/**
* @brief Deinitialize the SPDIFRXx peripheral registers to their default reset values.
* @param void
* @retval None
*/
void SPDIFRX_DeInit(void)
{
/* Enable SPDIFRX reset state */
RCC_APB1PeriphResetCmd(RCC_APB1Periph_SPDIFRX, ENABLE);
/* Release SPDIFRX from reset state */
RCC_APB1PeriphResetCmd(RCC_APB1Periph_SPDIFRX, DISABLE);
}
/*******************************************************************************
* Function Name : I2C_DeInit
* Description : Deinitializes the I2Cx peripheral registers to their default
* reset values.
* Input : - I2Cx: where x can be 1 or 2 to select the I2C peripheral.
* Output : None
* Return : None
*******************************************************************************/
void I2C_DeInit(I2C_TypeDef* I2Cx)
{
/* Check the parameters */
assert_param(IS_I2C_ALL_PERIPH(I2Cx));
switch (*(u32*)&I2Cx)
{
case I2C1_BASE:
/* Enable I2C1 reset state */
RCC_APB1PeriphResetCmd(RCC_APB1Periph_I2C1, ENABLE);
/* Release I2C1 from reset state */
RCC_APB1PeriphResetCmd(RCC_APB1Periph_I2C1, DISABLE);
break;
case I2C2_BASE:
/* Enable I2C2 reset state */
RCC_APB1PeriphResetCmd(RCC_APB1Periph_I2C2, ENABLE);
/* Release I2C2 from reset state */
RCC_APB1PeriphResetCmd(RCC_APB1Periph_I2C2, DISABLE);
break;
default:
break;
}
}
/**
* @brief Deinitializes the SPIx peripheral registers to their default
* reset values (Affects also the I2Ss).
* @param SPIx: where x can be 1, 2 or 3 to select the SPI peripheral.
* @retval : None
*/
void SPI_I2S_DeInit(SPI_TypeDef* SPIx)
{
/* Check the parameters */
assert_param(IS_SPI_ALL_PERIPH(SPIx));
switch (*(uint32_t*)&SPIx)
{
case SPI1_BASE:
/* Enable SPI1 reset state */
RCC_APB2PeriphResetCmd(RCC_APB2Periph_SPI1, ENABLE);
/* Release SPI1 from reset state */
RCC_APB2PeriphResetCmd(RCC_APB2Periph_SPI1, DISABLE);
break;
case SPI2_BASE:
/* Enable SPI2 reset state */
RCC_APB1PeriphResetCmd(RCC_APB1Periph_SPI2, ENABLE);
/* Release SPI2 from reset state */
RCC_APB1PeriphResetCmd(RCC_APB1Periph_SPI2, DISABLE);
break;
case SPI3_BASE:
/* Enable SPI3 reset state */
RCC_APB1PeriphResetCmd(RCC_APB1Periph_SPI3, ENABLE);
/* Release SPI3 from reset state */
RCC_APB1PeriphResetCmd(RCC_APB1Periph_SPI3, DISABLE);
break;
default:
break;
}
}
/**
* @brief Initializes the GPIO pins used by the IO expander.
* @param None
* @retval None
*/
static void IOE_GPIO_Config(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
/* Enable IOE_I2C and IOE_I2C_GPIO_PORT & Alternate Function clocks */
RCC_APB1PeriphClockCmd(IOE_I2C_CLK, ENABLE);
RCC_AHB1PeriphClockCmd(IOE_I2C_SCL_GPIO_CLK | IOE_I2C_SDA_GPIO_CLK |
IOE_IT_GPIO_CLK, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG, ENABLE);
/* Reset IOE_I2C IP */
RCC_APB1PeriphResetCmd(IOE_I2C_CLK, ENABLE);
/* Release reset signal of IOE_I2C IP */
RCC_APB1PeriphResetCmd(IOE_I2C_CLK, DISABLE);
/* Connect PXx to I2C_SCL*/
GPIO_PinAFConfig(IOE_I2C_SCL_GPIO_PORT, IOE_I2C_SCL_SOURCE, IOE_I2C_SCL_AF);
/* Connect PXx to I2C_SDA*/
GPIO_PinAFConfig(IOE_I2C_SDA_GPIO_PORT, IOE_I2C_SDA_SOURCE, IOE_I2C_SDA_AF);
/* IOE_I2C SCL and SDA pins configuration */
GPIO_InitStructure.GPIO_Pin = IOE_I2C_SCL_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_OD;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(IOE_I2C_SCL_GPIO_PORT, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = IOE_I2C_SDA_PIN;
GPIO_Init(IOE_I2C_SDA_GPIO_PORT, &GPIO_InitStructure);
}
/**
* @brief Deinitializes the CEC peripheral registers to their default reset
* values.
