void cmd_testhp(char *line) {
gpio_set_mode (PIN_MAP[12].gpio_device,PIN_MAP[12].gpio_bit, GPIO_OUTPUT_PP); // HP_COMBINED
for(int n=0;n<100000;n++) {
gpio_write_bit(PIN_MAP[12].gpio_device,PIN_MAP[12].gpio_bit,1);
delay_us(100);
gpio_write_bit(PIN_MAP[12].gpio_device,PIN_MAP[12].gpio_bit,0);
delay_us(100);
}
}
void ppm_arch_init ( void ) {
/* timer clock enable */
rcc_peripheral_enable_clock(PPM_RCC, PPM_PERIPHERAL);
/* GPIOA clock enable */
rcc_peripheral_enable_clock(&RCC_APB2ENR, PPM_GPIO_PERIPHERAL);
/* timer gpio configuration */
gpio_set_mode(PPM_GPIO_PORT, GPIO_MODE_INPUT,
GPIO_CNF_INPUT_FLOAT, PPM_GPIO_PIN);
/* Time Base configuration */
timer_reset(PPM_TIMER);
timer_set_mode(PPM_TIMER, TIM_CR1_CKD_CK_INT,
TIM_CR1_CMS_EDGE, TIM_CR1_DIR_UP);
timer_set_period(PPM_TIMER, 0xFFFF);
timer_set_prescaler(PPM_TIMER, 0x8);
/* TIM2 configuration: Input Capture mode ---------------------
The external signal is connected to TIM2 CH2 pin (PA.01)
The Rising edge is used as active edge,
------------------------------------------------------------ */
#if defined PPM_PULSE_TYPE && PPM_PULSE_TYPE == PPM_PULSE_TYPE_POSITIVE
timer_ic_set_polarity(PPM_TIMER, PPM_CHANNEL, TIM_IC_RISING);
#elif defined PPM_PULSE_TYPE && PPM_PULSE_TYPE == PPM_PULSE_TYPE_NEGATIVE
timer_ic_set_polarity(PPM_TIMER, PPM_CHANNEL, TIM_IC_FALLING);
#else
#error "ppm_arch.c: Unknown PM_PULSE_TYPE"
#endif
timer_ic_set_input(PPM_TIMER, PPM_CHANNEL, PPM_TIMER_INPUT);
timer_ic_set_prescaler(PPM_TIMER, PPM_CHANNEL, TIM_IC_PSC_OFF);
timer_ic_set_filter(PPM_TIMER, PPM_CHANNEL, TIM_IC_OFF);
/* Enable timer Interrupt(s). */
nvic_set_priority(PPM_IRQ, 2);
nvic_enable_irq(PPM_IRQ);
#ifdef PPM_IRQ2
nvic_set_priority(PPM_IRQ2, 2);
nvic_enable_irq(PPM_IRQ2);
#endif
/* Enable the CC2 and Update interrupt requests. */
timer_enable_irq(PPM_TIMER, PPM_IRQ_FLAGS);
/* Enable capture channel. */
timer_ic_enable(PPM_TIMER, PPM_CHANNEL);
/* TIM2 enable counter */
timer_enable_counter(PPM_TIMER);
ppm_last_pulse_time = 0;
ppm_cur_pulse = RADIO_CONTROL_NB_CHANNEL;
timer_rollover_cnt = 0;
}
static void gpio_setup(void)
{
/* Enable GPIOC clock. */
rcc_periph_clock_enable(RCC_GPIOC);
/* Set GPIO9 (in GPIO port C) to 'output push-pull'. */
gpio_set_mode(GPIOC, GPIO_MODE_OUTPUT_50_MHZ,
GPIO_CNF_OUTPUT_PUSHPULL, GPIO9);
}
// setup() and loop():
void setup(void) {
storage_start();
