/*******************************************************************************
* Function Name : EXTI_Configuration
* Description : Configures the used EXTI lines.
* Input : None
* Output : None
* Return : None
*******************************************************************************/
void EXTI_Configuration(void)
{
/* Connect EXTI Line0 to PA.00 */
GPIO_EXTILineConfig(GPIO_PortSourceGPIOA, GPIO_PinSource0);
/* Configure EXTI Line0 to generate an interrupt on falling edge */
EXTI_InitStructure.EXTI_Line = EXTI_Line0;
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling;
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStructure);
/* Connect EXTI Line13 to PC.13 */
GPIO_EXTILineConfig(GPIO_PortSourceGPIOC, GPIO_PinSource13);
/* Configure EXTI Line13 to generate an event on falling edge */
EXTI_InitStructure.EXTI_Line = EXTI_Line13;
EXTI_Init(&EXTI_InitStructure);
/* Connect Key Button EXTI Line to GPIO Key Button Pin */
GPIO_EXTILineConfig(GPIO_PORT_SOURCE_KEY_BUTTON, GPIO_PIN_SOURCE_KEY_BUTTON);
/* Configure Key Button EXTI Line to generate an event on falling edge */
EXTI_InitStructure.EXTI_Line = EXTI_LINE_KEY_BUTTON;
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Event;
EXTI_Init(&EXTI_InitStructure);
}
/*******************************************************************************
* Function Name : EXTI_Configuration.
* Description : Configure the EXTI lines for Key and Tamper push buttons.
* Input : None.
* Output : None.
* Return value : The direction value.
*******************************************************************************/
void EXTI_Configuration(void)
{
EXTI_InitTypeDef EXTI_InitStructure;
/* Configure gpio as input : Button Left-WKUP */
/* Connect EXTI Line to gpio pin */
GPIO_EXTILineConfig(GPIO_PORTSOURCE_KEY, GPIO_PINSOURCE_KEY1);
/* Configure EXTI Line to generate an interrupt */
EXTI_InitStructure.EXTI_Line = GPIO_EXTI_Line_KEY1;
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling;
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStructure);
/* Configure gpio as input : Button Right-USER */
/* Connect EXTI Line to gpio pin */
GPIO_EXTILineConfig(GPIO_PORTSOURCE_KEY, GPIO_PINSOURCE_KEY2);
/* Configure EXTI Line to generate an interrupt */
EXTI_InitStructure.EXTI_Line = GPIO_EXTI_Line_KEY2;
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling;
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStructure);
/* USB Wakeup from suspend event */
EXTI_ClearITPendingBit(EXTI_Line18);
EXTI_InitStructure.EXTI_Line = EXTI_Line18; // USB resume from suspend mode
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStructure);
}
//================================================================================================
//
//================================================================================================
void ExtI_Configuration(void)
{
EXTI_InitTypeDef EXTI_InitStruct;
GPIO_EXTILineConfig(GPIO_PortSourceGPIOA, GPIO_PinSource0);
EXTI_InitStruct.EXTI_Line = EXTI_Line0;
EXTI_InitStruct.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStruct.EXTI_Trigger = EXTI_Trigger_Rising;
EXTI_InitStruct.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStruct);
EXTI_ClearITPendingBit(EXTI_Line0);
GPIO_EXTILineConfig(GPIO_PortSourceGPIOA, GPIO_PinSource1);
EXTI_InitStruct.EXTI_Line = EXTI_Line1;
EXTI_InitStruct.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStruct.EXTI_Trigger = EXTI_Trigger_Rising;
EXTI_InitStruct.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStruct);
EXTI_ClearITPendingBit(EXTI_Line1);
}
/**
* @file Exti_Config
* @brief 调用函数库，初始化中断配置
* @param 无
* @retval 无
*/
void Exti_Config(void)
{
/*查看外部中断/事件线路映像
PA0、PB0、PC0、PD0、PE0、PF0、PG0 ————>映像于 EXTI0
PA1、PB1、PC1、PD1、PE1、PF1、PG1 ————>映像于 EXTI1
PA2、PB2、PC2、PD2、PE2、PF2、PG2 ————>映像于 EXTI2
PA3、PB3、PC3、PD3、PE3、PF3、PG3 ————>映像于 EXTI3
.......依次类推，每个外部中断都有一个事件线路映射*/
//定义一个EXTI_InitTypeDef 类型的结构体
EXTI_InitTypeDef EXTI_InitStructure;
//使能AFIO功能的时钟
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
//设置PB14,PB15,PB5作为中断线路
GPIO_EXTILineConfig(KEY1_BUTTON_EXTI_PORT_SOURCE, KEY1_BUTTON_EXTI_PIN_SOURCE);
GPIO_EXTILineConfig(KEY2_BUTTON_EXTI_PORT_SOURCE, KEY2_BUTTON_EXTI_PIN_SOURCE);
GPIO_EXTILineConfig(KEY3_BUTTON_EXTI_PORT_SOURCE, KEY3_BUTTON_EXTI_PIN_SOURCE);
//选择中断线路14,15,5
EXTI_InitStructure.EXTI_Line = KEY1_BUTTON_EXTI_LINE | KEY2_BUTTON_EXTI_LINE | KEY3_BUTTON_EXTI_LINE;