* @param None
* @retval None
*/
void CEC_DeInit(void)
{
/* Enable CEC reset state */
RCC_APB1PeriphResetCmd(RCC_APB1Periph_CEC, ENABLE);
/* Release CEC from reset state */
RCC_APB1PeriphResetCmd(RCC_APB1Periph_CEC, DISABLE);
}
/**
@brief Init I2C
@param[in] devnum I2C peripheral number (1 or 2)
@param[in] clkspd Baudrate (i.e. 100000 for 100kHz), F_CPU independent
*/
void i2c_init(uint8_t devnum, const uint32_t clkspd)
{
struct I2C_DevDef* pdef = i2c_get_pdef(devnum);
// Enable GPIO clocks
RCC_APB2PeriphClockCmd(pdef->gpio_clk, ENABLE);
// I2C1 clock enable
RCC_APB1PeriphClockCmd(pdef->i2c_clk, ENABLE);
// I2C1 SDA and SCL configuration
GPIO_InitTypeDef iotd;
iotd.GPIO_Pin = pdef->pin_sda | pdef->pin_scl;
iotd.GPIO_Speed = GPIO_Speed_50MHz;
iotd.GPIO_Mode = GPIO_Mode_AF_OD;
GPIO_Init(pdef->gpio, &iotd);
// I2C1 Reset
RCC_APB1PeriphResetCmd(pdef->i2c_clk, ENABLE);
RCC_APB1PeriphResetCmd(pdef->i2c_clk, DISABLE);
// Configure I2Cx
I2C_InitTypeDef i2td;
i2td.I2C_ClockSpeed = clkspd;
i2td.I2C_Mode = I2C_Mode_I2C;
i2td.I2C_DutyCycle = I2C_DutyCycle_2;
i2td.I2C_OwnAddress1 = 0;
i2td.I2C_Ack = I2C_Ack_Enable;
i2td.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
I2C_Init(pdef->i2c, &i2td);
I2C_Cmd(pdef->i2c, ENABLE);
}
void jump_to_app()
{
const struct pios_board_info *bdinfo = &pios_board_info_blob;
PIOS_LED_On(PIOS_LED_HEARTBEAT);
// Look at cm3_vectors struct in startup. In a fw image the first uint32_t contains the address of the top of irqstack
uint32_t fwIrqStackBase = (*(__IO uint32_t *)bdinfo->fw_base) & 0xFFFE0000;
// Check for the two possible irqstack locations (sram or core coupled sram)
if (fwIrqStackBase == 0x20000000 || fwIrqStackBase == 0x10000000) {
/* Jump to user application */
FLASH_Lock();
RCC_APB2PeriphResetCmd(0xffffffff, ENABLE);
RCC_APB1PeriphResetCmd(0xffffffff, ENABLE);
RCC_APB2PeriphResetCmd(0xffffffff, DISABLE);
RCC_APB1PeriphResetCmd(0xffffffff, DISABLE);
#ifdef PIOS_INCLUDE_USB
PIOS_USBHOOK_Deactivate();
#endif
JumpAddress = *(__IO uint32_t *)(bdinfo->fw_base + 4);
Jump_To_Application = (pFunction)JumpAddress;
/* Initialize user application's Stack Pointer */
__set_MSP(*(__IO uint32_t *)bdinfo->fw_base);
Jump_To_Application();
} else {
DeviceState = failed_jump;
return;
}
}
/**
* @brief Initializes the I2C peripheral used to drive the MPU6050
* @param None
* @return None
*/
void MPU6050_I2C_Init()
{
I2C_InitTypeDef I2C_InitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
/* Enable I2C and GPIO clocks */
RCC_APB1PeriphClockCmd(MPU6050_I2C_RCC_Periph, ENABLE);
RCC_AHB1PeriphClockCmd(MPU6050_I2C_RCC_Port, ENABLE);
RCC_APB1PeriphResetCmd ( RCC_APB1Periph_I2C1, ENABLE );
RCC_APB1PeriphResetCmd ( RCC_APB1Periph_I2C1, DISABLE );
/* Configure I2C pins: SCL and SDA */
GPIO_InitStructure.GPIO_Pin = MPU6050_I2C_SCL_Pin | MPU6050_I2C_SDA_Pin;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_OType = GPIO_OType_OD;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;// this activates the pullup resistors on the IO pins
GPIO_Init(MPU6050_I2C_Port, &GPIO_InitStructure);
/*
00099 #define I2Cx I2C1
00100 #define I2Cx_CLK RCC_APB1Periph_I2C1
00101 #define I2Cx_SDA_GPIO_CLK RCC_AHB1Periph_GPIOB
00102 #define I2Cx_SDA_PIN GPIO_Pin_9
00103 #define I2Cx_SDA_GPIO_PORT GPIOB
00104 #define I2Cx_SDA_SOURCE GPIO_PinSource9
00105 #define I2Cx_SDA_AF GPIO_AF_I2C1
00106
00107 #define I2Cx_SCL_GPIO_CLK RCC_AHB1Periph_GPIOB
00108 #define I2Cx_SCL_PIN GPIO_Pin_6
00109 #define I2Cx_SCL_GPIO_PORT GPIOB
00110 #define I2Cx_SCL_SOURCE GPIO_PinSource6
00111 #define I2Cx_SCL_AF GPIO_AF_I2C1
*/
/* Connect PXx to I2C_SCL */
GPIO_PinAFConfig ( GPIOB, GPIO_PinSource6 /*MPU6050_I2C_SCL_Pin*/, GPIO_AF_I2C1/*I2C1_SCL_AF*/);
/* Connect PXx to I2C_SDA */
GPIO_PinAFConfig ( GPIOB, GPIO_PinSource7 /*MPU6050_I2C_SDA_Pin*/, GPIO_AF_I2C1/*I2C1_SDA_AF*/);
/* I2C configuration */
I2C_InitStructure.I2C_Mode = I2C_Mode_I2C;
I2C_InitStructure.I2C_DutyCycle = I2C_DutyCycle_2;
I2C_InitStructure.I2C_OwnAddress1 = MPU6050_DEFAULT_ADDRESS; // MPU6050 7-bit adress = 0x68, 8-bit adress = 0xD0;
I2C_InitStructure.I2C_Ack = I2C_Ack_Enable;
I2C_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
I2C_InitStructure.I2C_ClockSpeed = MPU6050_I2C_Speed;
/* Apply I2C configuration after enabling it */
I2C_Init(MPU6050_I2C, &I2C_InitStructure);
/* I2C Peripheral Enable */
I2C_Cmd(MPU6050_I2C, ENABLE);
}
/**
* @brief Initializes the GPIO pins used by the IO expander.
