void BSP_Ser_Init (CPU_INT32U baud_rate)
{
GPIO_InitTypeDef gpio_init;
USART_InitTypeDef usart_init;
USART_ClockInitTypeDef usart_clk_init;
/* ------------------ INIT OS OBJECTS ----------------- */
BSP_OS_SemCreate(&BSP_SerTxWait, BSP_UART2_TX_BUFFER_SIZE, "Serial Tx Wait");
BSP_OS_SemCreate(&BSP_SerRxWait, 0, "Serial Rx Wait");
BSP_OS_SemCreate(&BSP_SerLock, 1, "Serial Lock");
/* ----------------- INIT USART STRUCT ---------------- */
usart_init.USART_BaudRate = baud_rate;
usart_init.USART_WordLength = USART_WordLength_8b;
usart_init.USART_StopBits = USART_StopBits_1;
usart_init.USART_Parity = USART_Parity_No ;
usart_init.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
usart_init.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
usart_clk_init.USART_Clock = USART_Clock_Disable;
usart_clk_init.USART_CPOL = USART_CPOL_Low;
usart_clk_init.USART_CPHA = USART_CPHA_2Edge;
usart_clk_init.USART_LastBit = USART_LastBit_Disable;
BSP_PeriphEn(BSP_PERIPH_ID_USART2);
BSP_PeriphEn(BSP_PERIPH_ID_IOPD);
BSP_PeriphEn(BSP_PERIPH_ID_AFIO);
GPIO_PinRemapConfig(GPIO_Remap_USART2, ENABLE);
/* ----------------- SETUP USART2 GPIO ---------------- */
/* Configure GPIOD.5 as push-pull. */
gpio_init.GPIO_Pin = GPIO_Pin_5;
gpio_init.GPIO_Speed = GPIO_Speed_50MHz;
gpio_init.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_Init(GPIOD, &gpio_init);
/* Configure GPIOD.6 as input floating. */
gpio_init.GPIO_Pin = GPIO_Pin_6;
gpio_init.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(GPIOD, &gpio_init);
/* ------------- CLEAN UP RX & TX BUFFERS ------------- */
Mem_Clr((void*)&BSP_SerialRxBuffer[0], BSP_UART2_RX_BUFFER_SIZE);
Mem_Clr((void*)&BSP_SerialTxBuffer[0], BSP_UART2_TX_BUFFER_SIZE);
BSP_TxBuffer_Head_ndx = 0;
BSP_TxBuffer_Tail_ndx = 0;
BSP_RxBuffer_Head_ndx = 0;
BSP_RxBuffer_Tail_ndx = 0;
/* ------------------ SETUP USART2 -------------------- */
USART_Init(USART2, &usart_init);
USART_ClockInit(USART2, &usart_clk_init);
USART_Cmd(USART2, ENABLE);
BSP_IntVectSet(BSP_INT_ID_USART2, BSP_Ser_ISR_Handler);
BSP_IntEn(BSP_INT_ID_USART2);
BSP_SerialInitilizated = DEF_TRUE;
}
/*
*********************************************************************************************************
* AppObjCreate()
*
* Description : Create application kernel objects tasks.
*
* Argument(s) : none
*
* Return(s) : none
*
* Caller(s) : AppTaskStart()
*
* Note(s) : none.
*********************************************************************************************************
*/
static void AppObjCreate (void)
{
/* 创建互斥信号量 */
BSP_OS_SemCreate(&SEM_GPS_STO,
0,
(CPU_CHAR *)"SEM_GPS_STO"); /* GPS存储信号灯 */
BSP_OS_SemCreate(&SEM_TEL_STO,
0,
(CPU_CHAR *)"SEM_TEL_STO"); /* 遥测存储信号灯 */
BSP_OS_SemCreate(&SEM_PLOAD_STO,
0,
(CPU_CHAR *)"SEM_PLOAD_STO"); /* 载荷存储信号灯 */
/********************姿控信号灯*********************/
BSP_OS_SemCreate(&SEM_CYC_INFO,
0,
(CPU_CHAR *)"SEM_CYC_INFO"); /* 信号采集信号灯 */
BSP_OS_SemCreate(&SEM_MAG_DOT_DMP,
0,
(CPU_CHAR *)"SEM_MAG_DOT_DMP"); /* 阻尼信号灯 */
BSP_OS_SemCreate(&SEM_PIT_FLT_COM,
0,
(CPU_CHAR *)"SEM_PIT_FLT_COM"); /* 滤波状态更新信号灯 */
BSP_OS_SemCreate(&SEM_ATT_STA_CTL,
0,
(CPU_CHAR *)"SEM_ATT_STA_CTL"); /* 三轴稳定信号灯 */
}
void BSP_Ser_Init (CPU_INT32U baud_rate)
{
CPU_INT08U baud_clk;
CPU_INT16U brr;
CPU_REG32 i;
/* Initialize OS Objects. */
BSP_OS_SemCreate(&BSP_SerTxWait, 0, "Serial Tx Wait");
BSP_OS_SemCreate(&BSP_SerRxWait, 0, "Serial Rx Wait");
BSP_OS_SemCreate(&BSP_SerLock, 1, "Serial Lock");
SYSTEM.PRCR.WORD = 0xA50B; /* Protect off. */
MPC.PWPR.BIT.B0WI = 0; /* Unlock protection register. */
MPC.PWPR.BIT.PFSWE = 1; /* Unlock MPC registers. */
SYSTEM.MSTPCRA.BIT.ACSE = 0; /* clear ACSE Bit (All-Module Clock Stop Mode Enable). */
MSTP(SCI2) = 0; /* Cancel stop state of SCI2 Periph to en wr to it. */
SYSTEM.PRCR.WORD = 0xA500; /* Protect on. */