//设置为中断请求触发模式
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
//设置为下降沿触发
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling;//下降沿触发
//设置为使能中断线
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
//调用库函数，初始化中断
EXTI_Init(&EXTI_InitStructure);
}
void EXTI_Config(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
//EXTI IN GPIO Config
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3 | GPIO_Pin_4; //PB3-Pitch PB4-Yaw
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD; //Set to Inpit
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; //GPIO Speed
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_EXTILineConfig(GPIO_PortSourceGPIOB, GPIO_PinSource3);
GPIO_EXTILineConfig(GPIO_PortSourceGPIOB, GPIO_PinSource4);
EXTI_InitStructure.EXTI_Line = EXTI_Line3 | EXTI_Line4;
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising_Falling;
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStructure);
EXTI_GenerateSWInterrupt(EXTI_Line3 | EXTI_Line4);
EXTI_ClearITPendingBit(EXTI_Line3 | EXTI_Line4);
NVIC_EnableIRQ(EXTI3_IRQn); // Enable interrupt
NVIC_EnableIRQ(EXTI4_IRQn); // Enable interrupt
}
/**
* @brief Configures the different EXTI lines.
* @param None
* @retval None
*/
void EXTI_Configuration(void)
{
EXTI_InitTypeDef EXTI_InitStructure;
#ifdef STM32F10X_HD_VL
/* Select the EXTI Line11 the GPIO pin source */
GPIO_EXTILineConfig(GPIO_PortSourceGPIOF, GPIO_PinSource11);
#else
GPIO_EXTILineConfig(GPIO_PortSourceGPIOE, GPIO_PinSource11);
#endif
/* EXTI line11 configuration -----------------------------------------------*/
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Event;
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;
EXTI_InitStructure.EXTI_Line = EXTI_Line11;
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStructure);
/* Select the EXTI Line15 the GPIO pin source */
GPIO_EXTILineConfig(GPIO_PortSourceGPIOE, GPIO_PinSource15);
/* EXTI line15 configuration -----------------------------------------------*/
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Event;
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;
EXTI_InitStructure.EXTI_Line = EXTI_Line15;
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStructure);
}
//外部中断初始化程序
//初始化PA0,PA13,PA15为中断输入.
void EXTIX_Init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
EXTI_InitTypeDef EXTI_InitStructure;
//NVIC_InitTypeDef NVIC_InitStructure;
GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable , ENABLE); //关闭jtag
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA|RCC_APB2Periph_AFIO,ENABLE);
//init GPIOA.13,GPIOA.15 上拉输入
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13|GPIO_Pin_15;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_Init(GPIOA, &GPIO_InitStructure);
//init GPIOA.0 下拉输入
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD;
GPIO_Init(GPIOA, &GPIO_InitStructure);
//GPIOA.13
GPIO_EXTILineConfig(GPIO_PortSourceGPIOA,GPIO_PinSource13);
EXTI_InitStructure.EXTI_Line=EXTI_Line13;
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling;
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStructure);
//GPIOA.15
GPIO_EXTILineConfig(GPIO_PortSourceGPIOA,GPIO_PinSource15);
EXTI_InitStructure.EXTI_Line=EXTI_Line15;
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling;
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStructure);
//GPIOA.0
GPIO_EXTILineConfig(GPIO_PortSourceGPIOA,GPIO_PinSource0);
EXTI_InitStructure.EXTI_Line=EXTI_Line0;
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStructure);
// NVIC_InitStructure.NVIC_IRQChannel = EXTI15_10_IRQn; //使能按键所在的外部中断通道
// NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x02; //先占优先级4位,共16级
// NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x01; //先占优先级0位,从优先级4位
// NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //使能外部中断通道
// NVIC_Init(&NVIC_InitStructure);
// NVIC_InitStructure.NVIC_IRQChannel = EXTI0_IRQn; //使能按键所在的外部中断通道
// NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x02; //先占优先级4位,共16级
// NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x02; //先占优先级0位,从优先级4位
// NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //使能外部中断通道
// NVIC_Init(&NVIC_InitStructure);
}
/*******************************************************************************
* unction Name : EXTI_Configuration.