storage_add(16, "SOME LOCATION");
storage_add(16, "ANOTHER LOCATION");
//bluetooth_start();
communication_start();
gpio_set_mode(GPIOB, 8, GPIO_INPUT_PD);
exti_attach_interrupt(AFIO_EXTI_8, AFIO_EXTI_PB, transmit_interrupt, EXTI_RISING);
//Onboard LED
gpio_set_mode(GPIOB, 1, GPIO_OUTPUT_PP);
gpio_write_bit(GPIOB, 1, 1);
}
void gpio_setup(void)
{
/* Enable GPIO clocks. */
rcc_peripheral_enable_clock(&RCC_APB2ENR,
RCC_APB2ENR_IOPBEN);
/* PB8-15 outputs digital for LEDs */
gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ, GPIO_CNF_OUTPUT_PUSHPULL,
GPIO8 | GPIO9 | GPIO10 | GPIO11 | GPIO12 | GPIO13 | GPIO14 | GPIO15);
}
void button_setup(void)
{
/* Enable GPIOA clock. */
rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN);
/* Set GPIO0 (in GPIO port A) to 'input open-drain'. */
gpio_set_mode(GPIOA, GPIO_MODE_INPUT,
GPIO_CNF_INPUT_FLOAT, GPIO0);
}
/*--------------------------------------------------------------------*/
void gpio_setup(void)
{
rcc_periph_clock_enable(RCC_GPIOA);
rcc_periph_clock_enable(RCC_GPIOC);
rcc_periph_clock_enable(RCC_AFIO);
/* Digital Test outputs PC0 and PC1 */
gpio_set_mode(GPIOC, GPIO_MODE_OUTPUT_50_MHZ,
GPIO_CNF_OUTPUT_PUSHPULL, GPIO0 | GPIO1);
}
static void gpio_setup(void)
{
/* Enable GPIOC clock. */
rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPCEN);
/* Set GPIO9 (in GPIO port C) to 'output push-pull'. */
gpio_set_mode(GPIOC, GPIO_MODE_OUTPUT_50_MHZ,
GPIO_CNF_OUTPUT_PUSHPULL, GPIO9);
}
void Dynamixel::begin(int baud){
uint32 Baudrate = 0;
if(mDxlUsart == USART1)
afio_remap(AFIO_REMAP_USART1);
#ifdef BOARD_CM900 //Engineering version case
gpio_set_mode(PORT_ENABLE_TXD, PIN_ENABLE_TXD, GPIO_OUTPUT_PP);
gpio_set_mode(PORT_ENABLE_RXD, PIN_ENABLE_RXD, GPIO_OUTPUT_PP);
gpio_write_bit(PORT_ENABLE_TXD, PIN_ENABLE_TXD, 0 );// TX Disable
gpio_write_bit(PORT_ENABLE_RXD, PIN_ENABLE_RXD, 1 );// RX Enable
#else
gpio_set_mode(mDirPort, mDirPin, GPIO_OUTPUT_PP);
gpio_write_bit(mDirPort, mDirPin, 0 );// RX Enable
//gpio_set_mode(GPIOB, 5, GPIO_OUTPUT_PP);
// gpio_write_bit(GPIOB, 5, 0 );// RX Enable
#endif
// initialize GPIO D20(PB6), D21(PB7) as DXL TX, RX respectively
gpio_set_mode(mTxPort, mTxPin, GPIO_AF_OUTPUT_PP);
gpio_set_mode(mRxPort, mRxPin, GPIO_INPUT_FLOATING);
//Initialize USART 1 device
usart_init(mDxlUsart);
//Calculate baudrate, refer to ROBOTIS support page.
