO_PIN_10 | GPIO_PIN_11 | GPIO_PIN_12 | GPIO_PIN_13;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Alternate = GPIO_AF10_OTG_HS;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* STP */
GPIO_InitStruct.Pin = GPIO_PIN_0;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Alternate = GPIO_AF10_OTG_HS;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/* NXT */
GPIO_InitStruct.Pin = GPIO_PIN_4;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Alternate = GPIO_AF10_OTG_HS;
HAL_GPIO_Init(GPIOH, &GPIO_InitStruct);
/* DIR */
GPIO_InitStruct.Pin = GPIO_PIN_11;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Alternate = GPIO_AF10_OTG_HS;
HAL_GPIO_Init(GPIOI, &GPIO_InitStruct);
__HAL_RCC_USB_OTG_HS_ULPI_CLK_ENABLE();
#endif
/* Enable USB HS Clocks */
__HAL_RCC_USB_OTG_HS_CLK_ENABLE();
/* Set USBHS Interrupt to the lowest priority */
HAL_NVIC_SetPriority(OTG_HS_IRQn, 5, 0);
/* Enable USBHS Interrupt */
HAL_NVIC_EnableIRQ(OTG_HS_IRQn);
}
}
/**
* @brief Initializes the PCD MSP.
* @param hpcd: PCD handle
* @retval None
*/
void HAL_PCD_MspInit(PCD_HandleTypeDef *hpcd)
{
GPIO_InitTypeDef GPIO_InitStruct;
if(hpcd->Instance == USB_OTG_FS)
{
/* Configure USB FS GPIOs */
__HAL_RCC_GPIOA_CLK_ENABLE();
/* Configure DM DP Pins */
GPIO_InitStruct.Pin = (GPIO_PIN_11 | GPIO_PIN_12);
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF10_OTG_FS;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* Configure VBUS Pin */
GPIO_InitStruct.Pin = GPIO_PIN_9;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* Configure ID pin */
GPIO_InitStruct.Pin = GPIO_PIN_10;
GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Alternate = GPIO_AF10_OTG_FS;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* Enable USB FS Clocks */
__HAL_RCC_USB_OTG_FS_CLK_ENABLE();
/* Set USBFS Interrupt to the lowest priority */
HAL_NVIC_SetPriority(OTG_FS_IRQn, 7, 0);
/* Enable USBFS Interrupt */
HAL_NVIC_EnableIRQ(OTG_FS_IRQn);
}
else if(hpcd->Instance == USB_OTG_HS)
{
/* Configure USB FS GPIOs */
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOH_CLK_ENABLE();
__HAL_RCC_GPIOI_CLK_ENABLE();
/* CLK */
GPIO_InitStruct.Pin = GPIO_PIN_5;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF10_OTG_HS;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* D0 */
GPIO_InitStruct.Pin = GPIO_PIN_3;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF10_OTG_HS;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* D1 D2 D3 D4 D5 D6 D7 */
GPIO_InitStruct.Pin = GPIO_PIN_0 | GPIO_PIN_1 | GPIO_PIN_5 |\
GPIO_PIN_10 | GPIO_PIN_11 | GPIO_PIN_12 | GPIO_PIN_13;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Alternate = GPIO_AF10_OTG_HS;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* STP */
GPIO_InitStruct.Pin = GPIO_PIN_0;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Alternate = GPIO_AF10_OTG_HS;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/* NXT */
GPIO_InitStruct.Pin = GPIO_PIN_4;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Alternate = GPIO_AF10_OTG_HS;
HAL_GPIO_Init(GPIOH, &GPIO_InitStruct);
/* DIR */
GPIO_InitStruct.Pin = GPIO_PIN_11;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Alternate = GPIO_AF10_OTG_HS;
HAL_GPIO_Init(GPIOI, &GPIO_InitStruct);
/* Enable USB HS Clocks */
__HAL_RCC_USB_OTG_HS_CLK_ENABLE();
__HAL_RCC_USB_OTG_HS_ULPI_CLK_ENABLE();
/* Set USBHS Interrupt to the lowest priority */
HAL_NVIC_SetPriority(OTG_HS_IRQn, 7, 0);
/* Enable USBHS Interrupt */
HAL_NVIC_EnableIRQ(OTG_HS_IRQn);
}
}
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* Initialize all configured peripherals */
MX_GPIO_Init();
HAL_NVIC_SetPriority(EXTI0_1_IRQn, 3, 0);
HAL_NVIC_EnableIRQ(EXTI0_1_IRQn);
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */
/* USER CODE BEGIN RTOS_MUTEX */
/* add mutexes, ... */
/* USER CODE END RTOS_MUTEX */
/* USER CODE BEGIN RTOS_SEMAPHORES */
/* add semaphores, ... */
/* USER CODE END RTOS_SEMAPHORES */
/* USER CODE BEGIN RTOS_TIMERS */
/* start timers, add new ones, ... */
/* USER CODE END RTOS_TIMERS */
/* Create the thread(s) */
/* definition and creation of defaultTask */
//osThreadDef(defaultTask, StartDefaultTask, osPriorityNormal, 0, 128);
//defaultTaskHandle = osThreadCreate(osThread(defaultTask), NULL);
// TODO: make the total stack size allowable bigger. It seems that it is currently set to 500.
osThreadDef(uart_task, uart_thread, osPriorityNormal, 0, 450);
uart_task_handle = osThreadCreate(osThread(uart_task), NULL);
osThreadDef(button_task, button_thread, osPriorityNormal, 0, 50);
button_task_handle = osThreadCreate(osThread(button_task), NULL);
/* USER CODE BEGIN RTOS_THREADS */
/* add threads, ... */
/* USER CODE END RTOS_THREADS */
/* USER CODE BEGIN RTOS_QUEUES */
/* add queues, ... */
/* USER CODE END RTOS_QUEUES */
/* Start scheduler */
osKernelStart(NULL, NULL);
/* We should never get here as control is now taken by the scheduler */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
/**
* @brief Initializes the DCMI MSP.