* Description : Configure the EXTI lines for Key and Tamper push buttons.
* Input : None.
* Output : None.
* Return value : The direction value.
******************************************************************************/
void EXTI_Configuration(void)
{
/* Connect Button EXTI Line to Button GPIO Pin */
GPIO_EXTILineConfig(GPIO_PortSourceGPIOB, GPIO_PinSource14); //GPIOb14
GPIO_EXTILineConfig(GPIO_PortSourceGPIOB, GPIO_PinSource8);
/* Configure EXTI_Line8 line to generate an interrupt on rising & falling edges */
EXTI_InitStructure.EXTI_Line = EXTI_Line8;
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising_Falling;
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStructure);
/* Clear the EXTI_Line1 line pending bit */
EXTI_ClearITPendingBit(EXTI_Line8);
/* Configure EXTI_Line14 line to generate an interrupt on rising & falling edges */
EXTI_InitStructure.EXTI_Line = EXTI_Line14;
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising_Falling;
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStructure);
/* Clear the EXTI_Line1 line pending bit */
EXTI_ClearITPendingBit(EXTI_Line14);
}
/**
* @brief Configure PA.13 in interrupt mode
* @param None
* @retval None
*/
void EXTIX_Init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
EXTI_InitTypeDef EXTI_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable , ENABLE); //关闭jtag
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA|RCC_APB2Periph_AFIO,ENABLE);
//初始化 KEY0-->GPIOA.13,KEY1-->GPIOA.15 上拉输入
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13|GPIO_Pin_15;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_Init(GPIOA, &GPIO_InitStructure);
// 初始化 WK_UP-->GPIOA.0 下拉输入
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD;
GPIO_Init(GPIOA, &GPIO_InitStructure);
//GPIOA.13 中断线以及中断初始化配置
GPIO_EXTILineConfig(GPIO_PortSourceGPIOA,GPIO_PinSource13);
EXTI_InitStructure.EXTI_Line=EXTI_Line13;
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling;
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStructure); //根据EXTI_InitStruct中指定的参数初始化外设EXTI寄存器
//GPIOA.15 中断线以及中断初始化配置
GPIO_EXTILineConfig(GPIO_PortSourceGPIOA,GPIO_PinSource15);
EXTI_InitStructure.EXTI_Line=EXTI_Line15;
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling;
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStructure); //根据EXTI_InitStruct中指定的参数初始化外设EXTI寄存器
//GPIOA.0 中断线以及中断初始化配置
GPIO_EXTILineConfig(GPIO_PortSourceGPIOA,GPIO_PinSource0);
EXTI_InitStructure.EXTI_Line=EXTI_Line0;
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStructure); //根据EXTI_InitStruct中指定的参数初始化外设EXTI寄存器
NVIC_InitStructure.NVIC_IRQChannel = EXTI15_10_IRQn; //使能按键所在的外部中断通道
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x02; //抢占优先级2，
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x01; //子优先级1
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //使能外部中断通道
NVIC_Init(&NVIC_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel = EXTI0_IRQn; //使能按键所在的外部中断通道
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x02; //抢占优先级2
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x02; //子优先级2
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //使能外部中断通道
NVIC_Init(&NVIC_InitStructure); //根据NVIC_InitStruct中指定的参数初始化外设NVIC寄存器
}
void EXTIX_Init(void)
{
EXTI_InitTypeDef EXTI_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
KEY_Init(); //IO口初始化
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO,ENABLE); //打开AFIO时钟以操作中断配置寄存器?