Baudrate = 2000000 / (baud + 1);
if(mDxlUsart == USART1)
usart_set_baud_rate(mDxlUsart, STM32_PCLK2, Baudrate);
else
usart_set_baud_rate(mDxlUsart, STM32_PCLK1, Baudrate);
nvic_irq_set_priority(mDxlUsart->irq_num, 0);//[ROBOTIS][ADD] 2013-04-10 set to priority 0
usart_attach_interrupt(mDxlUsart, mDxlDevice->handlers);
usart_enable(mDxlUsart);
delay(80);
mDXLtxrxStatus = 0;
mBusUsed = 0;// only 1 when tx/rx is operated
//gbIsDynmixelUsed = 1; //[ROBOTIS]2012-12-13 to notify end of using dynamixel SDK to uart.c
this->clearBuffer();
this->setLibStatusReturnLevel(2);
this->setLibNumberTxRxAttempts(1);
}
void baro_init()
{
gpio_set_mode(GPIOB, GPIO_MODE_INPUT, GPIO_CNF_INPUT_PULL_UPDOWN, GPIO14);
gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ,
GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO13 | GPIO15);
gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ,
GPIO_CNF_OUTPUT_PUSHPULL, GPIO12);
deselect_slave();
spi_init_master(SPI2, SPI_CR1_BAUDRATE_FPCLK_DIV_8, SPI_CR1_CPOL,
SPI_CR1_CPHA, SPI_CR1_DFF_8BIT, SPI_CR1_MSBFIRST);
spi_enable_ss_output(SPI2);
spi_enable(SPI2);
dma_set_peripheral_address(DMA1, DMA_CHANNEL3, SPI2_DR);
dma_set_read_from_memory(DMA1, DMA_CHANNEL3);
dma_enable_memory_increment_mode(DMA1, DMA_CHANNEL3);
dma_set_peripheral_size(DMA1, DMA_CHANNEL3, DMA_CCR_PSIZE_8BIT);
dma_set_memory_size(DMA1, DMA_CHANNEL3, DMA_CCR_MSIZE_8BIT);
dma_set_priority(DMA1, DMA_CHANNEL3, DMA_CCR_PL_HIGH);
dma_set_peripheral_address(DMA1, DMA_CHANNEL4, SPI2_DR);
dma_set_read_from_peripheral(DMA1, DMA_CHANNEL4);
dma_enable_memory_increment_mode(DMA1, DMA_CHANNEL4);
dma_set_peripheral_size(DMA1, DMA_CHANNEL4, DMA_CCR_PSIZE_8BIT);
dma_set_memory_size(DMA1, DMA_CHANNEL4, DMA_CCR_MSIZE_8BIT);
dma_set_priority(DMA1, DMA_CHANNEL4, DMA_CCR_PL_VERY_HIGH);
dma_enable_transfer_complete_interrupt(DMA1, DMA_CHANNEL4);
timer_reset(TIM4);
timer_enable_irq(TIM4, TIM_DIER_UIE);
timer_set_mode(TIM4, TIM_CR1_CKD_CK_INT,
TIM_CR1_CMS_EDGE, TIM_CR1_DIR_UP);
/* 3200 / 16 = 200 Hz */
timer_set_prescaler(TIM4, 32);
timer_set_period(TIM4, 5625);
nvic_set_priority(NVIC_TIM4_IRQ, 16 * 2);
nvic_set_priority(NVIC_DMA1_CHANNEL4_IRQ, 16 * 2);
nvic_enable_irq(NVIC_TIM4_IRQ);
nvic_enable_irq(NVIC_DMA1_CHANNEL4_IRQ);
read_calibration_data();
}
void uart1_init( void ) {
uart_periph_init(&uart1);
uart1.reg_addr = (void *)USART1;
/* init RCC and GPIOs */
#if defined(STM32F4)
rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_USART1EN);
set_uart_pin(UART1_GPIO_PORT_RX, UART1_GPIO_RX, UART1_GPIO_AF);
set_uart_pin(UART1_GPIO_PORT_TX, UART1_GPIO_TX, UART1_GPIO_AF);
#elif defined(STM32F1)
rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_USART1EN);
rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN);
gpio_set_mode(GPIO_BANK_USART1_TX, GPIO_MODE_OUTPUT_50_MHZ,
GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_USART1_TX);
gpio_set_mode(GPIO_BANK_USART1_RX, GPIO_MODE_INPUT,
GPIO_CNF_INPUT_FLOAT, GPIO_USART1_RX);
#endif
/* Enable USART interrupts in the interrupt controller */
usart_enable_irq(NVIC_USART1_IRQ);
#if UART1_HW_FLOW_CONTROL
#warning "USING UART1 FLOW CONTROL. Make sure to pull down CTS if you are not connecting any flow-control-capable hardware."
