void init(void) { hardware_lowlevel_init(); rtc_init_flag(); spi_drv_init(); spi_ext_init(); drv8301_init(); pid_init(); commutate_init(); motor_init(); EnableInterrupts; // enable Interrupts }
void hw_init_gpio(void) { // GPIO clock enable RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE); RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE); RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE); RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE); // LEDs palSetPadMode(GPIOB, 0, PAL_MODE_OUTPUT_PUSHPULL | PAL_STM32_OSPEED_HIGHEST); palSetPadMode(GPIOB, 1, PAL_MODE_OUTPUT_PUSHPULL | PAL_STM32_OSPEED_HIGHEST); // ENABLE_GATE palSetPadMode(GPIOB, 5, PAL_MODE_OUTPUT_PUSHPULL | PAL_STM32_OSPEED_HIGHEST); // Switch on second 3.3v net (TODO: Expose this functionality?) palSetPadMode(GPIOB, 2, PAL_MODE_OUTPUT_PUSHPULL | PAL_STM32_OSPEED_HIGHEST); palSetPad(GPIOB, 2); ENABLE_GATE(); // GPIOA Configuration: Channel 1 to 3 as alternate function push-pull palSetPadMode(GPIOA, 8, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) | PAL_STM32_OSPEED_HIGHEST | PAL_STM32_PUDR_FLOATING); palSetPadMode(GPIOA, 9, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) | PAL_STM32_OSPEED_HIGHEST | PAL_STM32_PUDR_FLOATING); palSetPadMode(GPIOA, 10, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) | PAL_STM32_OSPEED_HIGHEST | PAL_STM32_PUDR_FLOATING); palSetPadMode(GPIOB, 13, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) | PAL_STM32_OSPEED_HIGHEST | PAL_STM32_PUDR_FLOATING); palSetPadMode(GPIOB, 14, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) | PAL_STM32_OSPEED_HIGHEST | PAL_STM32_PUDR_FLOATING); palSetPadMode(GPIOB, 15, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) | PAL_STM32_OSPEED_HIGHEST | PAL_STM32_PUDR_FLOATING); // Hall sensors palSetPadMode(HW_HALL_ENC_GPIO1, HW_HALL_ENC_PIN1, PAL_MODE_INPUT_PULLUP); palSetPadMode(HW_HALL_ENC_GPIO2, HW_HALL_ENC_PIN2, PAL_MODE_INPUT_PULLUP); palSetPadMode(HW_HALL_ENC_GPIO3, HW_HALL_ENC_PIN3, PAL_MODE_INPUT_PULLUP); // Fault pin palSetPadMode(GPIOB, 8, PAL_MODE_INPUT_PULLUP); // ADC Pins palSetPadMode(GPIOA, 0, PAL_MODE_INPUT_ANALOG); palSetPadMode(GPIOA, 1, PAL_MODE_INPUT_ANALOG); palSetPadMode(GPIOA, 2, PAL_MODE_INPUT_ANALOG); palSetPadMode(GPIOA, 3, PAL_MODE_INPUT_ANALOG); palSetPadMode(GPIOA, 4, PAL_MODE_INPUT_ANALOG); palSetPadMode(GPIOC, 0, PAL_MODE_INPUT_ANALOG); palSetPadMode(GPIOC, 1, PAL_MODE_INPUT_ANALOG); palSetPadMode(GPIOC, 2, PAL_MODE_INPUT_ANALOG); palSetPadMode(GPIOC, 4, PAL_MODE_INPUT_ANALOG); drv8301_init(); }