GPIO_EXTILineConfig(GPIO_PortSourceGPIOC,GPIO_PinSource13); //PC3 映射到中断线EXTI13上
GPIO_EXTILineConfig(GPIO_PortSourceGPIOE,GPIO_PinSource0); //PE0 映射到中断线exti0上
//初始化外部中断线
EXTI_InitStructure.EXTI_Line = 0x2000; //使用线路为:13,
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt; //中断
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling; //下降沿
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStructure);
EXTI_InitStructure.EXTI_Line = EXTI_Line0; //使用线路为:0,
EXTI_Init(&EXTI_InitStructure);
//=设置中断优先级
NVIC_InitStructure.NVIC_IRQChannel = EXTI15_10_IRQn; //外部中断线15-10中断
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel = EXTI0_IRQn; //外部中断线0中断
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3;
NVIC_Init(&NVIC_InitStructure);
}
static void EXTI_Configuration()
{
/* key1, key2 */
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(key1_rcc, ENABLE);
RCC_APB2PeriphClockCmd(key2_rcc, ENABLE);
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Pin = key1_pin;
GPIO_Init(key1_gpio, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = key2_pin;
GPIO_Init(key2_gpio, &GPIO_InitStructure);
}
GPIO_EXTILineConfig(key1_portsource, key1_pinsource);
GPIO_EXTILineConfig(key2_portsource, key2_pinsource);
/* Configure EXTI */
EXTI_Enable(1, 1);
EXTI_Enable(2, 1);
}
void EXTIX_Init(void)
{
EXTI_InitTypeDef EXTI_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO,ENABLE);
GPIO_EXTILineConfig(GPIO_PortSourceGPIOC,GPIO_PinSource6);
GPIO_EXTILineConfig(GPIO_PortSourceGPIOC,GPIO_PinSource7);
EXTI_InitStructure.EXTI_Line=EXTI_Line6; //KEY2
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling;
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStructure);
EXTI_InitStructure.EXTI_Line=EXTI_Line7; //KEY2
EXTI_Init(&EXTI_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel = EXTI9_5_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 3;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
}
/*******************************************************************************
* Function Name : EXTI_Configuration.
* Description : Configure the EXTI lines for Key and Tamper push buttons.
* Input : None.
* Output : None.
* Return value : The direction value.
*******************************************************************************/
void EXTI_Configuration(void)
{
EXTI_InitTypeDef EXTI_InitStructure;
/* Configure gpio as input : Button Left-WKUP */
/* Connect EXTI Line to gpio pin */
GPIO_EXTILineConfig(GPIO_PORTSOURCE_KEY, GPIO_PINSOURCE_KEY1);
/* Configure EXTI Line to generate an interrupt */
EXTI_InitStructure.EXTI_Line = GPIO_EXTI_Line_KEY1;
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling;
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStructure);
/* Configure gpio as input : Button Right-USER */
/* Connect EXTI Line to gpio pin */
GPIO_EXTILineConfig(GPIO_PORTSOURCE_KEY, GPIO_PINSOURCE_KEY2);
/* Configure EXTI Line to generate an interrupt */
EXTI_InitStructure.EXTI_Line = GPIO_EXTI_Line_KEY2;
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling;
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStructure);
}
void KEY_Initialize (void)
{
/******************** Clock Enable ********************/
/* Enable GPIOA clock */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
/******************** GPIO configure ********************/
GPIO_InitTypeDef GPIO_InitStructure;
/* Configure gpio as input : Button WKUP & USER */
GPIO_InitStructure.GPIO_Pin = GPIO_KEY1_PIN | GPIO_KEY2_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(GPIO_KEY, &GPIO_InitStructure);
/******************** Fuction configure ********************/
EXTI_InitTypeDef EXTI_InitStructure;
/* Configure gpio as input : Button Left-WKUP */
/* Connect EXTI Line to gpio pin */
GPIO_EXTILineConfig(GPIO_PORTSOURCE_KEY, GPIO_PINSOURCE_KEY1);
/* Configure EXTI Line to generate an interrupt */
EXTI_InitStructure.EXTI_Line = GPIO_EXTI_Line_KEY1;
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling;
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStructure);