/* setup CTS and RTS gpios */
#if defined(STM32F4)
set_uart_pin(UART1_GPIO_PORT_CTS, UART1_GPIO_CTS, UART1_GPIO_AF);
set_uart_pin(UART1_GPIO_PORT_RTS, UART1_GPIO_RTS, UART1_GPIO_AF);
#elif defined(STM32F1)
gpio_set_mode(GPIO_BANK_USART1_RTS, GPIO_MODE_OUTPUT_50_MHZ,
GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_USART1_RTS);
gpio_set_mode(GPIO_BANK_USART1_CTS, GPIO_MODE_INPUT,
GPIO_CNF_INPUT_FLOAT, GPIO_USART1_CTS);
#endif
#endif
/* Configure USART1, enable hardware flow control*/
uart_periph_set_mode(&uart1, USE_UART1_TX, USE_UART1_RX, UART1_HW_FLOW_CONTROL);
/* Set USART1 baudrate and enable interrupt */
uart_periph_set_baudrate(&uart1, UART1_BAUD);
}
void i2c2_hw_init(void) {
i2c2.reg_addr = (void *)I2C2;
i2c2.init_struct = NULL;
i2c2.errors = &i2c2_errors;
i2c2_watchdog_counter = 0;
/* zeros error counter */
ZEROS_ERR_COUNTER(i2c2_errors);
/* reset peripheral to default state ( sometimes not achieved on reset :( ) */
//i2c_reset(I2C2);
/* Configure and enable I2C2 event interrupt --------------------------------*/
nvic_set_priority(NVIC_I2C2_EV_IRQ, NVIC_I2C2_IRQ_PRIO);
nvic_enable_irq(NVIC_I2C2_EV_IRQ);
/* Configure and enable I2C2 err interrupt ----------------------------------*/
nvic_set_priority(NVIC_I2C2_ER_IRQ, NVIC_I2C2_IRQ_PRIO+1);
nvic_enable_irq(NVIC_I2C2_ER_IRQ);
/* Enable peripheral clocks -------------------------------------------------*/
/* Enable I2C2 clock */
rcc_periph_clock_enable(RCC_I2C2);
/* Enable GPIO clock */
gpio_enable_clock(I2C2_GPIO_PORT);
#if defined(STM32F1)
gpio_set_mode(I2C2_GPIO_PORT, GPIO_MODE_OUTPUT_2_MHZ,
GPIO_CNF_OUTPUT_ALTFN_OPENDRAIN,
I2C2_GPIO_SCL | I2C2_GPIO_SDA);
#elif defined(STM32F4)
gpio_mode_setup(I2C2_GPIO_PORT, GPIO_MODE_AF, GPIO_PUPD_NONE,
I2C2_GPIO_SCL | I2C2_GPIO_SDA);
gpio_set_output_options(I2C2_GPIO_PORT, GPIO_OTYPE_OD, GPIO_OSPEED_25MHZ,
I2C2_GPIO_SCL | I2C2_GPIO_SDA);
gpio_set_af(I2C2_GPIO_PORT, GPIO_AF4,
I2C2_GPIO_SCL | I2C2_GPIO_SDA);
#endif
i2c_reset(I2C2);
// enable peripheral
i2c_peripheral_enable(I2C2);
/*
* XXX: there is a function to do that already in libopencm3 but I am not
* sure if it is correct, using direct register instead (esden)
*/
//i2c_set_own_7bit_slave_address(I2C2, 0);
I2C_OAR1(I2C2) = 0 | 0x4000;
// enable error interrupts
I2C_CR2(I2C1) |= I2C_CR2_ITERREN;
i2c_setbitrate(&i2c2, I2C2_CLOCK_SPEED);
}
void speaker_start(void) {
gpio_set_mode(SPEAKER_PORT, SPEAKER_PIN, GPIO_OUTPUT_PP);
timer_init(SPEAKER_TIMER);
speaker_pause();
speaker_setMode(SPEAKER_CHANNEL, TIMER_OUTPUT_COMPARE);
