bool spi_init(struct spi_bus *bus)
{
#ifdef DEBUG_LED
/* Grab a debug LED for testing. */
pin_enable(DEBUG_LED);
pin_reset(DEBUG_LED);
pin_set_mode(DEBUG_LED, PIN_MODE_OUTPUT);
pin_set_otype(DEBUG_LED, PIN_TYPE_PUSHPULL);
pin_set_ospeed(DEBUG_LED, PIN_SPEED_2MHZ);
#endif
#ifdef ERROR_LED
pin_enable(ERROR_LED);
pin_reset(ERROR_LED);
pin_set_mode(ERROR_LED, PIN_MODE_OUTPUT);
pin_set_otype(ERROR_LED, PIN_TYPE_PUSHPULL);
pin_set_ospeed(ERROR_LED, PIN_SPEED_2MHZ);
#endif
rcc_enable(bus->rcc_dev);
/* Configure GPIO pins for SPI operation. */
pin_enable(bus->miso_pin);
pin_set_af(bus->miso_pin, bus->af);
pin_set_mode(bus->miso_pin, PIN_MODE_AF);
pin_set_pupd(bus->miso_pin, PIN_PUPD_NONE);
pin_enable(bus->mosi_pin);
pin_set_af(bus->mosi_pin, bus->af);
pin_set_mode(bus->mosi_pin, PIN_MODE_AF);
pin_set_otype(bus->mosi_pin, PIN_TYPE_PUSHPULL);
pin_enable(bus->sck_pin);
pin_set_af(bus->sck_pin, bus->af);
pin_set_mode(bus->sck_pin, PIN_MODE_AF);
pin_set_otype(bus->sck_pin, PIN_TYPE_PUSHPULL);
bus->lock = xSemaphoreCreateMutex();
if (bus->lock == NULL)
goto fail;
vSemaphoreCreateBinary(bus->complete);
if (bus->complete == NULL)
goto fail;
/* Take the semaphore initially so we will block next time. */
xSemaphoreTake(bus->complete, portMAX_DELAY);
interrupt_set_priority(bus->irq, INTERRUPT_PRIORITY_FREERTOS_SAFE);
return true;
fail:
if (bus->lock != NULL)
vSemaphoreDelete(bus->lock);
if (bus->complete != NULL)
vSemaphoreDelete(bus->complete);
return false;
}
static void led_pin_setup(struct pin *pin) {
pin_enable(pin);
pin_set_mode(pin, PIN_MODE_OUTPUT);
pin_set_otype(pin, PIN_TYPE_PUSHPULL);
pin_set_ospeed(pin, PIN_SPEED_2MHZ);
pin_set_pupd(pin, PIN_PUPD_NONE);
pin_reset(pin);
}
void timer_init(void)
{
g_ticks = 0;
rcc_enable(TIMER_RCCDEV);
/* Configure the PPM input pin for input capture. */
pin_enable(PPM_PIN);
pin_set_af(PPM_PIN, TIMER_PPM_PIN_AF);
pin_set_pupd(PPM_PIN, PIN_PUPD_UP);
pin_set_mode(PPM_PIN, PIN_MODE_AF);
#if 0
/* Configure the debugger to freeze TIM1 when the core is halted. */
DBGMCU->APB2FZ |= DBGMCU_APB1_FZ_DBG_TIM1_STOP;
#endif
TIMER_DEV->CR1 = 0;
TIMER_DEV->CR2 = 0;
TIMER_DEV->SMCR = 0;
TIMER_DEV->DIER = TIM_DIER_UIE | DIER_PPM;
TIMER_DEV->CCER = 0;
TIMER_DEV->CCMR1 = CCMR1_PPM;
TIMER_DEV->CCMR2 = CCMR2_PPM;
TIMER_DEV->CCER = CCER_PPM;
TIMER_DEV->CNT = 0;
TIMER_DEV->PSC = TIMER_PRESCALAR;
TIMER_DEV->ARR = 0xFFFF;
#if defined(TIMER_IRQ) /* single IRQ timer */
interrupt_set_priority(TIMER_IRQ, TIMER_IRQ_PRIORITY);
interrupt_enable(TIMER_IRQ);
#else /* multi-IRQ timer */
interrupt_set_priority(TIMER_UP_IRQ, TIMER_IRQ_PRIORITY);
interrupt_set_priority(TIMER_CC_IRQ, TIMER_IRQ_PRIORITY);
interrupt_enable(TIMER_UP_IRQ);
interrupt_enable(TIMER_CC_IRQ);
#endif
TIMER_DEV->CR1 |= TIM_CR1_CEN;
}