* @param None
* @retval None
*/
static void IOE_GPIO_Config(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
/* Enable IOE_I2C and IOE_I2C_PORT & Alternate Function clocks */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_IOE_I2C, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB_IOE_I2C_PORT | RCC_APB_GPIO_IOE_ITPORT | RCC_APB2Periph_AFIO, ENABLE);
/* Reset IOE_I2C IP */
RCC_APB1PeriphResetCmd(RCC_APB1Periph_IOE_I2C, ENABLE);
/* Release reset signal of IOE_I2C IP */
RCC_APB1PeriphResetCmd(RCC_APB1Periph_IOE_I2C, DISABLE);
/* IOE_I2C SCL and SDA pins configuration */
GPIO_InitStructure.GPIO_Pin = IOE_SCL_PIN | IOE_SDA_PIN;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_10MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD;
GPIO_Init(IOE_I2C_PORT, &GPIO_InitStructure);
/* Set EXTI pin as Input PullUp - IO_Expander_INT */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_IOE_ITPIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_Init(GPIO_IOE_ITPORT, &GPIO_InitStructure);
/* Connect IO Expander IT line to EXTI line */
GPIO_EXTILineConfig(GPIO_PortSource_IOE_ITPORT, GPIO_PinSource_IOE_ITPIN);
}
void init_I2C1_lowlevel(void)
{
GPIO_InitTypeDef GPIO_InitStruct;
I2C_InitTypeDef I2C_InitStruct;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C1, ENABLE);
RCC_APB1PeriphResetCmd(RCC_APB1Periph_I2C1, ENABLE);
RCC_APB1PeriphResetCmd(RCC_APB1Periph_I2C1, DISABLE);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
GPIO_InitStruct.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStruct.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStruct.GPIO_OType = GPIO_OType_OD;
GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(GPIOB, &GPIO_InitStruct);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource6, GPIO_AF_I2C1); // SCL pini
GPIO_PinAFConfig(GPIOB, GPIO_PinSource7, GPIO_AF_I2C1); // SDA pini
/* detail????????????? */
I2C_InitStruct.I2C_ClockSpeed = 100000; //?????????????????????????
I2C_InitStruct.I2C_Mode = I2C_Mode_I2C; //??????????????????
I2C_InitStruct.I2C_DutyCycle = I2C_DutyCycle_2; //???????????????
I2C_InitStruct.I2C_OwnAddress1 = 0x00; //???????????????????????
I2C_InitStruct.I2C_Ack = I2C_Ack_Enable; //?????????????????????????????????????
I2C_InitStruct.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit; //??????????????????????
I2C_Init(I2C1, &I2C_InitStruct);
I2C_Cmd(I2C1, ENABLE);
}
/**
* @brief Deinitializes the SPIx peripheral registers to their default
* reset values (Affects also the I2Ss).
* @param SPIx: where x can be 1, 2 or 3 to select the SPI peripheral.
* @retval None
*/
void SPI_I2S_DeInit(SPI_TypeDef* SPIx)
{
/* Check the parameters */
assert_param(IS_SPI_ALL_PERIPH(SPIx));
if (SPIx == SPI1)
{
/* Enable SPI1 reset state */
RCC_APB2PeriphResetCmd(RCC_APB2Periph_SPI1, ENABLE);
/* Release SPI1 from reset state */
RCC_APB2PeriphResetCmd(RCC_APB2Periph_SPI1, DISABLE);
}
else if (SPIx == SPI2)
{
/* Enable SPI2 reset state */
RCC_APB1PeriphResetCmd(RCC_APB1Periph_SPI2, ENABLE);
/* Release SPI2 from reset state */
RCC_APB1PeriphResetCmd(RCC_APB1Periph_SPI2, DISABLE);
}
else
{
if (SPIx == SPI3)
{
/* Enable SPI3 reset state */
RCC_APB1PeriphResetCmd(RCC_APB1Periph_SPI3, ENABLE);
/* Release SPI3 from reset state */
RCC_APB1PeriphResetCmd(RCC_APB1Periph_SPI3, DISABLE);
}
}
}
/*******************************************************************************
* 函数名称: CAN_DeInit
* 功能描述: D将CAN外设寄存器复位为它们的默认值
* 输入参数: 无.