speaker_setCompare(SPEAKER_CHANNEL, SPEAKER_COMPARE);
speaker_refresh();
}
int vss_ad8307_init(void)
{
/* GPIO pin for AD8307 ENB */
#ifdef AD8307_PIN_ENB
gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_2_MHZ,
GPIO_CNF_OUTPUT_PUSHPULL, AD8307_PIN_ENB);
#endif
return VSS_OK;
}
void start_rht_read(void)
{
// First, move the pins up and down to get it going...
gpio_set_mode(PORT_RHT_IO, GPIO_MODE_OUTPUT_2_MHZ, GPIO_CNF_OUTPUT_PUSHPULL, PIN_RHT_IO);
gpio_clear(PORT_RHT_IO, PIN_RHT_IO);
delay_ms(20); // docs say 1-10ms is enough....
gpio_set(PORT_RHT_IO, PIN_RHT_IO);
// want to wait for 40us here, but we're ok with letting some code delay us..
state.bitcount = 0;
state.seen_startbit = false;
state.rht_timeout = false;
nvic_enable_irq(RHT_NVIC);
// pull up will finish the job here for us.
gpio_set_mode(PORT_RHT_IO, GPIO_MODE_INPUT, GPIO_CNF_INPUT_FLOAT, PIN_RHT_IO);
exti_select_source(RHT_EXTI, PORT_RHT_IO);
exti_set_trigger(RHT_EXTI, EXTI_TRIGGER_FALLING);
exti_enable_request(RHT_EXTI);
setup_tim7();
}
void VIBRATINGMOTOR_Init()
{
if (!HAS_VIBRATINGMOTOR)
return;
rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPDEN);
gpio_set_mode(GPIOD, GPIO_MODE_OUTPUT_2_MHZ,
GPIO_CNF_OUTPUT_PUSHPULL, GPIO2);
gpio_clear(GPIOD, GPIO2);
}
/*
* @brief stm32 board specific init
* @param none
* @return none
* @note none
*/
void stm32utils_system_init(void)
{
setupFlash();
setupClocks();
setupNVIC();
systick_init(SYSTICK_RELOAD_VAL);
gpio_init_all();
afio_init();
setupADC();
setupTimers();
setupUSART(USARTx, SERIAL_BAUDRATE);
gpio_set_mode(GPIOA, 0, GPIO_OUTPUT_PP);
gpio_write_bit(GPIOA, 0, 0);
gpio_set_mode(GPIOA, 1, GPIO_OUTPUT_PP);
gpio_write_bit(GPIOA, 1, 0);
gpio_set_mode(GPIOA, 12, GPIO_OUTPUT_PP);
gpio_write_bit(GPIOA, 12, 0);
}
void disconnect_usb(void)
{
/* Disconnect USB cable by resetting USB Device and pulling USB_DP low*/
rcc_periph_reset_pulse(RST_USB);
rcc_periph_clock_enable(RCC_USB);
rcc_periph_clock_enable(RCC_GPIOA);
gpio_clear(GPIOA, GPIO12);
gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_2_MHZ,
GPIO_CNF_OUTPUT_OPENDRAIN, GPIO12);
}
int main(void)
{
int32_t i;
rcc_periph_clock_enable(RCC_GPIOA);
gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_2_MHZ, GPIO_CNF_OUTPUT_PUSHPULL, GPIO5);
flash_set_ws(FLASH_ACR_LATENCY_2WS);
rcc_set_adcpre(RCC_CFGR_ADCPRE_PCLK2_DIV4); /* 14MHz */
rcc_set_hpre(RCC_CFGR_HPRE_SYSCLK_NODIV); /* 56MHz */
rcc_set_ppre1(RCC_CFGR_PPRE1_HCLK_DIV2); /* 28MHz */
rcc_set_ppre2(RCC_CFGR_PPRE2_HCLK_NODIV); /* 56MHz */