* @param None
* @retval None
*/
static void DCMI_MspInit(void)
{
static DMA_HandleTypeDef hdma_eval;
GPIO_InitTypeDef GPIO_Init_Structure;
DCMI_HandleTypeDef *hdcmi = &hdcmi_eval;
/*** Enable peripherals and GPIO clocks ***/
/* Enable DCMI clock */
__DCMI_CLK_ENABLE();
/* Enable DMA2 clock */
__DMA2_CLK_ENABLE();
/* Enable GPIO clocks */
__GPIOA_CLK_ENABLE();
__GPIOB_CLK_ENABLE();
__GPIOC_CLK_ENABLE();
__GPIOD_CLK_ENABLE();
__GPIOE_CLK_ENABLE();
/*** Configure the GPIO ***/
/* Configure DCMI GPIO as alternate function */
GPIO_Init_Structure.Pin = GPIO_PIN_4;
GPIO_Init_Structure.Mode = GPIO_MODE_AF_PP;
GPIO_Init_Structure.Pull = GPIO_PULLUP;
GPIO_Init_Structure.Speed = GPIO_SPEED_HIGH;
GPIO_Init_Structure.Alternate = GPIO_AF13_DCMI;
HAL_GPIO_Init(GPIOA, &GPIO_Init_Structure);
GPIO_Init_Structure.Pin = GPIO_PIN_7 | GPIO_PIN_8;
GPIO_Init_Structure.Mode = GPIO_MODE_AF_PP;
GPIO_Init_Structure.Pull = GPIO_PULLUP;
GPIO_Init_Structure.Speed = GPIO_SPEED_HIGH;
GPIO_Init_Structure.Alternate = GPIO_AF13_DCMI;
HAL_GPIO_Init(GPIOB, &GPIO_Init_Structure);
GPIO_Init_Structure.Pin = GPIO_PIN_6 | GPIO_PIN_7 | GPIO_PIN_8 |\
GPIO_PIN_9 | GPIO_PIN_10 | GPIO_PIN_11 |\
GPIO_PIN_12;
GPIO_Init_Structure.Mode = GPIO_MODE_AF_PP;
GPIO_Init_Structure.Pull = GPIO_PULLUP;
GPIO_Init_Structure.Speed = GPIO_SPEED_HIGH;
GPIO_Init_Structure.Alternate = GPIO_AF13_DCMI;
HAL_GPIO_Init(GPIOC, &GPIO_Init_Structure);
GPIO_Init_Structure.Pin = GPIO_PIN_2 | GPIO_PIN_3 | GPIO_PIN_6;
GPIO_Init_Structure.Mode = GPIO_MODE_AF_PP;
GPIO_Init_Structure.Pull = GPIO_PULLUP;
GPIO_Init_Structure.Speed = GPIO_SPEED_HIGH;
GPIO_Init_Structure.Alternate = GPIO_AF13_DCMI;
HAL_GPIO_Init(GPIOD, &GPIO_Init_Structure);
GPIO_Init_Structure.Pin = GPIO_PIN_6;
GPIO_Init_Structure.Mode = GPIO_MODE_AF_PP;
GPIO_Init_Structure.Pull = GPIO_PULLUP;
GPIO_Init_Structure.Speed = GPIO_SPEED_HIGH;
GPIO_Init_Structure.Alternate = GPIO_AF13_DCMI;
HAL_GPIO_Init(GPIOE, &GPIO_Init_Structure);
GPIO_Init_Structure.Pin = GPIO_PIN_6;
GPIO_Init_Structure.Mode = GPIO_MODE_AF_PP;
GPIO_Init_Structure.Pull = GPIO_PULLUP;
GPIO_Init_Structure.Speed = GPIO_SPEED_HIGH;
GPIO_Init_Structure.Alternate = GPIO_AF13_DCMI;
HAL_GPIO_Init(GPIOA, &GPIO_Init_Structure);
/*** Configure the DMA ***/
/* Set the parameters to be configured */
hdma_eval.Init.Channel = DMA_CHANNEL_1;
hdma_eval.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma_eval.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_eval.Init.MemInc = DMA_MINC_ENABLE;
hdma_eval.Init.PeriphDataAlignment = DMA_PDATAALIGN_WORD;
hdma_eval.Init.MemDataAlignment = DMA_MDATAALIGN_WORD;
hdma_eval.Init.Mode = DMA_CIRCULAR;
hdma_eval.Init.Priority = DMA_PRIORITY_HIGH;
hdma_eval.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
hdma_eval.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL;
hdma_eval.Init.MemBurst = DMA_MBURST_SINGLE;
hdma_eval.Init.PeriphBurst = DMA_PBURST_SINGLE;
hdma_eval.Instance = DMA2_Stream1;
/* Associate the initialized DMA handle to the DCMI handle */
__HAL_LINKDMA(hdcmi, DMA_Handle, hdma_eval);
/*** Configure the NVIC for DCMI and DMA ***/
/* NVIC configuration for DCMI transfer complete interrupt */
HAL_NVIC_SetPriority(DCMI_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(DCMI_IRQn);
/* NVIC configuration for DMA2D transfer complete interrupt */
HAL_NVIC_SetPriority(DMA2_Stream1_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(DMA2_Stream1_IRQn);
/* Configure the DMA stream */
HAL_DMA_Init(hdcmi->DMA_Handle);
}
/**
* @brief QSPI MSP Initialization
* This function configures the hardware resources used in this example:
* - Peripheral's clock enable
* - Peripheral's GPIO Configuration
* - DMA configuration for requests by peripheral
* - NVIC configuration for DMA and QSPI interrupts
* @param hqspi: QSPI handle pointer
* @retval None
*/
void HAL_QSPI_MspInit(QSPI_HandleTypeDef *hqspi)
{
GPIO_InitTypeDef GPIO_InitStruct;
static DMA_HandleTypeDef hdma;
/*##-1- Enable peripherals and GPIO Clocks #################################*/
/* Enable the QuadSPI memory interface clock */
QSPI_CLK_ENABLE();
/* Reset the QuadSPI memory interface */
QSPI_FORCE_RESET();
QSPI_RELEASE_RESET();
/* Enable GPIO clocks */
QSPI_CS_GPIO_CLK_ENABLE();
QSPI_CLK_GPIO_CLK_ENABLE();
QSPI_D0_GPIO_CLK_ENABLE();
QSPI_D1_GPIO_CLK_ENABLE();
QSPI_D2_GPIO_CLK_ENABLE();
QSPI_D3_GPIO_CLK_ENABLE();
/* Enable DMA clock */
QSPI_DMA_CLK_ENABLE();
/*##-2- Configure peripheral GPIO ##########################################*/
/* QSPI CS GPIO pin configuration */
GPIO_InitStruct.Pin = QSPI_CS_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF10_QSPI;
HAL_GPIO_Init(QSPI_CS_GPIO_PORT, &GPIO_InitStruct);
/* QSPI CLK GPIO pin configuration */
GPIO_InitStruct.Pin = QSPI_CLK_PIN;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Alternate = GPIO_AF9_QSPI;
HAL_GPIO_Init(QSPI_CLK_GPIO_PORT, &GPIO_InitStruct);
/* QSPI D0 GPIO pin configuration */
GPIO_InitStruct.Pin = QSPI_D0_PIN;
GPIO_InitStruct.Alternate = GPIO_AF10_QSPI;
HAL_GPIO_Init(QSPI_D0_GPIO_PORT, &GPIO_InitStruct);
/* QSPI D1 GPIO pin configuration */
GPIO_InitStruct.Pin = QSPI_D1_PIN;
GPIO_InitStruct.Alternate = GPIO_AF10_QSPI;
HAL_GPIO_Init(QSPI_D1_GPIO_PORT, &GPIO_InitStruct);
/* QSPI D2 GPIO pin configuration */
GPIO_InitStruct.Pin = QSPI_D2_PIN;
GPIO_InitStruct.Alternate = GPIO_AF9_QSPI;
HAL_GPIO_Init(QSPI_D2_GPIO_PORT, &GPIO_InitStruct);
/* QSPI D3 GPIO pin configuration */
GPIO_InitStruct.Pin = QSPI_D3_PIN;
GPIO_InitStruct.Alternate = GPIO_AF9_QSPI;
HAL_GPIO_Init(QSPI_D3_GPIO_PORT, &GPIO_InitStruct);
/*##-3- Configure the NVIC for QSPI #########################################*/
/* NVIC configuration for QSPI interrupt */
HAL_NVIC_SetPriority(QUADSPI_IRQn, 0x0F, 0);
HAL_NVIC_EnableIRQ(QUADSPI_IRQn);
/*##-4- Configure the DMA channel ###########################################*/
/* QSPI DMA channel configuration */
hdma.Init.Channel = QSPI_DMA_CHANNEL;
hdma.Init.PeriphInc = DMA_PINC_DISABLE;
hdma.Init.MemInc = DMA_MINC_ENABLE;
hdma.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma.Init.Mode = DMA_NORMAL;
hdma.Init.Priority = DMA_PRIORITY_LOW;
hdma.Init.FIFOMode = DMA_FIFOMODE_DISABLE; /* FIFO mode disabled */
hdma.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL;
hdma.Init.MemBurst = DMA_MBURST_SINGLE; /* Memory burst */
hdma.Init.PeriphBurst = DMA_PBURST_SINGLE; /* Peripheral burst */
hdma.Instance = QSPI_DMA_INSTANCE;
__HAL_LINKDMA(hqspi, hdma, hdma);
HAL_DMA_Init(&hdma);
/* NVIC configuration for DMA interrupt */
HAL_NVIC_SetPriority(QSPI_DMA_IRQ, 0x00, 0);
HAL_NVIC_EnableIRQ(QSPI_DMA_IRQ);
}
/**
* @brief This function configures the RTC_ALARMA as a time base source.
* The time source is configured to have 1ms time base with a dedicated
* Tick interrupt priority.