* 输出参数: 无.
* 返回参数: 无.
*******************************************************************************/
void CAN_DeInit(void)
{
/* Enable CAN reset state */
RCC_APB1PeriphResetCmd(RCC_APB1Periph_CAN, ENABLE);
/* Release CAN from reset state */
RCC_APB1PeriphResetCmd(RCC_APB1Periph_CAN, DISABLE);
}
/* deinitialize lcd */
void LCD_Deinit(void)
{
/* Enable LCD reset state */
RCC_APB1PeriphResetCmd(APB1_LCD, ENABLE);
/* Release LCD from reset state */
RCC_APB1PeriphResetCmd(APB1_LCD, DISABLE);
}
void i2c_config()
{
// RCC
/* Enable GPIOB clock */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C1, ENABLE);
// GPIO
GPIO_InitTypeDef GPIO_InitStructure;
/* Configure I2C1 pins: SCL and SDA */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD;
GPIO_Init(GPIOB, &GPIO_InitStructure);
/* Enable I2C1 reset state */
RCC_APB1PeriphResetCmd(RCC_APB1Periph_I2C1, ENABLE);
/* Release I2C1 from reset state */
RCC_APB1PeriphResetCmd(RCC_APB1Periph_I2C1, DISABLE);
I2C_DeInit(I2C1);
// I2C
/* Enable I2C1 */
I2C_Cmd(I2C1, ENABLE);
I2C_InitStructure.I2C_Mode = I2C_Mode_I2C;
I2C_InitStructure.I2C_DutyCycle = I2C_DutyCycle_2;
I2C_InitStructure.I2C_OwnAddress1 = ID;
I2C_InitStructure.I2C_Ack = I2C_Ack_Enable;
I2C_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
I2C_InitStructure.I2C_ClockSpeed = ClockSpeed;
I2C_Init(I2C1, &I2C_InitStructure);
I2C_GeneralCallCmd(I2C1, ENABLE);
/* Enable Event IT needed for ADDR and STOPF events ITs */
I2C_ITConfig(I2C1, I2C_IT_EVT, ENABLE);
/* Enable Error IT */
I2C_ITConfig(I2C1, I2C_IT_ERR, ENABLE);
/* Enable Buffer IT (TXE and RXNE ITs) */
I2C_ITConfig(I2C1, I2C_IT_BUF, ENABLE);
// NVIC
/* 1 bit for pre-emption priority, 3 bits for subpriority */
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);
NVIC_SetPriority(I2C1_EV_IRQn, 0x00);
NVIC_EnableIRQ(I2C1_EV_IRQn);
NVIC_SetPriority(I2C1_ER_IRQn, 0x01);
NVIC_EnableIRQ(I2C1_ER_IRQn);
}
void i2c_reset(i2c_t *obj) {
if (obj->i2c == I2C_1) {
RCC_APB1PeriphResetCmd(RCC_APB1Periph_I2C1, ENABLE);
RCC_APB1PeriphResetCmd(RCC_APB1Periph_I2C1, DISABLE);
}
if (obj->i2c == I2C_2) {
RCC_APB1PeriphResetCmd(RCC_APB1Periph_I2C2, ENABLE);
RCC_APB1PeriphResetCmd(RCC_APB1Periph_I2C2, DISABLE);
}
}
/**
* @brief Enables the I2C Clock and configures the different GPIO ports.
* @param None
* @retval None
*/
static void I2C_Config(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
/* RCC Configuration */
/*I2C Peripheral clock enable */
RCC_APB1PeriphClockCmd(I2Cx_CLK, ENABLE);
/*SDA GPIO clock enable */
RCC_AHB1PeriphClockCmd(I2Cx_SDA_GPIO_CLK, ENABLE);
/*SCL GPIO clock enable */
RCC_AHB1PeriphClockCmd(I2Cx_SCL_GPIO_CLK, ENABLE);
/* Reset I2Cx IP */
RCC_APB1PeriphResetCmd(I2Cx_CLK, ENABLE);
/* Release reset signal of I2Cx IP */
RCC_APB1PeriphResetCmd(I2Cx_CLK, DISABLE);
/* GPIO Configuration */
/*Configure I2C SCL pin */
GPIO_InitStructure.GPIO_Pin = I2Cx_SCL_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_OD;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(I2Cx_SCL_GPIO_PORT, &GPIO_InitStructure);
/*Configure I2C SDA pin */
GPIO_InitStructure.GPIO_Pin = I2Cx_SDA_PIN;
GPIO_Init(I2Cx_SDA_GPIO_PORT, &GPIO_InitStructure);
/* Connect PXx to I2C_SCL */
GPIO_PinAFConfig(I2Cx_SCL_GPIO_PORT, I2Cx_SCL_SOURCE, I2Cx_SCL_AF);
/* Connect PXx to I2C_SDA */
GPIO_PinAFConfig(I2Cx_SDA_GPIO_PORT, I2Cx_SDA_SOURCE, I2Cx_SDA_AF);
/* NVIC configuration */
/* Configure the Priority Group to 1 bit */
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
/* Configure the I2C event priority */
NVIC_InitStructure.NVIC_IRQChannel = I2Cx_EV_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
/* Configure I2C error interrupt to have the higher priority */
NVIC_InitStructure.NVIC_IRQChannel = I2Cx_ER_IRQn;
NVIC_Init(&NVIC_InitStructure);
}
/*
函数功能：定时器6延时函数初始化
*/
void Delay_Init(void)
{
/*开始定时器6时钟*/
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE);
/*复位定时器6状态*/
RCC_APB1PeriphResetCmd(RCC_APB1Periph_TIM6, ENABLE);
RCC_APB1PeriphResetCmd(RCC_APB1Periph_TIM6, DISABLE);
/*关闭定时器6*/
TIM_Cmd(TIM6, DISABLE);
}
/**
* @brief Deinitializes the LPTIMx peripheral registers to their default reset values.