rcc_set_pll_multiplication_factor(RCC_CFGR_PLLMUL_PLL_CLK_MUL14); /* 8MHz/2 x14 = 56MHz */
rcc_set_pll_source(RCC_CFGR_PLLSRC_HSI_CLK_DIV2);
rcc_osc_on(PLL);
rcc_wait_for_osc_ready(PLL);
rcc_set_sysclk_source(RCC_CFGR_SW_SYSCLKSEL_PLLCLK);
rcc_periph_clock_enable(RCC_USART2);
gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ, GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_USART2_TX);
gpio_set_mode(GPIOA, GPIO_MODE_INPUT, GPIO_CNF_INPUT_FLOAT, GPIO_USART2_RX);
uint32_t baud = 57600;
uint32_t clock = 28000000;
USART2_BRR = ((2 * clock) + baud) / (2 * baud);
usart_set_databits(USART2, 8);
usart_set_stopbits(USART2, USART_STOPBITS_1);
usart_set_mode(USART2, USART_MODE_TX_RX);
usart_set_parity(USART2, USART_PARITY_NONE);
usart_set_flow_control(USART2, USART_FLOWCONTROL_NONE);
usart_enable(USART2);
usart_puts(USART2, "ready to receive.\r\n");
gpio_set(GPIOA, GPIO5);
while(1)
{
uint16_t c;
c = usart_recv_blocking(USART2);
usart_send_blocking(USART2, toupper(c));
gpio_toggle(GPIOA, GPIO5);
}
}
static void gpio_setup(void)
{
/*
* Set GPIO6 and 7 (in GPIO port A) to
* 'output alternate function push-pull'.
*/
gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ,
GPIO_CNF_OUTPUT_ALTFN_PUSHPULL,
GPIO_TIM3_CH1 | GPIO_TIM3_CH2);
/*
* Set GPIO0 and 1 (in GPIO port B) to
* 'output alternate function push-pull'.
*/
gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ,
GPIO_CNF_OUTPUT_ALTFN_PUSHPULL,
GPIO_TIM3_CH3 | GPIO_TIM3_CH4);
}
static void swdptap_turnaround(uint8_t dir)
{
static uint8_t olddir = 0;
DEBUG("%s", dir ? "\n-> ":"\n<- ");
/* Don't turnaround if direction not changing */
if(dir == olddir) return;
olddir = dir;
if(dir)
gpio_set_mode(SWDP_PORT, GPIO_MODE_INPUT,
GPIO_CNF_INPUT_FLOAT, SWDIO_PIN);
gpio_set(SWDP_PORT, SWCLK_PIN);
gpio_clear(SWDP_PORT, SWCLK_PIN);
if(!dir)
gpio_set_mode(SWDP_PORT, GPIO_MODE_OUTPUT_50_MHZ,
GPIO_CNF_OUTPUT_PUSHPULL, SWDIO_PIN);
}
void uart_init_gpio_usart1(void)
{
/* Enable clocks for USART1 (and the gpios it's connected to) */
rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN);
rcc_peripheral_enable_clock(&RCC_APB1ENR, RCC_APB1ENR_USART1EN);
gpio_set_mode(GPIOA,
GPIO_MODE_OUTPUT_50_MHZ,
GPIO_CNF_OUTPUT_ALTFN_PUSHPULL,
GPIO9);
gpio_set_mode(GPIOA,
GPIO_MODE_INPUT,
GPIO_CNF_INPUT_FLOAT,
GPIO10);
/* USART lines should idle high */
gpio_set(GPIOA, GPIO9);
gpio_set(GPIOA, GPIO10);
}
void setupUSB (void) {
gpio_set_mode(USB_DISC_DEV, USB_DISC_PIN, GPIO_OUTPUT_PP);
/* setup the apb1 clock for USB */
pRCC->APB1ENR |= 0x00800000;
/* initialize the usb application */