* @note This function is called automatically at the beginning of program after
* reset by HAL_Init() or at any time when clock is configured, by HAL_RCC_ClockConfig().
* @param TickPriority Tick interrupt priority.
* @retval HAL status
*/
HAL_StatusTypeDef HAL_InitTick (uint32_t TickPriority)
{
__IO uint32_t counter = 0U;
RCC_OscInitTypeDef RCC_OscInitStruct;
RCC_PeriphCLKInitTypeDef PeriphClkInitStruct;
#ifdef RTC_CLOCK_SOURCE_LSE
/* Configue LSE as RTC clock soucre */
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_LSE;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
RCC_OscInitStruct.LSEState = RCC_LSE_ON;
PeriphClkInitStruct.RTCClockSelection = RCC_RTCCLKSOURCE_LSE;
#elif defined (RTC_CLOCK_SOURCE_LSI)
/* Configue LSI as RTC clock soucre */
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_LSI;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
RCC_OscInitStruct.LSIState = RCC_LSI_ON;
PeriphClkInitStruct.RTCClockSelection = RCC_RTCCLKSOURCE_LSI;
#elif defined (RTC_CLOCK_SOURCE_HSE)
/* Configue HSE as RTC clock soucre */
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
/* Ensure that RTC is clocked by 1MHz */
PeriphClkInitStruct.RTCClockSelection = RCC_RTCCLKSOURCE_1MHZ;
#else
#error Please select the RTC Clock source
#endif /* RTC_CLOCK_SOURCE_LSE */
if(HAL_RCC_OscConfig(&RCC_OscInitStruct) == HAL_OK)
{
PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_RTC;
if(HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) == HAL_OK)
{
/* Enable RTC Clock */
__HAL_RCC_RTC_ENABLE();
/* The time base should be 1ms
Time base = ((RTC_ASYNCH_PREDIV + 1) * (RTC_SYNCH_PREDIV + 1)) / RTC_CLOCK
HSE as RTC clock
Time base = ((99 + 1) * (9 + 1)) / 1MHz
= 1ms
LSE as RTC clock
Time base = ((31 + 1) * (0 + 1)) / 32.768KHz
= ~1ms
LSI as RTC clock
Time base = ((31 + 1) * (0 + 1)) / 32KHz
= 1ms
*/
hRTC_Handle.Instance = RTC;
hRTC_Handle.Init.HourFormat = RTC_HOURFORMAT_24;
hRTC_Handle.Init.AsynchPrediv = RTC_ASYNCH_PREDIV;
hRTC_Handle.Init.SynchPrediv = RTC_SYNCH_PREDIV;
hRTC_Handle.Init.OutPut = RTC_OUTPUT_DISABLE;
hRTC_Handle.Init.OutPutPolarity = RTC_OUTPUT_POLARITY_HIGH;
hRTC_Handle.Init.OutPutType = RTC_OUTPUT_TYPE_OPENDRAIN;
HAL_RTC_Init(&hRTC_Handle);
/* Disable the write protection for RTC registers */
__HAL_RTC_WRITEPROTECTION_DISABLE(&hRTC_Handle);
/* Disable the Alarm A interrupt */
__HAL_RTC_ALARMA_DISABLE(&hRTC_Handle);
/* Clear flag alarm A */
__HAL_RTC_ALARM_CLEAR_FLAG(&hRTC_Handle, RTC_FLAG_ALRAF);
counter = 0U;
/* Wait till RTC ALRAWF flag is set and if Time out is reached exit */
while(__HAL_RTC_ALARM_GET_FLAG(&hRTC_Handle, RTC_FLAG_ALRAWF) == RESET)
{
if(counter++ == (SystemCoreClock /48U)) /* Timeout = ~ 1s */
{
return HAL_ERROR;
}
}
hRTC_Handle.Instance->ALRMAR = (uint32_t)0x01U;
/* Configure the Alarm state: Enable Alarm */
__HAL_RTC_ALARMA_ENABLE(&hRTC_Handle);
/* Configure the Alarm interrupt */
__HAL_RTC_ALARM_ENABLE_IT(&hRTC_Handle, RTC_IT_ALRA);
/* RTC Alarm Interrupt Configuration: EXTI configuration */
__HAL_RTC_ALARM_EXTI_ENABLE_IT();
__HAL_RTC_ALARM_EXTI_ENABLE_RISING_EDGE();
/* Check if the Initialization mode is set */
if((hRTC_Handle.Instance->ISR & RTC_ISR_INITF) == (uint32_t)RESET)
{
/* Set the Initialization mode */
hRTC_Handle.Instance->ISR = (uint32_t)RTC_INIT_MASK;
counter = 0U;
while((hRTC_Handle.Instance->ISR & RTC_ISR_INITF) == (uint32_t)RESET)
{
if(counter++ == (SystemCoreClock /48U)) /* Timeout = ~ 1s */
{
return HAL_ERROR;
}
}
}
hRTC_Handle.Instance->DR = 0U;
hRTC_Handle.Instance->TR = 0U;
hRTC_Handle.Instance->ISR &= (uint32_t)~RTC_ISR_INIT;
/* Enable the write protection for RTC registers */
__HAL_RTC_WRITEPROTECTION_ENABLE(&hRTC_Handle);
HAL_NVIC_SetPriority(RTC_Alarm_IRQn, TickPriority, 0U);
HAL_NVIC_EnableIRQ(RTC_Alarm_IRQn);
return HAL_OK;
}
}
return HAL_ERROR;
}
/**
* @brief Configures TIM4 Peripheral for LEDs lighting.
* @param None
* @retval None
*/
static void TIM_LED_Config(void)
{
uint16_t prescalervalue = 0;
uint32_t tmpvalue = 0;
/* TIM4 clock enable */
__HAL_RCC_TIM4_CLK_ENABLE();
/* Enable the TIM4 global Interrupt */
HAL_NVIC_SetPriority(TIM4_IRQn, 7, 0);
HAL_NVIC_EnableIRQ(TIM4_IRQn);
/* -----------------------------------------------------------------------
TIM4 Configuration: Output Compare Timing Mode:
To get TIM4 counter clock at 550 KHz, the prescaler is computed as follows:
Prescaler = (TIM4CLK / TIM4 counter clock) - 1
Prescaler = ((f(APB1) * 2) /550 KHz) - 1
CC update rate = TIM4 counter clock / CCR_Val = 32.687 Hz
==> Toggling frequency = 16.343 Hz
----------------------------------------------------------------------- */
/* Compute the prescaler value */
tmpvalue = HAL_RCC_GetPCLK1Freq();
prescalervalue = (uint16_t) ((tmpvalue * 2) / 550000) - 1;
/* Time base configuration */
hTimLed.Instance = TIM4;
hTimLed.Init.Period = 65535;
hTimLed.Init.Prescaler = prescalervalue;
hTimLed.Init.ClockDivision = 0;
hTimLed.Init.CounterMode = TIM_COUNTERMODE_UP;
if(HAL_TIM_OC_Init(&hTimLed) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/* Output Compare Timing Mode configuration: Channel1 */
sConfigLed.OCMode = TIM_OCMODE_TIMING;
sConfigLed.OCIdleState = TIM_OCIDLESTATE_SET;
sConfigLed.Pulse = CCR1Val;
sConfigLed.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigLed.OCNPolarity = TIM_OCNPOLARITY_HIGH;
sConfigLed.OCFastMode = TIM_OCFAST_ENABLE;
sConfigLed.OCNIdleState = TIM_OCNIDLESTATE_SET;
/* Initialize the TIM4 Channel1 with the structure above */
if(HAL_TIM_OC_ConfigChannel(&hTimLed, &sConfigLed, TIM_CHANNEL_1) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/* Start the Output Compare */
if(HAL_TIM_OC_Start_IT(&hTimLed, TIM_CHANNEL_1) != HAL_OK)
{
/* Start Error */
Error_Handler();
}
}
static int uart_init_peripheral(void)
{
__HAL_RCC_USART2_CLK_ENABLE();
__HAL_RCC_DMA1_CLK_ENABLE();
UARThandle.Instance = UART_INSTANCE;
UARThandle.Init.BaudRate = UART_BAUDRATE;
UARThandle.Init.WordLength = UART_WORDLENGTH_8B;