* @param LPTIMx: where x can be 1.
* @retval None
*
*/
void LPTIM_DeInit(LPTIM_TypeDef* LPTIMx)
{
/* Check the parameters */
assert_param(IS_LPTIM_ALL_PERIPH(LPTIMx));
/* Deinitializes the LPTIM1 peripheral */
if(LPTIMx == LPTIM1)
{
RCC_APB1PeriphResetCmd(RCC_APB1Periph_LPTIM1, ENABLE);
RCC_APB1PeriphResetCmd(RCC_APB1Periph_LPTIM1, DISABLE);
}
}
static void s_hal_spi_hw_init(hal_spi_t id)
{
#if defined(HAL_USE_CPU_FAM_STM32F1) || defined(HAL_USE_CPU_FAM_STM32F4)
//uint32_t RCC_APB1Periph_SPIx = (hal_spi1 == id) ? (RCC_APB1Periph_SPI1) : (RCC_APB1Periph_SPI2); RCC_APB1Periph_SPI3
if(hal_spi1 == id)
{
// spi periph clock enable
RCC_APB2PeriphClockCmd(RCC_APB2Periph_SPI1, ENABLE);
// the reset and exit from reset is also done by SPI_I2S_DeInit() ..... thus it can be removed from here
// reset spi periph
RCC_APB2PeriphResetCmd(RCC_APB2Periph_SPI1, ENABLE);
// release reset
RCC_APB2PeriphResetCmd(RCC_APB2Periph_SPI1, DISABLE);
}
else
{
uint32_t RCC_APB1Periph_SPIx = s_hal_spi_hw_rcc[HAL_spi_id2index(id)];
// spi periph clock enable
RCC_APB1PeriphClockCmd(RCC_APB1Periph_SPIx, ENABLE);
// the reset and exit from reset is also done by SPI_I2S_DeInit() ..... thus it can be removed from here
// reset spi periph
RCC_APB1PeriphResetCmd(RCC_APB1Periph_SPIx, ENABLE);
// release reset
RCC_APB1PeriphResetCmd(RCC_APB1Periph_SPIx, DISABLE);
}
// // // system configuration controller clock
// #warning --> in stm32f4 removed "RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG, ENABLE);" from spi_hw_init() and it still works....
// // RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG, ENABLE);
//
// // spi periph clock enable
// RCC_APB1PeriphClockCmd(RCC_APB1Periph_SPIx, ENABLE);
//
// // reset spi periph
// RCC_APB1PeriphResetCmd(RCC_APB1Periph_SPIx, ENABLE);
//
// // release reset
// RCC_APB1PeriphResetCmd(RCC_APB1Periph_SPIx, DISABLE);
#else //defined(HAL_USE_CPU_FAM_*)
#error ERR --> choose a HAL_USE_CPU_FAM_*
#endif
}
void init_SPI(int spi_number){
SPI_InitTypeDef SPI_InitTypeDefStruct;
//SPI1 initialisieren
//Program the Polarity, Phase, First Data, Baud Rate Prescaler, Slave
//Management, Peripheral Mode and CRC Polynomial values
SPI_InitTypeDefStruct.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_16;
SPI_InitTypeDefStruct.SPI_Direction = SPI_Direction_2Lines_FullDuplex;//bidirectional for read and write
SPI_InitTypeDefStruct.SPI_Mode = SPI_Mode_Master;//als master
SPI_InitTypeDefStruct.SPI_DataSize = SPI_DataSize_8b;
SPI_InitTypeDefStruct.SPI_NSS = SPI_NSS_Soft;//Chip select to Software
SPI_InitTypeDefStruct.SPI_FirstBit = SPI_FirstBit_MSB;
SPI_InitTypeDefStruct.SPI_CPOL = SPI_CPOL_High;//clock auf steigende Flanke?