gpio_write_bit(USB_DISC_DEV, USB_DISC_PIN, 0); // presents us to the host
USB_Init(); // low level init routine provided by the ST library
}
static void usart_setup(void)
{
/* Setup GPIO pin GPIO_USART2_TX and GPIO_USART2_RX. */
gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ,
GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_USART2_TX);
gpio_set_mode(GPIOA, GPIO_MODE_INPUT,
GPIO_CNF_INPUT_FLOAT, GPIO_USART2_RX);
/* Setup UART parameters. */
usart_set_baudrate(USART2, 9600);
usart_set_databits(USART2, 8);
usart_set_stopbits(USART2, USART_STOPBITS_1);
usart_set_mode(USART2, USART_MODE_TX_RX);
usart_set_parity(USART2, USART_PARITY_NONE);
usart_set_flow_control(USART2, USART_FLOWCONTROL_NONE);
/* Finally enable the USART. */
usart_enable(USART2);
}
/**
* Initialize the GPIO port for the LED at pin 12 on port C.
*/
void gpio_init(void)
{
/* enable GPIOC clock */
rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPCEN);
/*
* set GPIO12 at PORTC (led) to 'output alternate function push-pull'.
*/
gpio_set_mode(GPIOC, GPIO_MODE_OUTPUT_50_MHZ, GPIO_CNF_OUTPUT_PUSHPULL, GPIO12);
}
static void gpio_setup(void)
{
/* Enable alternate function peripheral clock. */
rcc_periph_clock_enable(RCC_AFIO);
/* Enable GPIOB clock. */
rcc_periph_clock_enable(RCC_GPIOB);
gpio_clear(GPIOB, GPIO4); /* LED green on */
gpio_set(GPIOB, GPIO5); /* LED red off */
/* Set GPIO4/5 (in GPIO port B) to 'output push-pull' for the LEDs. */
gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ,
GPIO_CNF_OUTPUT_PUSHPULL, GPIO4);
gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ,
GPIO_CNF_OUTPUT_PUSHPULL, GPIO5);
AFIO_MAPR |= AFIO_MAPR_SWJ_CFG_FULL_SWJ_NO_JNTRST;
}
void cdcacm_target_init(void)
{
rcc_clock_setup_in_hsi_out_48mhz();
rcc_periph_clock_enable(RCC_GPIOC);
gpio_set(GPIOC, GPIO11);
gpio_set_mode(GPIOC, GPIO_MODE_OUTPUT_2_MHZ,
GPIO_CNF_OUTPUT_PUSHPULL, GPIO11);
}
void usb_midi_enable(gpio_dev *disc_dev, uint8 disc_bit) {
/* Present ourselves to the host. Writing 0 to "disc" pin must
* pull USB_DP pin up while leaving USB_DM pulled down by the
* transceiver. See USB 2.0 spec, section 7.1.7.3. */
gpio_set_mode(disc_dev, disc_bit, GPIO_OUTPUT_PP);
gpio_write_bit(disc_dev, disc_bit, 0);
/* Initialize the USB peripheral. */
usb_init_usblib(USBLIB, ep_int_in, ep_int_out);
}
void stm32_setup(void)
{
/* Setup SYSCLK */
rcc_clock_setup_in_hsi_out_48mhz();
/* Enable peripheral clocks for GPIOA, GPIOB, SPI2 */
rcc_peripheral_enable_clock(&RCC_APB2ENR,
RCC_APB2ENR_IOPAEN | RCC_APB2ENR_IOPBEN);