/* Configure gpio as input : Button Right-USER */
/* Connect EXTI Line to gpio pin */
GPIO_EXTILineConfig(GPIO_PORTSOURCE_KEY, GPIO_PINSOURCE_KEY2);
/* Configure EXTI Line to generate an interrupt */
EXTI_InitStructure.EXTI_Line = GPIO_EXTI_Line_KEY2;
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling;
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStructure);
/******************** Interrupt configure ********************/
NVIC_InitTypeDef NVIC_InitStructure;
/* Enable the EXTI0 Interrupt */
NVIC_InitStructure.NVIC_IRQChannel = EXTI0_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
/* Enable the EXTI1 Interrupt */
NVIC_InitStructure.NVIC_IRQChannel = EXTI1_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
}
/********************
- 传感器IO中断设置
*********************/
void SENSOR_EXTI_Configuration(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
EXTI_InitTypeDef EXTI_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
// RCC_APB2PeriphResetCmd(RCC_APB2Periph_AFIO, ENABLE);
// RCC_APB2PeriphResetCmd(RCC_APB2Periph_AFIO,DISABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB|RCC_APB2Periph_AFIO, ENABLE);//PB1 ACCER_INT2
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);//PA6 GYRO_DR
NVIC_InitStructure.NVIC_IRQChannel = EXTI1_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel = EXTI9_5_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 3;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
GPIO_ResetBits(GPIOB, GPIO_Pin_1);
GPIO_ResetBits(GPIOA, GPIO_Pin_6);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;//PB1 ACCER_INT2
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;//PA6 GYRO_DR
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(GPIOA, &GPIO_InitStructure);
EXTI_DeInit();
GPIO_EXTILineConfig(GPIO_PortSourceGPIOB, GPIO_PinSource1);
GPIO_EXTILineConfig(GPIO_PortSourceGPIOA, GPIO_PinSource6);
EXTI_InitStructure.EXTI_Line = EXTI_Line1;//参考手册9.2.5节
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStructure);
EXTI_InitStructure.EXTI_Line = EXTI_Line6;//参考手册9.2.5节
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStructure);
EXTI_GenerateSWInterrupt(EXTI_Line1);
EXTI_GenerateSWInterrupt(EXTI_Line6);
}
/*************************************************************
初始化按键和蜂鸣器
*************************************************************/
void init_key(void)
{
uint8 x;
NVIC_InitTypeDef NVIC_InitStructure;
//=====================下面初始化开关量的状态读取函数==============
key1.read_start = Read_Key1;
key2.read_start = Read_Key2;
key3.read_start = Read_Key3;
l_lidi.read_start = Read_L_LIDI;
r_lidi.read_start = Read_R_LIDI;
charge_dc.read_start = Read_Charge_Dc;
charge_seat.read_start = Read_Charge_Seat;
s_current.read_start = Read_S_Current;
l_bump.read_start = Read_L_Bump;
r_bump.read_start = Read_R_Bump;
for(x=0; x<4; x++)
{ //当有按键时为1，那么开始就为0
hightaction[x]->sign = 0;
hightaction[x]->number = 0;
hightaction[x]->key = 0;
}
for(x=0; x<6; x++)
{ //当有按键时为0，那么开始就为1
lowaction[x]->sign = 1;
lowaction[x]->number = 0;
lowaction[x]->key = 1;
}
key_time = FALSE;
GPIO_EXTILineConfig(GPIO_PortSourceGPIOD, GPIO_PinSource1);
GPIO_EXTILineConfig(GPIO_PortSourceGPIOD, GPIO_PinSource2);
GPIO_EXTILineConfig(GPIO_PortSourceGPIOD, GPIO_PinSource3);
GPIO_EXTILineConfig(GPIO_PortSourceGPIOD, GPIO_PinSource11);
GPIO_EXTILineConfig(GPIO_PortSourceGPIOD, GPIO_PinSource12);
EXTI->FTSR |= 0xe;
EXTI->RTSR |= 0x1800;
NVIC_InitStructure.NVIC_IRQChannel = EXTI1_IRQChannel;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 13;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel = EXTI1_IRQChannel;
NVIC_Init(&NVIC_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel = EXTI2_IRQChannel;
NVIC_Init(&NVIC_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel = EXTI3_IRQChannel;
NVIC_Init(&NVIC_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel = EXTI15_10_IRQChannel;
NVIC_Init(&NVIC_InitStructure);
}
/*******************************************************************************
* Function Name : NVIC_Configuration
* Description : Configures Vector Table base location.