SCI2.SCR.BYTE = 0x00; /* Clear bits TIE, RIE, RE, and TEIE in SCR to 0 ... */
/* ... Set CKE to internal. */
/* Set up the UART I/O port and pins. */
MPC.P50PFS.BYTE = 0x4A; /* P50 is TxD2. */
MPC.P52PFS.BYTE = 0x4A; /* P52 is RxD2. */
PORT5.PDR.BIT.B0 = 1; /* TxD2 is output. */
PORT5.PDR.BIT.B2 = 0; /* RxD2 is input. */
PORT5.PMR.BIT.B0 = 1; /* TxD2 is peripheral. */
PORT5.PMR.BIT.B2 = 1; /* RxD2 is peripheral. */
IR(SCI2, RXI2) = 0; /* Clear any pending ISR. */
IR(SCI2, TXI2) = 0;
IR(SCI2, TEI2) = 0;
IPR(SCI2, RXI2) = BSP_CFG_SER_IPL; /* Set interrupt priority. */
IPR(SCI2, TXI2) = BSP_CFG_SER_IPL;
IPR(SCI2, TEI2) = BSP_CFG_SER_IPL;
IEN(SCI2, RXI2) = 1; /* Enable interrupt source. */
IEN(SCI2, TXI2) = 1;
IEN(SCI2, TEI2) = 1;
BSP_IntVectSet(VECT_SCI2_RXI2, (CPU_FNCT_VOID)BSP_Ser_ISR_Rx_Handler);
BSP_IntVectSet(VECT_SCI2_TXI2, (CPU_FNCT_VOID)BSP_Ser_ISR_Tx_Handler);
/* Set data transfer format in Serial Mode Register. */
/* -Asynchronous Mode. */
/* -8 bits. */
/* -no parity. */
/* -1 stop bit. */
/* -PCLK clock (n = 0). */
SCI2.SMR.BYTE = 0x00;
SCI2.SCMR.BIT.SMIF = 0; /* Set to 0 for serial communications interface mode. */
baud_clk = 0; /* Algorithm for finding BRR value */
do { /* N = BRR (0-255), B = bit rate, n = baud clock */
brr = BSP_Ser_GetBRR(baud_clk, baud_rate); /* N = Pclk / (64 * 2^(2 * n - 1) * B) - 1 */
if (brr > 255) {
baud_clk++;
}
} while (brr > 255);
SCI2.SMR.BIT.CKS = baud_clk;
SCI2.BRR = brr;
for (i = 0; i < 10000; i++) { /* Wait for at least 1 bit time */
;
}
/* Enable RXI and TXI interrupts in SCI peripheral. */
SCI2.SCR.BYTE |= 0x30;
}
void BSP_Ser_Init (CPU_INT32U baud_rate)
{
FlagStatus tc_status;
GPIO_InitTypeDef gpio_init;
USART_InitTypeDef usart_init;
USART_ClockInitTypeDef usart_clk_init;
/* ------------------ INIT OS OBJECTS ----------------- */
BSP_OS_SemCreate(&BSP_SerTxWait, 0, "Serial Tx Wait");
BSP_OS_SemCreate(&BSP_SerRxWait, 0, "Serial Rx Wait");
BSP_OS_SemCreate(&BSP_SerLock, 1, "Serial Lock");
#if (BSP_CFG_SER_CMD_HISTORY_LEN > 0u)
BSP_SerCmdHistory[0] = (CPU_CHAR)'\0';
#endif
/* ----------------- INIT USART STRUCT ---------------- */
usart_init.USART_BaudRate = baud_rate;
usart_init.USART_WordLength = USART_WordLength_8b;
usart_init.USART_StopBits = USART_StopBits_1;
usart_init.USART_Parity = USART_Parity_No ;
usart_init.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
usart_init.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
usart_clk_init.USART_Clock = USART_Clock_Disable;
usart_clk_init.USART_CPOL = USART_CPOL_Low;
usart_clk_init.USART_CPHA = USART_CPHA_2Edge;
usart_clk_init.USART_LastBit = USART_LastBit_Disable;
BSP_PeriphEn(BSP_PERIPH_ID_USART2);
BSP_PeriphEn(BSP_PERIPH_ID_IOPD);
BSP_PeriphEn(BSP_PERIPH_ID_AFIO);
GPIO_PinRemapConfig(GPIO_Remap_USART2, ENABLE);
/* ----------------- SETUP USART2 GPIO ---------------- */
/* Configure GPIOD.5 as push-pull. */
gpio_init.GPIO_Pin = GPIO_Pin_5;
gpio_init.GPIO_Speed = GPIO_Speed_50MHz;
gpio_init.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_Init(GPIOD, &gpio_init);
/* Configure GPIOD.6 as input floating. */
gpio_init.GPIO_Pin = GPIO_Pin_6;
gpio_init.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(GPIOD, &gpio_init);
/* ------------------ SETUP USART2 -------------------- */
USART_Init(USART2, &usart_init);
USART_ClockInit(USART2, &usart_clk_init);
USART_Cmd(USART2, ENABLE);
USART_ITConfig(USART2, USART_IT_TC, DISABLE);
USART_ITConfig(USART2, USART_IT_TXE, DISABLE);
tc_status = USART_GetFlagStatus(USART2, USART_FLAG_TC);
while (tc_status == SET) {
USART_ClearITPendingBit(USART2, USART_IT_TC);
USART_ClearFlag(USART2, USART_IT_TC);
BSP_OS_TimeDlyMs(10);
tc_status = USART_GetFlagStatus(USART2, USART_FLAG_TC);
}
BSP_IntVectSet(BSP_INT_ID_USART2, BSP_Ser_ISR_Handler);
BSP_IntEn(BSP_INT_ID_USART2);
}