SPI_InitTypeDefStruct.SPI_CPHA = SPI_CPHA_2Edge;
//Enable peripheral clock
switch(spi_number){
case SPI_1:
RCC_APB2PeriphClockCmd(RCC_APB2Periph_SPI1, ENABLE);// for SPI1
//SPI1 mit struct initialisieren
SPI_Init(SPI1, &SPI_InitTypeDefStruct);
SPI_Cmd(SPI1, ENABLE);
break;
case SPI_2:
RCC_APB1PeriphClockCmd(RCC_APB1Periph_SPI2, ENABLE);// for SPI2
SPI_Init(SPI2, &SPI_InitTypeDefStruct);
SPI_Cmd(SPI2, ENABLE);
break;
case SPI_3:
RCC_APB1PeriphResetCmd(RCC_APB1Periph_SPI3, ENABLE);// for SPI3
SPI_Init(SPI3, &SPI_InitTypeDefStruct);
SPI_Cmd(SPI3, ENABLE);
break;
case SPI_4:
RCC_APB1PeriphResetCmd(RCC_APB1Periph_SPI3, ENABLE);// for SPI4
SPI_Init(SPI4, &SPI_InitTypeDefStruct);
SPI_Cmd(SPI4, ENABLE);
break;
case SPI_5:
RCC_APB1PeriphResetCmd(RCC_APB1Periph_SPI3, ENABLE);// for SPI5
SPI_Init(SPI5, &SPI_InitTypeDefStruct);
SPI_Cmd(SPI5, ENABLE);
break;
case SPI_6:
RCC_APB1PeriphResetCmd(RCC_APB1Periph_SPI3, ENABLE);// for SPI6
SPI_Init(SPI6, &SPI_InitTypeDefStruct);
SPI_Cmd(SPI6, ENABLE);
break;
}
}
//--------------------------------------------------------------
void USB_OTG_BSP_Init(USB_OTG_CORE_HANDLE *pdev)
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_AHB1PeriphClockCmd( RCC_AHB1Periph_GPIOA , ENABLE);
/* Configure SOF VBUS ID DM DP Pins */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11 | GPIO_Pin_12;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL ;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_PinAFConfig(GPIOA,GPIO_PinSource11,GPIO_AF_OTG1_FS) ;
GPIO_PinAFConfig(GPIOA,GPIO_PinSource12,GPIO_AF_OTG1_FS) ;
RCC_AHB2PeriphClockCmd(RCC_AHB2Periph_OTG_FS, ENABLE) ;
/* enable the PWR clock */
RCC_APB1PeriphResetCmd(RCC_APB1Periph_PWR, ENABLE);
}
void SPI3_Configure(void)
{
RCC_APB1PeriphResetCmd(RCC_APB1Periph_SPI3, ENABLE);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE);
GPIO_InitTypeDef init_port;
init_port.GPIO_Pin = SPI3_MISO_Pin;
init_port.GPIO_Mode = GPIO_Mode_AF;
init_port.GPIO_Speed = GPIO_Speed_50MHz;
init_port.GPIO_OType = GPIO_OType_PP;
init_port.GPIO_PuPd = GPIO_PuPd_DOWN;
GPIO_Init(SPI3_MISO_Port, &init_port);
init_port.GPIO_Pin = SPI3_MOSI_Pin;
GPIO_Init(SPI3_MOSI_Port, &init_port);
init_port.GPIO_Pin = SPI3_SCLK_Pin;
GPIO_Init(SPI3_SCLK_Port, &init_port);
init_port.GPIO_Pin = SPI3_SS_Pin;
GPIO_Init(SPI3_SS_Port, &init_port);
GPIO_PinAFConfig(SPI3_MISO_Port, SPI3_MISO_Pin, GPIO_AF_SPI3);
GPIO_PinAFConfig(SPI3_MOSI_Port, SPI3_MOSI_Pin, GPIO_AF_SPI3);
GPIO_PinAFConfig(SPI3_SCLK_Port, SPI3_SCLK_Pin, GPIO_AF_SPI3);
GPIO_PinAFConfig(SPI3_SS_Port, SPI3_SS_Pin, GPIO_AF_SPI3);
}
static void init_dbg_watchdog( void )
{
TIM_TimeBaseInitTypeDef tim_time_base_init_struct;
RCC_APB1PeriphClockCmd( RCC_APB1Periph_TIM7, ENABLE );
RCC_APB1PeriphResetCmd( RCC_APB1Periph_TIM7, DISABLE );
/* Set dbg_watchdog timeout to 90% of the actual watchdog timeout to ensure it break before the actual watchdog bites
* Timeout calculation
* - Period per TIM clock cycle : 120MHz (CPU clock) / 2 (APB1 pre-scaler) / DBG_WATCHDOG_PRESCALER = 2.5ms
* DBG_WATCHDOG_PRESCALER = 24000
* - Timeout : ( 0.9 * 2.5ms * 1000 ) * timeout_in_seconds
* DBG_WATCHDOG_TIMEOUT_MULTIPLIER = ( 0.9 * 2.5ms * 1000 ) = 2250
*/
tim_time_base_init_struct.TIM_Prescaler = DBG_WATCHDOG_PRESCALER;
tim_time_base_init_struct.TIM_CounterMode = TIM_CounterMode_Up;
tim_time_base_init_struct.TIM_Period = DBG_WATCHDOG_TIMEOUT;
tim_time_base_init_struct.TIM_ClockDivision = TIM_CKD_DIV1;
tim_time_base_init_struct.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit( TIM7, &tim_time_base_init_struct );
TIM_ClearITPendingBit( TIM7, TIM_IT_Update );
TIM_ITConfig( TIM7, TIM_IT_Update, ENABLE );
TIM_UpdateRequestConfig( TIM7, TIM_UpdateSource_Regular );
NVIC_EnableIRQ( TIM7_IRQn );
TIM_Cmd( TIM7, ENABLE );
}
/**-----------------------------------------------------------------------------
* @brief Initialisation du watchdog Windows.