UARThandle.Init.StopBits = UART_STOPBITS_1;
UARThandle.Init.Parity = UART_PARITY_NONE;
UARThandle.Init.HwFlowCtl = UART_HWCONTROL_NONE;
UARThandle.Init.OverSampling = UART_OVERSAMPLING_8;
UARThandle.Init.Mode = UART_MODE_TX_RX;
DMAhandle_TX.Instance = DMA1_Stream6;
DMAhandle_TX.Init.Channel = DMA_CHANNEL_4;
DMAhandle_TX.Init.Direction = DMA_MEMORY_TO_PERIPH;
DMAhandle_TX.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
DMAhandle_TX.Init.MemBurst = DMA_MBURST_SINGLE;
DMAhandle_TX.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
DMAhandle_TX.Init.MemInc = DMA_MINC_ENABLE;
DMAhandle_TX.Init.Mode = DMA_NORMAL;
DMAhandle_TX.Init.PeriphBurst = DMA_PBURST_SINGLE;
DMAhandle_TX.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
DMAhandle_TX.Init.PeriphInc = DMA_PINC_DISABLE;
DMAhandle_TX.Init.Priority = DMA_PRIORITY_LOW;
DMAhandle_RX = DMAhandle_TX;
DMAhandle_RX.Instance = DMA1_Stream5;
DMAhandle_RX.Init.Channel = DMA_CHANNEL_4;
DMAhandle_RX.Init.Direction = DMA_PERIPH_TO_MEMORY;
DMAhandle_RX.Init.Mode = DMA_CIRCULAR;
UARThandle.hdmatx = &DMAhandle_TX;
UARThandle.hdmarx = &DMAhandle_RX;
HAL_UART_DeInit(&UARThandle);
HAL_UART_Init(&UARThandle);
UART_INSTANCE->BRR = (2u << 4u) | (5u); /* Baudrate = 2000000 with SYSCLK=168MHz,
* HAL is not very good at figuring this number out... */
HAL_DMA_DeInit(&DMAhandle_TX);
HAL_DMA_Init(&DMAhandle_TX);
HAL_DMA_DeInit(&DMAhandle_RX);
HAL_DMA_Init(&DMAhandle_RX);
NVIC_SetPriority(DMA1_Stream6_IRQn, UART_DMA_TX_IRQ_PRIO);
HAL_NVIC_EnableIRQ(DMA1_Stream6_IRQn);
NVIC_SetPriority(DMA1_Stream5_IRQn, UART_DMA_RX_IRQ_PRIO);
HAL_NVIC_EnableIRQ(DMA1_Stream5_IRQn);
/* Use uart data register as peripheral destination for TX */
DMAhandle_TX.Instance->PAR = (uint32_t) &(UARThandle.Instance->DR);
/* Set source and destination address and buffer length */
DMAhandle_RX.Instance->NDTR = RX_BUF_LEN;
DMAhandle_RX.Instance->PAR = (uint32_t) &(UARThandle.Instance->DR);
DMAhandle_RX.Instance->M0AR = (uint32_t) dma_buffer_rx;
/* Enable UART as DMA enabled receiver */
UARThandle.Instance->CR3 |= USART_CR3_DMAR;
/* Enable transfer complete interrupt */
__HAL_DMA_ENABLE_IT(&DMAhandle_RX, DMA_IT_TC);
__HAL_DMA_ENABLE(&DMAhandle_RX);
return 0;
}
/** \brief 温度控制硬件初始化
*
* \return void
*/
void hw_TemperatureManageInit(void)
{
///ADC配置，ADC1,in10,in11,in12,in13
GPIO_InitTypeDef GPIO_InitStruct;
TIM_OC_InitTypeDef TIM_InitStruct;
ADC_ChannelConfTypeDef sConfig;
ADC_HandleStruct.Instance = ADC1;
if (HAL_ADC_DeInit(&ADC_HandleStruct) != HAL_OK)
{
return;
}
ADC_HandleStruct.Init.ScanConvMode = ADC_SCAN_ENABLE;
ADC_HandleStruct.Init.ContinuousConvMode = ENABLE;
ADC_HandleStruct.Init.DiscontinuousConvMode = DISABLE;
ADC_HandleStruct.Init.DataAlign = ADC_DATAALIGN_RIGHT;
ADC_HandleStruct.Init.ExternalTrigConv = ADC_SOFTWARE_START;
ADC_HandleStruct.Init.NbrOfConversion = HEATER_COUNT;
init_BeforeADC();
HAL_ADC_Init(&ADC_HandleStruct);
sConfig.Channel = ADC_CHANNEL_10; ///Channel_Extruder_0
sConfig.Rank = 1;
sConfig.SamplingTime = ADC_SAMPLETIME_71CYCLES_5;
HAL_ADC_ConfigChannel(&ADC_HandleStruct, &sConfig);
#ifdef HEATBED_ENABLED
sConfig.Channel = ADC_CHANNEL_11; ///Channel_bed
sConfig.Rank = 2;
sConfig.SamplingTime = ADC_SAMPLETIME_71CYCLES_5;
HAL_ADC_ConfigChannel(&ADC_HandleStruct, &sConfig);
#endif
#ifdef EXTRUDER_2_ENABLED
sConfig.Channel = ADC_CHANNEL_12; ///Channel_Extruder_1
sConfig.Rank = 3;
sConfig.SamplingTime = ADC_SAMPLETIME_71CYCLES_5;
HAL_ADC_ConfigChannel(&ADC_HandleStruct, &sConfig);
#endif
#ifdef EXTRUDER_3_ENABLED
sConfig.Channel = ADC_CHANNEL_13; ///Channel_Extruder_2
sConfig.Rank = 4;
sConfig.SamplingTime = ADC_SAMPLETIME_71CYCLES_5;
HAL_ADC_ConfigChannel(&ADC_HandleStruct, &sConfig);
#endif
HAL_ADCEx_Calibration_Start(&ADC_HandleStruct);
///ADC时钟配置 采样周期100ms
__HAL_RCC_TIM6_CLK_ENABLE();
TIM_ADC_HandleStruct.Instance = TIM6;
TIM_ADC_HandleStruct.Init.Period = 1000 - 1;
TIM_ADC_HandleStruct.Init.Prescaler = (uint32_t) (SystemCoreClock/2/10000) - 1;
TIM_ADC_HandleStruct.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
TIM_ADC_HandleStruct.Init.CounterMode = TIM_COUNTERMODE_UP;
HAL_TIM_Base_Init(&TIM_ADC_HandleStruct);
__HAL_TIM_SET_COUNTER(&TIM_ADC_HandleStruct, 0);
HAL_NVIC_SetPriority(TIM6_IRQn, 4, 0);
HAL_NVIC_EnableIRQ(TIM6_IRQn);
///加热PWM配置 PB6,7,8,9
__HAL_RCC_GPIOB_CLK_ENABLE();
GPIO_InitStruct.Pin = GPIO_PIN_6;
#ifdef HEATBED_ENABLED
GPIO_InitStruct.Pin |= GPIO_PIN_7;
#endif
#ifdef EXTRUDER_2_ENABLED
GPIO_InitStruct.Pin |= GPIO_PIN_8;
#endif
#ifdef EXTRUDER_3_ENABLED
GPIO_InitStruct.Pin |= GPIO_PIN_9;
#endif
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL; ///内部不做上下拉电阻
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
///PWM时钟配置
__HAL_RCC_TIM4_CLK_ENABLE();
TIM_PWM_HandleStruct.Instance = TIM4;
TIM_PWM_HandleStruct.Init.Prescaler = (uint32_t) (SystemCoreClock/2/250000) - 1;
TIM_PWM_HandleStruct.Init.Period = 254; ///总共255
TIM_PWM_HandleStruct.Init.ClockDivision = 0;
TIM_PWM_HandleStruct.Init.CounterMode = TIM_COUNTERMODE_UP;
HAL_TIM_PWM_Init(&TIM_PWM_HandleStruct);
TIM_InitStruct.OCMode = TIM_OCMODE_PWM1;
TIM_InitStruct.OCPolarity = TIM_OCPOLARITY_HIGH;
TIM_InitStruct.OCFastMode = TIM_OCFAST_DISABLE;
TIM_InitStruct.Pulse = 0;
HAL_TIM_PWM_ConfigChannel(&TIM_PWM_HandleStruct, &TIM_InitStruct, TIM_CHANNEL_1);
#ifdef HEATBED_ENABLED
HAL_TIM_PWM_ConfigChannel(&TIM_PWM_HandleStruct, &TIM_InitStruct, TIM_CHANNEL_2);
#endif
#ifdef EXTRUDER_2_ENABLED
HAL_TIM_PWM_ConfigChannel(&TIM_PWM_HandleStruct, &TIM_InitStruct, TIM_CHANNEL_3);
#endif
#ifdef EXTRUDER_3_ENABLED
HAL_TIM_PWM_ConfigChannel(&TIM_PWM_HandleStruct, &TIM_InitStruct, TIM_CHANNEL_4);
#endif
}
/**
* @brief TIM MSP Initialization
* This function configures the hardware resources used in this example:
* - Peripheral's clock enable
* - Peripheral's GPIO Configuration
* @param htim: TIM handle pointer
* @retval None
*/
void HAL_TIM_IC_MspInit(TIM_HandleTypeDef *htim)
{