rcc_peripheral_enable_clock(&RCC_APB1ENR, RCC_APB1ENR_SPI2EN);
/* Enable power to SD card */
gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_10_MHZ, GPIO_CNF_OUTPUT_PUSHPULL,
GPIO2);
gpio_set(GPIOA, GPIO2);
/* Force to SPI mode. This should be default after reset! */
SPI2_I2SCFGR = 0;
/* Configure SD card i/f SPI2: PB13(SCK), PB14(MISO), PB15(MOSI) */
gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_10_MHZ,
GPIO_CNF_OUTPUT_ALTFN_PUSHPULL,
GPIO_SPI2_SCK | GPIO_SPI2_MOSI);
gpio_set_mode(GPIOB, GPIO_MODE_INPUT, GPIO_CNF_INPUT_FLOAT,
GPIO_SPI2_MISO);
/* SD nCS pin is GPIOA 3 */
gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_10_MHZ, GPIO_CNF_OUTPUT_PUSHPULL,
GPIO3);
/* Enable Systick for benchmark timing */
/* 48MHz / 8 => 6000000 counts per second */
systick_set_clocksource(STK_CTRL_CLKSOURCE_AHB_DIV8);
/* 6000000/6000 = 1000 overflows per second - every 1ms one interrupt */
systick_set_reload(6000);
systick_interrupt_enable();
/* start counting */
systick_counter_enable();
/* Enable LED output */
gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_10_MHZ, GPIO_CNF_OUTPUT_PUSHPULL,
GPIO12);
gpio_set(GPIOB, GPIO12);
}
void hbridge_init() {
// M- bridge
// A9 - pin 21 - PWM2A - HIN
// B0 - pin 15 - PWM2B - \LIN
// M+ bridge
// A8 - pin 20 - PWM1A - HIN
// A7 - pin 14 - PWM1B - \LIN
rcc_peripheral_enable_clock(&RCC_APB2ENR,
RCC_APB2ENR_IOPAEN | RCC_APB2ENR_IOPBEN |
RCC_APB2ENR_AFIOEN | RCC_APB2ENR_TIM1EN);
AFIO_MAPR |= AFIO_MAPR_TIM1_REMAP_PARTIAL_REMAP;
gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ,
GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO7 | GPIO8 | GPIO9);
gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ,
GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO0);
timer_reset(TIM1);
timer_set_mode(TIM1, TIM_CR1_CKD_CK_INT, TIM_CR1_CMS_CENTER_1,
TIM_CR1_DIR_UP);
timer_set_period(TIM1, half_period_ticks);
timer_set_prescaler(TIM1, 9); // / 10
timer_set_oc_mode(TIM1, TIM_OC1, TIM_OCM_PWM2);
timer_set_oc_polarity_high(TIM1, TIM_OC1);
timer_set_oc_polarity_low(TIM1, TIM_OC1N);
timer_enable_oc_output(TIM1, TIM_OC1);
timer_enable_oc_output(TIM1, TIM_OC1N);
timer_set_oc_value(TIM1, TIM_OC1, half_period_ticks);
timer_set_oc_mode(TIM1, TIM_OC2, TIM_OCM_PWM2);
timer_set_oc_polarity_high(TIM1, TIM_OC2);
timer_set_oc_polarity_low(TIM1, TIM_OC2N);
timer_enable_oc_output(TIM1, TIM_OC2);
timer_enable_oc_output(TIM1, TIM_OC2N);
timer_set_oc_value(TIM1, TIM_OC2, half_period_ticks);
timer_enable_break_main_output(TIM1);
timer_enable_counter(TIM1);
}