*
* param[in] Timeout_ms Duree du timeout watchdog en ms.
*/
void WDG_InitWWDG(uint16_t Timeout_ms){
RCC_ClocksTypeDef xRCC_Clocks;
uint32_t ulClock_kHz;
WWDG_DeInit();
// Initialisation des variables
WWDG_Reload = Timeout_ms;
WWDG_Cnt = Timeout_ms;
// Activation horloges
RCC_APB1PeriphResetCmd(RCC_APB1Periph_WWDG, DISABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_WWDG, ENABLE);
// Configuration interruption
WWDG_EnableIT();
#ifdef configLIBRARY_KERNEL_INTERRUPT_PRIORITY
NVIC_InitStructure.NVIC_IRQChannel = WWDG_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = configLIBRARY_KERNEL_INTERRUPT_PRIORITY;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init( &NVIC_InitStructure );
#else
NVIC_EnableIRQ(WWDG_IRQn);
#endif
// Configuration timeout
WWDG_SetPrescaler(WWDG_Prescaler_8);
WWDG_SetWindowValue(0x7F);
// Activation
WWDG_Enable(0x7F);
WDG_Refresh();
}
/**
* @brief Deinitializes the I2Cx peripheral registers to their default reset values.
* @param I2Cx: where x can be 1 or 2 to select the I2C peripheral.
* @retval None
*/
void I2C_DeInit(I2C_TypeDef* I2Cx) {
/* Check the parameters */
assert_param(IS_I2C_ALL_PERIPH(I2Cx));
if(I2Cx == I2C1) {
/* Enable I2C1 reset state */
RCC_APB1PeriphResetCmd(RCC_APB1Periph_I2C1, ENABLE);
/* Release I2C1 from reset state */
RCC_APB1PeriphResetCmd(RCC_APB1Periph_I2C1, DISABLE);
} else {
/* Enable I2C2 reset state */
RCC_APB1PeriphResetCmd(RCC_APB1Periph_I2C2, ENABLE);
/* Release I2C2 from reset state */
RCC_APB1PeriphResetCmd(RCC_APB1Periph_I2C2, DISABLE);
}
}
/**
* @brief Deinitializes the CAN peripheral registers to their default
* reset values.
* @param CANx: where x can be 1 select the CAN peripheral.
* @retval : None.
*/
void CAN_DeInit(CAN_TypeDef* CANx)
{
/* Check the parameters */
assert_param(IS_CAN_ALL_PERIPH(CANx));
switch (*(uint32_t*)&CANx) {
case CAN1_BASE:
/* Enable CAN1 reset state */
RCC_APB1PeriphResetCmd(RCC_APB1Periph_CAN1, ENABLE);
/* Release CAN1 from reset state */
RCC_APB1PeriphResetCmd(RCC_APB1Periph_CAN1, DISABLE);
break;
default:
break;
}
}
void i2c_reset(i2c_t *obj) {
I2C_TypeDef *i2c = (I2C_TypeDef *)(obj->i2c);
int timeout;
// wait before reset
timeout = LONG_TIMEOUT;
while((I2C_GetFlagStatus(i2c, I2C_FLAG_BUSY)) && (timeout-- != 0));
if (obj->i2c == I2C_1) {
RCC_APB1PeriphResetCmd(RCC_APB1Periph_I2C1, ENABLE);
RCC_APB1PeriphResetCmd(RCC_APB1Periph_I2C1, DISABLE);
}
if (obj->i2c == I2C_2) {
RCC_APB1PeriphResetCmd(RCC_APB1Periph_I2C2, ENABLE);
RCC_APB1PeriphResetCmd(RCC_APB1Periph_I2C2, DISABLE);
}
}
//初始化IO 串口2
//pclk1:PCLK1时钟频率(Mhz)
//bound:波特率
void UART4_Init(u32 bound)
{
NVIC_InitTypeDef NVIC_InitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
USART_InitTypeDef USART_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE); // GPIOC时钟
RCC_APB1PeriphClockCmd(RCC_APB1Periph_UART4,ENABLE);
//USART_DeInit(UART4); //复位串口2
//USART2_TX PC.10
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10; //PC.10
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //复用推挽输出
GPIO_Init(GPIOC, &GPIO_InitStructure); //初始化PA2
//USART2_RX PC.11
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;//浮空输入
GPIO_Init(GPIOC, &GPIO_InitStructure); //初始化PA3
RCC_APB1PeriphResetCmd(RCC_APB1Periph_UART4,ENABLE);
RCC_APB1PeriphResetCmd(RCC_APB1Periph_UART4,DISABLE);
USART_InitStructure.USART_BaudRate = bound;//一般设置为9600;
USART_InitStructure.USART_WordLength = USART_WordLength_8b;//字长为8位数据格式
USART_InitStructure.USART_StopBits = USART_StopBits_1;//一个停止位