GPIO_InitTypeDef GPIO_InitStruct;
if( htim == &TimHandleSonar){
/*##-1- Enable peripherals and GPIO Clocks #################################*/
/* TIMx Peripheral clock enable */
TIMsonar_CLK_ENABLE();
/* Enable GPIO channels Clock */
ICx_PORT_CLK_ENABLE();
/* Configure (TIMx_Channel) in Alternate function, push-pull and 100MHz speed */
GPIO_InitStruct.Pin = ICx_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_MEDIUM;
GPIO_InitStruct.Alternate = GPIO_AF_TIMsonar;
HAL_GPIO_Init(ICx_PORT, &GPIO_InitStruct);
/*##-2- Configure the NVIC for TIMx ########################################*/
/* Set the TIMx priority */
HAL_NVIC_SetPriority(TIMsonar_IRQn, 0, 1);
/* Enable the TIMx global Interrupt */
HAL_NVIC_EnableIRQ(TIMsonar_IRQn);
}
#ifdef INPUT_PWM
else if( htim == &TimHandle_PWM ){
/*##-1- Enable peripherals and GPIO Clocks #################################*/
/* TIM_PWM Peripheral clock enable */
TIM_PWM_CLK_ENABLE();
/* Enable GPIO Channels Clock */
TIM_PWM_GPIO_CLK_ENABLE();
/*##-2- Configure I/Os #####################################################*/
/*
*/
/* Common configuration for all channels */
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
GPIO_InitStruct.Pin = GPIO_PIN_CHANNEL1;
HAL_GPIO_Init(TIM_PWM_GPIO_PORT, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GPIO_PIN_CHANNEL2;
HAL_GPIO_Init(TIM_PWM_GPIO_PORT, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GPIO_PIN_CHANNEL3;
HAL_GPIO_Init(TIM_PWM_GPIO_PORT, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GPIO_PIN_CHANNEL4;
HAL_GPIO_Init(TIM_PWM_GPIO_PORT, &GPIO_InitStruct);
/*##-2- Configure the NVIC for TIMx ########################################*/
/* Set the TIMx priority */
HAL_NVIC_SetPriority(TIM_PWM_IRQn, 4, 1);
/* Enable the TIMx global Interrupt */
HAL_NVIC_EnableIRQ(TIM_PWM_IRQn);
}
#endif
}
//******************************************************************************
// Configure Stepper Motor
//
// Configure the stepp er motor we will be using:
// - Configure control pins: DIR,
// - Configure SPI uses to talk to EasySpin chip
// - Setup interrupt handlers to catch IRQ requests from EasySpin
//******************************************************************************
int configure_stepper_motor (void)
{
int rc;
TIM_HandleTypeDef *tim_handle; // CHEAP HACK - FIX
TIM_MasterConfigTypeDef sMasterConfig; // TEMP HACK
// --- begin --- The following is equivalent to Easyspin_Begin() code
//---------------------------------------------------------------------
// Configure easySPIN - DIR pin for device 1 - D7
//---------------------------------------------------------------------
pin_Config (L6474_DIR_1_PIN, GPIO_OUTPUT, 0);
pin_High (L6474_DIR_1_PIN); // set default direction = Forward
// 1 = forward, 0 = Backward
//---------------------------------------------------------------------
// Configure easySPIN - STBY/RESET pin - D8
//---------------------------------------------------------------------
pin_Config (L6474_RESET_PIN, GPIO_OUTPUT, 0);
pin_Low (L6474_RESET_PIN); // turn on RESET to L6474
//--------------------------------------------------------------------------
// Config easySPIN - Interrupt IRQ Flag pin and associated EXTI in NVIC - D2
//
// Note that this configures everything, but leaves the interrupt disabled.
// This is done in order to complete any other needed config operations,
// before turning on interrupts.
// A subsequent call to pin_Enable_IRQ() will enable the NVIC interrupt.
//--------------------------------------------------------------------------
pin_Config_IRQ_Pin (L6474_IRQ_PIN, GPIO_RUPT_MODE_FALLING, PIN_USE_PULLUP,
L6474_EXTI_IRQ_NUM, 5);
// BUG in above code not setting IRQn right ?
/* Set Priority of External Line Interrupt used for the Flag interrupt*/
HAL_NVIC_SetPriority (L6474_EXTI_IRQ_NUM, 5, 0); // EXTI15_10_IRQn
/* Enable the External Line Interrupt used for the Flag interrupt */
HAL_NVIC_EnableIRQ (L6474_EXTI_IRQ_NUM);
//-----------------------------------------------------------------------
// SPI Init
// Config easySPIN SPI interface and CS pin. CS pin is D10
// Uses SPI 1 (PA5 / PA6 / PA7) on most Nucleos.
//-----------------------------------------------------------------------
// easyspin uses: SPI_BAUDRATEPRESCALER_32 - FIX THIS
pin_Config (L6474_CS_PIN, GPIO_OUTPUT, 0); // configure Chip Select
pin_High (L6474_CS_PIN); // and DE-Assert CS
rc = spi_Init (L6474_SPI_MODULE, SPI_MASTER, L6474_SPI_MODE,
L6474_SPI_BAUD, 0);
//-----------------------------------------------------------------
// PWM Init
// Configure the PWM module to be used to drive the Stepper motor
//
// Uses PC7 (Arduino D9) = TIM3_CH2
// PC7 has Timer3 Ch2 for _all_ chips _except_ F3-02 and L0-53
//-----------------------------------------------------------------
// SystemCoreClock variable holds HCLK frequency and is defined in system_stm32f4xx.c file.
// easy_spin uses Init.ClockDivision = TIM_CLOCKDIVISION_DIV1 !!! ??? FIX THIS !!! ??? WVD
/// uwPeriod = (SystemCoreClock / 20000 ) - 1; // set period = 20 K Hz - WVD LOGIC
uwPeriod = 0; // at startup, period is set to 0
if (rc == HAL_OK)
rc = pwm_Init (L6474_PWM_1_MODULE, uwPeriod,
0); // actual rate on scope = 40 KHz !
timer_Set_Prescalar(L6474_PWM_1_MODULE, (TIMER_PRESCALER - 1), 0); // ensure pwm_Init turned on clocks
//pHTim->Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
//-------------------------------------
// Configure PWM channel to be used
//-------------------------------------
if (rc == HAL_OK)
rc = pwm_Config_Channel (L6474_PWM_1_MODULE, L6474_PWM_1_CHANNEL,
0, TIMER_PIN_POLARITY_HIGH); // 0 % duty cycle
// sConfigOC.OCMode = TIM_OCMODE_PWM1;
// sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
// sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
// ??? !!! WVD ??? !!! RESOLVE THIS
tim_handle = (TIM_HandleTypeDef*) board_timerpwm_get_handle (L6474_PWM_1_MODULE); // !!! CHEAP HACK - WVD FIX THIS !!! ???