* Input : None
* Output : None
* Return : None
*******************************************************************************/
void NVIC_Configuration(void)
{
EXTI_InitTypeDef EXTI_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
/* Configure one bit for preemption priority */
#if defined (VECT_TAB_RAM)
/* Set the Vector Table base location at 0x20000000 */
NVIC_SetVectorTable(NVIC_VectTab_RAM, 0x0);
#elif defined(VECT_TAB_FLASH_IAP)
NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x2000);
#else /* VECT_TAB_FLASH */
/* Set the Vector Table base location at 0x08000000 */
NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x0);
#endif
/* Configure the NVIC Preemption Priority Bits */
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);
/* Enable the USART1 Interrupt */
NVIC_InitStructure.NVIC_IRQChannel = USART1_IRQn; //设置串口1中断
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
/* Connect Key Button EXTI Line to Key Button GPIO Pin */
GPIO_EXTILineConfig(GPIO_PortSourceGPIOD, GPIO_PinSource12);
/* Configure Key Button EXTI Line to generate an interrupt on falling edge */
EXTI_InitStructure.EXTI_Line = EXTI_Line12;
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStructure);
/* Enable the EXTI15_10 Interrupt */
NVIC_InitStructure.NVIC_IRQChannel = EXTI15_10_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 3;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelCmd = DISABLE;
NVIC_Init(&NVIC_InitStructure);
/* Connect Key Button EXTI Line to Key Button GPIO Pin */
GPIO_EXTILineConfig(GPIO_PortSourceGPIOB, GPIO_PinSource0);
/* Configure Key Button EXTI Line to generate an interrupt on falling edge */
EXTI_InitStructure.EXTI_Line = EXTI_Line0;
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;
EXTI_InitStructure.EXTI_LineCmd = DISABLE;
EXTI_Init(&EXTI_InitStructure);
/* Enable the EXTI15_10 Interrupt */
NVIC_InitStructure.NVIC_IRQChannel = EXTI0_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 3;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2;
NVIC_InitStructure.NVIC_IRQChannelCmd = DISABLE;
NVIC_Init(&NVIC_InitStructure);
}
void initStepDirInput()
{
GPIO_InitTypeDef GPIO_InitStructure;
//PA6 as STEP input
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD;
GPIO_Init(GPIOA, &GPIO_InitStructure);
//PA7 as DIR pin
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD;
GPIO_Init(GPIOA, &GPIO_InitStructure);
//PA5 as ENA pin
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_EXTILineConfig(GPIO_PortSourceGPIOA, GPIO_PinSource6); //STEP pin
GPIO_EXTILineConfig(GPIO_PortSourceGPIOA, GPIO_PinSource5); //ENA pin
EXTI_InitTypeDef EXTI_initStructure;
EXTI_initStructure.EXTI_Line = EXTI_Line6;
EXTI_initStructure.EXTI_Mode = EXTI_Mode_Interrupt;
#if STEP_POLARITY == 1
EXTI_initStructure.EXTI_Trigger = EXTI_Trigger_Rising;
#else
EXTI_initStructure.EXTI_Trigger = EXTI_Trigger_Falling;
#endif
EXTI_initStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_initStructure);
EXTI_initStructure.EXTI_Line = EXTI_Line5;
EXTI_initStructure.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_initStructure.EXTI_Trigger = EXTI_Trigger_Rising_Falling;
EXTI_initStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_initStructure);
NVIC_InitTypeDef nvicStructure;
nvicStructure.NVIC_IRQChannel = EXTI9_5_IRQn;
nvicStructure.NVIC_IRQChannelPreemptionPriority = 0;
nvicStructure.NVIC_IRQChannelSubPriority = 2;
nvicStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&nvicStructure);
}
void EXTILine_Config(void)//外部中断配置
{
EXTI_InitTypeDef EXTI_InitStructure;
GPIO_EXTILineConfig(GPIO_PortSourceGPIOC, AxisEXTIPinSource[0]);
GPIO_EXTILineConfig(GPIO_PortSourceGPIOC, AxisEXTIPinSource[0]);
GPIO_EXTILineConfig(GPIO_PortSourceGPIOC, AxisEXTIPinSource[0]);
GPIO_EXTILineConfig(GPIO_PortSourceGPIOC, AxisEXTIPinSource[0]);
EXTI_InitStructure.EXTI_Line = AxisEXTILine[0] | AxisEXTILine[1] | AxisEXTILine[2] | AxisEXTILine[3];
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStructure);
}
/**
* @fun void bsp_KeyInit
* @brief 按键初始化函数
* @author huangzibo
* @param None
*
* @retval
*/
void bsp_KeyInit(void)
{
EXTI_InitTypeDef EXTI_InitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
//步骤一:开启GPIOC时钟和辅助功能IO时钟
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC|RCC_APB2Periph_AFIO, ENABLE);
//步骤二：配置PC0为浮空输入