USART_InitStructure.USART_Parity = USART_Parity_No;//无奇偶校验位
USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;//无硬件数据流控制
USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx; //收发模式
USART_Init(UART4, &USART_InitStructure); //初始化串口 2
NVIC_InitStructure.NVIC_IRQChannel = UART4_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=3 ;//抢占优先级3
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3; //子优先级3
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道使能
NVIC_Init(&NVIC_InitStructure); //根据指定的参数初始化VIC寄存器
/* 使能串口2接收中断 */
USART_ITConfig(UART4, USART_IT_RXNE, ENABLE);
/* 使能串口2总线空闲中断 */
USART_ITConfig(UART4, USART_IT_IDLE, ENABLE);
USART_Cmd(UART4, ENABLE); //使能串口
}
// Initialize the sensor
void INA219_Init(INA219* sensor)
{
// Start with a clean slate
//INA219_DeInit(sensor);
// Initialization structures
GPIO_InitTypeDef GPIO_InitStructure;
I2C_InitTypeDef I2C_InitStructure;
// Enable the I2C clock
RCC_APB1PeriphClockCmd(sensor->clock, ENABLE);
// Enable the GPIO clocks
RCC_AHB1PeriphClockCmd(sensor->sda.clock | sensor->scl.clock, ENABLE);
// Reset the I2C peripheral
RCC_APB1PeriphResetCmd(sensor->clock, ENABLE);
RCC_APB1PeriphResetCmd(sensor->clock, DISABLE);
// Connect the GPIO pins to the I2C peripheral (alternate function, AF)
GPIO_PinAFConfig(sensor->sda.port, sensor->sda.pinsource, sensor->af);
GPIO_PinAFConfig(sensor->scl.port, sensor->scl.pinsource, sensor->af);
// Set up GPIO for SDA and SCL, aka open-drain with pull-ups
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_OD;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_InitStructure.GPIO_Pin = sensor->scl.pin;
GPIO_Init(sensor->scl.port, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = sensor->sda.pin;
GPIO_Init(sensor->sda.port, &GPIO_InitStructure);
// Set up I2C parameters; 400khz, 7-bit addresses, "I2C mode" are important
I2C_InitStructure.I2C_ClockSpeed = 400000;
I2C_InitStructure.I2C_Mode = I2C_Mode_I2C;
I2C_InitStructure.I2C_DutyCycle = I2C_DutyCycle_2;
I2C_InitStructure.I2C_OwnAddress1 = 0;
I2C_InitStructure.I2C_Ack = I2C_Ack_Enable;
I2C_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
// Initialize the I2C peripheral
I2C_Cmd(sensor->peripheral, ENABLE);
I2C_Init(sensor->peripheral, &I2C_InitStructure);
}
///////////////////////////////
///检测总线是否为busy，若是，进行修复
///@retval -1:成功 -0:失败
///////////////////////////////
bool I2C::I2C_CHACK_BUSY_FIX(uint32_t i2cClock,uint16_t sclPin,uint16_t sdaPin)
{
u8 Time_out=0;
GPIO_InitTypeDef GPIO_InitStructure;
while(I2C_GetFlagStatus(mI2C, I2C_FLAG_BUSY)&&Time_out<20)
{
RCC_APB1PeriphClockCmd(i2cClock,DISABLE);//开启I2C时钟
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB,ENABLE);//开启scl sda时钟
/* Set GPIO frequency to 50MHz */
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
/* Select Output open-drain mode */
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
/* Initialize I2Cx SCL Pin */
GPIO_InitStructure.GPIO_Pin = sclPin;
GPIO_Init(GPIOB, &GPIO_InitStructure);
/* Initialize I2Cx SDA Pin */
GPIO_InitStructure.GPIO_Pin = sdaPin;
GPIO_Init(GPIOB, &GPIO_InitStructure);
//模拟方式产生停止信号
GPIO_ResetBits(GPIOB, sclPin);
GPIO_ResetBits(GPIOB, sdaPin);
DelayUs(5);
GPIO_SetBits(GPIOB, sclPin);
DelayUs(5);
GPIO_SetBits(GPIOB, sdaPin);
DelayUs(5);
I2CGPIODeInit(sclPin,sdaPin);//IO设置成默认值
RCC_APB1PeriphResetCmd(i2cClock,ENABLE);//重置clk时钟 防止有错误标志
RCC_APB1PeriphResetCmd(i2cClock,DISABLE);//关闭clk重置
RCC_APB1PeriphClockCmd(i2cClock,ENABLE);//开启I2C时钟
++Time_out;
}
if(Time_out==20)
return 0;
return 1;
}