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
HAL_TIMEx_MasterConfigSynchronization (tim_handle, &sMasterConfig);
//---------------------------------------------------------
// Setup the callback handler for the PWM/Timer Interrupt
//---------------------------------------------------------
tim_handle = (TIM_HandleTypeDef*) board_timerpwm_get_handle (L6474_PWM_1_MODULE); // !!! CHEAP HACK - WVD FIX THIS !!! ???
timer_Set_Callback (L6474_PWM_1_MODULE,
timer_period_completed_callback,
tim_handle); // !!! CHEAP HACK - WVD FIX THIS !!! ???
//-------------------------------------------------------------------
// Enable the PWM module and its associated channels, and
// have it issue a PWM/Timer Interrupt at end of each period rollover.
//--------------------------------------------------------------------
if (rc == HAL_OK)
rc = pwm_Enable (L6474_PWM_1_MODULE, TIMER_PERIOD_INTERRUPT_ENABLED);
// rc = HAL_TIM_PWM_Start_IT (&hTimPwm1, easySPIN_CHAN_TIMER_PWM1); --> see easyspin.c EasySpin_Pwm1SetFreq()
//---------------------------------------------------
// Enable the NVIC for EXTI interrupts from the L6474
//---------------------------------------------------
pin_Enable_IRQ (L6474_IRQ_PIN, L6474_EXTI_IRQ_NUM, 1);
//-------------------------------------------------------------
// Take L6474 out of reset, so it can start up
//-------------------------------------------------------------
pin_High (L6474_RESET_PIN);
//---------------------------------------------------------------
// Attach the function MyFlagInterruptHandler (defined below) to
// EasySpin's IRQ flag interrupt
//---------------------------------------------------------------
EasySpin_AttachFlagInterrupt (MyFlagInterruptHandler);
//---------------------------------------------------------------
// Attach the function Error_Handler (defined below) to
// the error Handler for EasySpin
//---------------------------------------------------------------
EasySpin_AttachErrorHandler (Error_Handler);
//-------------------------------------------------------------
// Take L6474 out of reset, so it can start up
//-------------------------------------------------------------
pin_High (L6474_RESET_PIN);
/* Let a delay after reset */
HAL_Delay(1);
//--------------------------------------------------------------------
// Set all registers and context variables to the predefined values
// from the easyspin_target_config.h file.
// The easySPin registers are set with the predefined values from
// file ~\motion_cube\Libraries\Easyspin\Inc\easyspin_target_config.h
//--------------------------------------------------------------------
//while (debug_test) // WVD loop for SPI debug testing
EasySpin_SetDeviceParamsToPredefinedValues();
/* Disable easySPIN powerstage */
for (uint32_t i = 0; i < 1; i++)
{
EasySpin_CmdDisable (i);
/* Get Status, which will clear flags after start up */
EasySpin_CmdGetStatus (i);
}
// --- end --- The above is equivalent to Easyspin_Begin() code
return (ret_code);
}
void main_task(void *pvParameters)
{
(void) pvParameters;
vTaskDelay(500 / portTICK_RATE_MS);
SPIMaster spi5(SPI5, SPI_BAUDRATEPRESCALER_32, 0x2000, {
{MEMS_SPI_SCK_PIN, GPIO_MODE_AF_PP, GPIO_PULLDOWN, GPIO_SPEED_MEDIUM, GPIO_AF5_SPI5},
{MEMS_SPI_MISO_PIN, GPIO_MODE_AF_PP, GPIO_PULLDOWN, GPIO_SPEED_MEDIUM, GPIO_AF5_SPI5},
{MEMS_SPI_MOSI_PIN, GPIO_MODE_AF_PP, GPIO_NOPULL, GPIO_SPEED_MEDIUM, GPIO_AF5_SPI5},
}, {
{GYRO_CS_PIN, GPIO_MODE_OUTPUT_PP, GPIO_PULLUP, GPIO_SPEED_MEDIUM, 0},
{ACCEL_CS_PIN, GPIO_MODE_OUTPUT_PP, GPIO_PULLUP, GPIO_SPEED_MEDIUM, 0},
});
SPIMaster spi2(SPI2, SPI_BAUDRATEPRESCALER_32, 0x2000, {
{EXT_MEMS_SPI_SCK_PIN, GPIO_MODE_AF_PP, GPIO_PULLDOWN, GPIO_SPEED_MEDIUM, GPIO_AF5_SPI2},
{EXT_MEMS_SPI_MISO_PIN, GPIO_MODE_AF_PP, GPIO_PULLDOWN, GPIO_SPEED_MEDIUM, GPIO_AF5_SPI2},
{EXT_MEMS_SPI_MOSI_PIN, GPIO_MODE_AF_PP, GPIO_NOPULL, GPIO_SPEED_MEDIUM, GPIO_AF5_SPI2},
}, {
{EXT_GYRO_CS_PIN, GPIO_MODE_OUTPUT_PP, GPIO_PULLUP, GPIO_SPEED_MEDIUM, 0},
{LPS25HB_PRESSURE_CS_PIN, GPIO_MODE_OUTPUT_PP, GPIO_PULLUP, GPIO_SPEED_MEDIUM, 0},
{BMP280_PRESSURE_CS_PIN, GPIO_MODE_OUTPUT_PP, GPIO_PULLUP, GPIO_SPEED_MEDIUM, 0},
});
L3GD20 gyro(spi5, 0);
LPS25HB lps25hb(spi2, 1);
BMP280 bmp2(spi2, 2);
LSM303D accel(spi5, 1);
uint8_t gyro_wtm = 5;
uint8_t acc_wtm = 8;
TimeStamp console_update_time;
TimeStamp sample_dt;
TimeStamp led_toggle_ts;
FlightControl flight_ctl;
static bool print_to_console = false;
LowPassFilter<Vector3f, float> gyro_lpf({0.5});
LowPassFilter<Vector3f, float> acc_lpf_alt({0.9});
LowPassFilter<Vector3f, float> acc_lpf_att({0.990});
LowPassFilter<float, float> pressure_lpf({0.6});
attitudetracker att;
/*
* Apply the boot configuration from flash memory.