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_2;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(GPIOC, &GPIO_InitStructure);
//步骤三：连接EXTI0外部中断线到端口PC0
GPIO_EXTILineConfig(GPIO_PortSourceGPIOC, GPIO_PinSource0);
GPIO_EXTILineConfig(GPIO_PortSourceGPIOC, GPIO_PinSource1);
GPIO_EXTILineConfig(GPIO_PortSourceGPIOC, GPIO_PinSource2);
//步骤四：配置EXTI0外部中断线
EXTI_InitStructure.EXTI_Line = EXTI_Line0 | GPIO_Pin_1 | GPIO_Pin_2 ;
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling;
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStructure);
//步骤五：配置中断优先级组（同一个工程中，优先级组必须相同，这里设置为组2）
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//优先级组2：2位抢占优先级，2为子优先级
//步骤六：配置中断通道优先级
NVIC_InitStructure.NVIC_IRQChannel = EXTI0_IRQn;//中断通道
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
//步骤六：配置中断通道优先级
NVIC_InitStructure.NVIC_IRQChannel = EXTI1_IRQn;//中断通道
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
//步骤六：配置中断通道优先级
NVIC_InitStructure.NVIC_IRQChannel = EXTI2_IRQn;//中断通道
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
}
void Button_GPIO_Config(void)
{
/* GPIOA Periph clock enable */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOC | RCC_APB2Periph_GPIOD, ENABLE);
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_8;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13;
GPIO_Init(GPIOC, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3;
GPIO_Init(GPIOD, &GPIO_InitStructure);
EXTI_InitTypeDef EXTI_InitStructure;
/* Connect EXTI0 Line to PA.00 pin */
GPIO_EXTILineConfig(GPIO_PortSourceGPIOA, GPIO_PinSource0);
GPIO_EXTILineConfig(GPIO_PortSourceGPIOA, GPIO_PinSource8);
GPIO_EXTILineConfig(GPIO_PortSourceGPIOC, GPIO_PinSource13);
GPIO_EXTILineConfig(GPIO_PortSourceGPIOD, GPIO_PinSource3);
/* Configure EXTI0 line */
EXTI_InitStructure.EXTI_Line = EXTI_Line0 | EXTI_Line3 | EXTI_Line8 | EXTI_Line13;
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising_Falling;
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStructure);
NVIC_InitTypeDef NVIC_InitStructure;
/* Enable and set EXTI0 Interrupt to the lowest priority */
NVIC_InitStructure.NVIC_IRQChannel = EXTI0_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0F;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0F;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel = EXTI3_IRQn;
NVIC_Init(&NVIC_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel = EXTI9_5_IRQn;
NVIC_Init(&NVIC_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel = EXTI15_10_IRQn;
NVIC_Init(&NVIC_InitStructure);
}
void enable_button_interrupts(void)
{
EXTI_InitTypeDef EXTI_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
/* Enable the AFIO clock. GPIO_EXTILineConfig sets registers in
* the AFIO.
*/
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
/* Connect EXTI Line 0 to the button GPIO Pin */
GPIO_EXTILineConfig(GPIO_PortSourceGPIOA, GPIO_PinSource0);
/* Configure the EXTI line to generate an interrupt when the button is
* pressed. The button pin is high when pressed, so it needs to trigger
* when rising from low to high. */
EXTI_InitStructure.EXTI_Line = EXTI_Line0;
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStructure);
/* Enable and set Button EXTI Interrupt to the lowest priority */
NVIC_InitStructure.NVIC_IRQChannel = EXTI0_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0F;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0F;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
}
void SENSOR_Init(Sensor_TypeDef SensorIndex, Sensor_Mode_TypeDef Sensor_Mode)
{
GPIO_InitTypeDef GPIO_InitStructure;
EXTI_InitTypeDef EXTI_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB2PeriphClockCmd(SENSOR_GPIO_CLK[SensorIndex],ENABLE);
GPIO_InitStructure.GPIO_Pin=SENSOR_GPIO_PIN[SensorIndex];
GPIO_InitStructure.GPIO_Mode=GPIO_Mode_IPU;
GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;
GPIO_Init(SENSOR_GPIO_PORT[SensorIndex],&GPIO_InitStructure);
if (Sensor_Mode==Mode_EXTI)
{
//
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO,ENABLE);
GPIO_EXTILineConfig(SENSOR_GPIO_PORT_SOURCE[SensorIndex], SENSOR_GPIO_PIN_SOURCE[SensorIndex]);
EXTI_StructInit(&EXTI_InitStructure);
EXTI_InitStructure.EXTI_Line=SENSOR_GPIO_EXTI_LINE[SensorIndex];
EXTI_InitStructure.EXTI_Mode=EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger=EXTI_Trigger_Rising;//EXTI_Trigger_Falling;