*/
dronestate_boot_config(*drone_state);
L3GD20Reader gyro_reader(gyro, GYRO_INT2_PIN, gyro_align);
LSM303Reader acc_reader(accel, ACC_INT2_PIN, acc_align);
UartRpcServer rpcserver(*drone_state, configdata, acc_reader.mag_calibrator_);
bmp2.set_oversamp_pressure(BMP280_OVERSAMP_16X);
bmp2.set_work_mode(BMP280_ULTRA_HIGH_RESOLUTION_MODE);
bmp2.set_filter(BMP280_FILTER_COEFF_OFF);
Bmp280Reader bmp_reader(bmp2);
HAL_NVIC_SetPriority(DMA1_Stream6_IRQn, 1, 1);
HAL_NVIC_EnableIRQ (DMA1_Stream6_IRQn);
HAL_NVIC_SetPriority(DMA1_Stream5_IRQn, 1, 0);
HAL_NVIC_EnableIRQ (DMA1_Stream5_IRQn);
#ifndef ENABLE_UART_TASK
uart2.uart_dmarx_start();
#endif
printf("Priority Group: %lu\n", NVIC_GetPriorityGrouping());
printf("SysTick_IRQn priority: %lu\n", NVIC_GetPriority(SysTick_IRQn) << __NVIC_PRIO_BITS);
printf("configKERNEL_INTERRUPT_PRIORITY: %d\n", configKERNEL_INTERRUPT_PRIORITY);
printf("configMAX_SYSCALL_INTERRUPT_PRIORITY: %d\n", configMAX_SYSCALL_INTERRUPT_PRIORITY);
printf("LPS25HB Device id: %d\n", lps25hb.Get_DeviceID());
vTaskDelay(500 / portTICK_RATE_MS);
gyro_reader.init(gyro_wtm);
gyro_reader.enable_int2(false);
vTaskDelay(500 / portTICK_RATE_MS);
acc_reader.init(acc_wtm);
acc_reader.enable_int2(false);
acc_reader.mag_calibrator_.set_bias(drone_state->mag_bias_);
acc_reader.mag_calibrator_.set_scale_factor(drone_state->mag_scale_factor_);
vTaskDelay(500 / portTICK_RATE_MS);
printf("Calibrating...");
gyro_reader.enable_int2(true);
gyro_reader.calculate_static_bias_filtered(2400);
printf(" Done!\n");
flight_ctl.start_receiver();
printf("Entering main loop...\n");
gyro_reader.enable_int2(true);
sample_dt.time_stamp();
lps25hb.Set_FifoMode(LPS25HB_FIFO_STREAM_MODE);
lps25hb.Set_FifoModeUse(LPS25HB_ENABLE);
lps25hb.Set_Odr(LPS25HB_ODR_25HZ);
lps25hb.Set_Bdu(LPS25HB_BDU_NO_UPDATE);
LPS25HB_FIFOTypeDef_st fifo_config;
memset(&fifo_config, 0, sizeof(fifo_config));
lps25hb.Get_FifoConfig(&fifo_config);
#ifdef USE_LPS25HB
float base_pressure = lps25hb.Get_PressureHpa();
for (int i = 0; i < 100; i++) {
while (lps25hb.Get_FifoStatus().FIFO_EMPTY)
vTaskDelay(50 / portTICK_RATE_MS);
base_pressure = pressure_lpf.do_filter(lps25hb.Get_PressureHpa());
}
#endif
bmp_reader.calibrate();
// Infinite loop
PerfCounter idle_time;
while (1) {
drone_state->iteration_++;
if (drone_state->iteration_ % 120 == 0) {
led1.toggle();
}
if (drone_state->iteration_ % 4 == 0) {
#ifdef USE_LPS25HB
drone_state->temperature_ = lps25hb.Get_TemperatureCelsius();
while (!lps25hb.Get_FifoStatus().FIFO_EMPTY) {
drone_state->pressure_hpa_ = pressure_lpf.do_filter(lps25hb.Get_PressureHpa());
float alt = (powf(base_pressure/drone_state->pressure_hpa_, 0.1902f) - 1.0f) * ((lps25hb.Get_TemperatureCelsius()) + 273.15f)/0.0065;
drone_state->altitude_ = Distance::from_meters(alt);
}
#else
bmp_reader.pressure_filter_.set_alpha(drone_state->altitude_lpf_);
drone_state->altitude_ = bmp_reader.get_altitude(true);
drone_state->pressure_hpa_ = bmp_reader.get_pressure().hpa();
drone_state->temperature_ = bmp_reader.get_temperature(false).celsius();
#endif
}
idle_time.begin_measure();
gyro_reader.wait_for_data();
idle_time.end_measure();
drone_state->dt_ = sample_dt.elapsed();
sample_dt.time_stamp();
if (drone_state->base_throttle_ > 0.1)
att.accelerometer_correction_speed(drone_state->accelerometer_correction_speed_);
else
att.accelerometer_correction_speed(3.0f);
att.gyro_drift_pid(drone_state->gyro_drift_kp_, drone_state->gyro_drift_ki_, drone_state->gyro_drift_kd_);
att.gyro_drift_leak_rate(drone_state->gyro_drift_leak_rate_);
size_t fifosize = gyro_reader.size();
for (size_t i = 0; i < fifosize; i++)
drone_state->gyro_raw_ = gyro_lpf.do_filter(gyro_reader.read_sample());
if (drone_state->gyro_raw_.length_squared() > 0 && drone_state->dt_.microseconds() > 0) {
drone_state->gyro_ = (drone_state->gyro_raw_ - gyro_reader.bias()) * drone_state->gyro_factor_;
att.track_gyroscope(DEG2RAD(drone_state->gyro_) * 1.0f, drone_state->dt_.seconds_float());
}
fifosize = acc_reader.size();
for (size_t i = 0; i < fifosize; i++) {
Vector3f acc_sample = acc_reader.read_sample_acc();
acc_lpf_att.do_filter(acc_sample);
acc_lpf_alt.do_filter(acc_sample);
}
drone_state->accel_raw_ = acc_lpf_att.output();
drone_state->accel_alt_ = acc_lpf_alt.output();
drone_state->accel_ = (drone_state->accel_raw_ - drone_state->accelerometer_adjustment_).normalize();
#define ALLOW_ACCELEROMETER_OFF
#ifdef ALLOW_ACCELEROMETER_OFF
if (drone_state->track_accelerometer_) {
att.track_accelerometer(drone_state->accel_, drone_state->dt_.seconds_float());
}
#else
att.track_accelerometer(drone_state->accel_, drone_state->dt_.seconds_float());
#endif
#define REALTIME_DATA 0
#if REALTIME_DATA
std::cout << drone_state->gyro_.transpose() << drone_state->accel_.transpose() << drone_state->pid_torque_.transpose();
std::cout << drone_state->dt_.seconds_float() << std::endl;
#endif
drone_state->mag_raw_ = acc_reader.read_sample_mag();
drone_state->mag_ = drone_state->mag_raw_.normalize();
if (drone_state->track_magnetometer_) {
att.track_magnetometer(drone_state->mag_, drone_state->dt_.seconds_float());
}
drone_state->attitude_ = att.get_attitude();
drone_state->gyro_drift_error_ = RAD2DEG(att.get_drift_error());
flight_ctl.update_state(*drone_state);
flight_ctl.send_throttle_to_motors();
if (print_to_console && console_update_time.elapsed() > TimeSpan::from_milliseconds(300)) {
Vector3f drift_err = att.get_drift_error();
console_update_time.time_stamp();
printf("Gyro : %5.3f %5.3f %5.3f\n", drone_state->gyro_.at(0), drone_state->gyro_.at(1), drone_state->gyro_.at(2));
printf("Drift Err : %5.3f %5.3f %5.3f\n", RAD2DEG(drift_err.at(0)), RAD2DEG(drift_err.at(1)), RAD2DEG(drift_err.at(2)));
printf("Gyro Raw : %5.3f %5.3f %5.3f\n", drone_state->gyro_raw_.at(0), drone_state->gyro_raw_.at(1), drone_state->gyro_raw_.at(2));
printf("Accel : %5.3f %5.3f %5.3f\n", drone_state->accel_.at(0), drone_state->accel_.at(1), drone_state->accel_.at(2));
printf("Mag : %5.3f %5.3f %5.3f\n", drone_state->mag_.at(0), drone_state->mag_.at(1), drone_state->mag_.at(2));
printf("dT : %lu uSec\n", (uint32_t)drone_state->dt_.microseconds());
printf("Q : %5.3f %5.3f %5.3f %5.3f\n\n", drone_state->attitude_.w, drone_state->attitude_.x, drone_state->attitude_.y,
drone_state->attitude_.z);
#if 1
printf("Motors : %1.2f %1.2f %1.2f %1.2f\n", drone_state->motors_[0], drone_state->motors_[1],
drone_state->motors_[2], drone_state->motors_[3]);
printf("Throttle : %1.2f\n", drone_state->base_throttle_);
printf("Armed : %d\n", drone_state->motors_armed_);
printf("Altitude : %4.2f m\n", drone_state->altitude_.meters());
printf("GPS : Lon: %3.4f Lat: %3.4f Sat %lu Alt: %4.2f m\n",
drone_state->longitude_.degrees(), drone_state->latitude_.degrees(),
drone_state->satellite_count_, drone_state->gps_altitude_.meters());
printf("Battery : %2.1f V, %2.0f%%\n", drone_state->battery_voltage_.volts(), drone_state->battery_percentage_);
#endif
}
#if 0
if (led_toggle_ts.elapsed() > TimeSpan::from_seconds(1)) {
led_toggle_ts.time_stamp();
led0.toggle();
}
#endif
#ifndef ENABLE_UART_TASK
rpcserver.jsonrpc_request_handler(&uart2);
#endif
}
}
/*******************************************************************************
* PWM
*
* @brief PWM MSP Initialization
* @param[in] htim_pwm PWM handle pointer
* @retval None
*/
void HAL_TIM_PWM_MspInit (TIM_HandleTypeDef* htim_pwm)
{
GPIO_InitTypeDef GPIO_InitStruct;
if (htim_pwm->Instance == easySPIN_TIMER_PWM1)
{
/* Peripheral clock enable */
__easySPIN_PWM1_CLCK_ENABLE();
/* GPIO configuration */
GPIO_InitStruct.Pin = easySPIN_PWM_1_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
GPIO_InitStruct.Alternate = easySPIN_AFx_TIMx_PWM1;
HAL_GPIO_Init (easySPIN_PWM_1_PORT, &GPIO_InitStruct);
/* Set Interrupt Group Priority of Timer3 Interrupt*/
HAL_NVIC_SetPriority(easySPIN_PWM1_IRQn, 4, 0);
/* Enable the timer3 global Interrupt */
HAL_NVIC_EnableIRQ(easySPIN_PWM1_IRQn);
}
else if (htim_pwm->Instance == easySPIN_TIMER_PWM2)
{
/* Peripheral clock enable */
__easySPIN_PWM2_CLCK_ENABLE();
/* GPIO configuration */
GPIO_InitStruct.Pin = easySPIN_PWM_2_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
GPIO_InitStruct.Alternate = easySPIN_AFx_TIMx_PWM2;
HAL_GPIO_Init (easySPIN_PWM_2_PORT, &GPIO_InitStruct);
/* Set Interrupt Group Priority of Timer2 Interrupt*/
HAL_NVIC_SetPriority(easySPIN_PWM2_IRQn, 4, 0);
/* Enable the timer2 global Interrupt */
HAL_NVIC_EnableIRQ(easySPIN_PWM2_IRQn);
}
else if (htim_pwm->Instance == easySPIN_TIMER_PWM3)
{
/* Peripheral clock enable */
__easySPIN_PWM3_CLCK_ENABLE();
/* GPIO configuration */
GPIO_InitStruct.Pin = easySPIN_PWM_3_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
HAL_GPIO_Init (easySPIN_PWM_3_PORT, &GPIO_InitStruct);
/* Set Interrupt Group Priority of Timer4 Interrupt*/
HAL_NVIC_SetPriority(easySPIN_PWM3_IRQn, 3, 0);
/* Enable the timer4 global Interrupt */
HAL_NVIC_EnableIRQ(easySPIN_PWM3_IRQn);
}
}
void HAL_UART_MspInit(UART_HandleTypeDef* huart)
{
GPIO_InitTypeDef GPIO_InitStruct;
if(huart->Instance==USART2)
{
/* USER CODE BEGIN USART2_MspInit 0 */
/* USER CODE END USART2_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_USART2_CLK_ENABLE();
/**USART2 GPIO Configuration
PA2 ------> USART2_TX
PA3 ------> USART2_RX
*/
GPIO_InitStruct.Pin = UART_TX_Pin|UART_RX_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF7_USART2;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* Peripheral DMA init*/
hdma_usart2_rx.Instance = DMA1_Stream5;
hdma_usart2_rx.Init.Channel = DMA_CHANNEL_4;
hdma_usart2_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma_usart2_rx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_usart2_rx.Init.MemInc = DMA_MINC_ENABLE;
hdma_usart2_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_usart2_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_usart2_rx.Init.Mode = DMA_NORMAL;
hdma_usart2_rx.Init.Priority = DMA_PRIORITY_LOW;
hdma_usart2_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
HAL_DMA_Init(&hdma_usart2_rx);
__HAL_LINKDMA(huart,hdmarx,hdma_usart2_rx);
hdma_usart2_tx.Instance = DMA1_Stream6;
hdma_usart2_tx.Init.Channel = DMA_CHANNEL_4;
hdma_usart2_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
hdma_usart2_tx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_usart2_tx.Init.MemInc = DMA_MINC_ENABLE;
hdma_usart2_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_usart2_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_usart2_tx.Init.Mode = DMA_NORMAL;
hdma_usart2_tx.Init.Priority = DMA_PRIORITY_LOW;
hdma_usart2_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
HAL_DMA_Init(&hdma_usart2_tx);
__HAL_LINKDMA(huart,hdmatx,hdma_usart2_tx);
/* Peripheral interrupt init */
HAL_NVIC_SetPriority(USART2_IRQn, 4, 0);
HAL_NVIC_EnableIRQ(USART2_IRQn);
/* USER CODE BEGIN USART2_MspInit 1 */
/* USER CODE END USART2_MspInit 1 */
}
}
/**
* @brief RTC MSP Initialization
* This function configures the hardware resources used in this example
* @param hrtc: RTC handle pointer
*
* @note Care must be taken when HAL_RCCEx_PeriphCLKConfig() is used to select
* the RTC clock source; in this case the Backup domain will be reset in
* order to modify the RTC Clock source, as consequence RTC registers (including
* the backup registers) and RCC_BDCR register are set to their reset values.
*
* @retval None
*/
void HAL_RTC_MspInit(RTC_HandleTypeDef *hrtc)
{
RCC_OscInitTypeDef RCC_OscInitStruct;
RCC_PeriphCLKInitTypeDef PeriphClkInitStruct;
/*##-1- Enables the PWR Clock and Enables access to the backup domain ###################################*/
/* To change the source clock of the RTC feature (LSE, LSI), You have to:
- Enable the power clock using __PWR_CLK_ENABLE()
- Enable write access using HAL_PWR_EnableBkUpAccess() function before to
configure the RTC clock source (to be done once after reset).
- Reset the Back up Domain using __HAL_RCC_BACKUPRESET_FORCE() and
__HAL_RCC_BACKUPRESET_RELEASE().
- Configure the needed RTc clock source */
__PWR_CLK_ENABLE();
HAL_PWR_EnableBkUpAccess();
/*##-2- Configue LSE/LSI as RTC clock soucre ###############################*/
#ifdef RTC_CLOCK_SOURCE_LSE
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_LSI | RCC_OSCILLATORTYPE_LSE;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
RCC_OscInitStruct.LSEState = RCC_LSE_ON;
RCC_OscInitStruct.LSIState = RCC_LSI_OFF;
if(HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_RTC;
PeriphClkInitStruct.RTCClockSelection = RCC_RTCCLKSOURCE_LSE;
if(HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
{
Error_Handler();
}
#elif defined (RTC_CLOCK_SOURCE_LSI)
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_LSI | RCC_OSCILLATORTYPE_LSE;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
RCC_OscInitStruct.LSIState = RCC_LSI_ON;
RCC_OscInitStruct.LSEState = RCC_LSE_OFF;
if(HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_RTC;
PeriphClkInitStruct.RTCClockSelection = RCC_RTCCLKSOURCE_LSI;
if(HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
{
Error_Handler();
}
#else
#error Please select the RTC Clock source inside the main.h file
#endif /*RTC_CLOCK_SOURCE_LSE*/
/*##-3- Enable RTC peripheral Clocks #######################################*/
/* Enable RTC Clock */
__HAL_RCC_RTC_ENABLE();
/*##-4- Configure the NVIC for RTC Tamper ###################################*/
HAL_NVIC_SetPriority(TAMP_STAMP_IRQn, 0x0F, 0);
HAL_NVIC_EnableIRQ(TAMP_STAMP_IRQn);
}