EXTI_InitStructure.EXTI_LineCmd=ENABLE;
EXTI_Init(&EXTI_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel=SENSOR_GPIO_IRQn[SensorIndex];
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=0x0F;
NVIC_InitStructure.NVIC_IRQChannelSubPriority=0x0F;
NVIC_InitStructure.NVIC_IRQChannelCmd=ENABLE;
NVIC_Init(&NVIC_InitStructure);
}
}
/*
**************************************************
外部中断初始化
参数1:GPIO中断源组别 GPIO_PortSourceGPIOA-G
参数2:中断线路 GPIO_PinSource0-15
参数3:外部中断模式
EXTI_Mode_Event 事件请求
EXTI_Mode_Interrupte 中断请求
参数4:触发方式
EXTI_Trigger_Falling 下降沿触发
EXTI_Trigger_Rising 上升沿触发
EXTI_Trigger_Rising_Falling 上升沿或下降沿触发
**************************************************
*/
void abba_EXIT_Init(uint8_t GPIO_PortSource,uint8_t GPIO_PinSource,EXTIMode_TypeDef EXTI_Mode,EXTITrigger_TypeDef EXTI_Trigger)
{
uint32_t EXTI_Line;
uint8_t i,GPIO_Pin_temp = GPIO_PinSource0;
EXTI_InitTypeDef EXTI_temp;
GPIO_EXTILineConfig(GPIO_PortSource, GPIO_PinSource);
EXTI_Line = EXTI_Line0;
for(i=0;i<16;i++)
{
if(GPIO_PinSource == GPIO_Pin_temp)
{
break;
}
GPIO_Pin_temp++;
EXTI_Line += EXTI_Line;
}
EXTI_temp.EXTI_Line = EXTI_Line;
EXTI_temp.EXTI_Mode = EXTI_Mode;
EXTI_temp.EXTI_Trigger = EXTI_Trigger;
EXTI_temp.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_temp);
}
void iNEMO_Button_Init(Button_TypeDef Button, ButtonMode_TypeDef Button_Mode)
{
EXTI_InitTypeDef EXTI_InitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
/* Enable Push Button GPIO clocks */
RCC_APB2PeriphClockCmd(BUTTON_CLK[Button], ENABLE);
/* Configure Push Button pin as input floating */
GPIO_InitStructure.GPIO_Pin = BUTTON_PIN[Button];
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(BUTTON_PORT[Button], &GPIO_InitStructure);
if (Button_Mode == BUTTON_MODE_EXTI)
{
/* Connect Button EXTI Line to Button GPIO Pin */
GPIO_EXTILineConfig(BUTTON_PORT_SOURCE[Button], BUTTON_PIN_SOURCE[Button]);
/* Configure Button EXTI line */
EXTI_InitStructure.EXTI_Line = BUTTON_EXTI_LINE[Button];
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger = BUTTON_EDGE[Button];
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStructure);
}
}
static void I2C_INT_Config(void)
{
// Periph CLK init
RCC_APB2PeriphClockCmd(I2C_INT_CLK, ENABLE);
// Pin configuration for nINT_Joy
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Pin = I2C_INT;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(I2C_INT_PORT, &GPIO_InitStructure);
GPIO_EXTILineConfig(GPIO_PortSourceGPIOF, GPIO_PinSource10);
// EXTI configuration
EXTI_InitTypeDef EXTI_InitStructure;
EXTI_InitStructure.EXTI_Line = EXTI_Line10;
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling;
EXTI_Init(&EXTI_InitStructure);
// NVIC configuration
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
NVIC_InitStructure.NVIC_IRQChannel = EXTI15_10_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
}
void LSM303DLH_Magn_DRDY_Config(void)
{
NVIC_InitTypeDef NVIC_InitStructure;
EXTI_InitTypeDef EXTI_InitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
/* Enable _MAG_DRDY pad GPIO clocks */
RCC_APB2PeriphClockCmd(LSM_M_DRDY_RCC_Port, ENABLE);
/* Configure MAG_DRDY pin as input floating */
GPIO_InitStructure.GPIO_Pin = LSM_M_DRDY_Pin;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(LSM_M_DRDY_Port, &GPIO_InitStructure);
/* Connect MAG_DRDY_EXTI_Line to MAG_DRDY Pin */
GPIO_EXTILineConfig(LSM_M_DRDY_Port_Source, LSM_M_DRDY_Pin_Source);
/* Configure MAG_DRDY_EXTI_Line to generate an interrupt on MAG_DRDY_Edge edge */
EXTI_InitStructure.EXTI_Line = LSM_M_DRDY_EXTI_Line;
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger = LSM_M_DRDY_Edge;
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStructure);
/* Enable the MAG_DRDY_EXTI_IRQCHANNEL Interrupt */
NVIC_InitStructure.NVIC_IRQChannel = LSM_M_DRDY_EXTI_IRQCHANNEL;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = LSM_M_DRDY_Preemption_Priority;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = LSM_M_DRDY_Sub_Priority;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
}
bool hcsr04_init(sonar_config_t config)
{
bool returnvalue = false;
GPIO_InitTypeDef GPIO_InitStructure;
EXTI_InitTypeDef EXTIInit;
uint8_t bufdaddy[2]; // Dummy for i2c testread
// enable AFIO for EXTI support - already done is drv_system.c
// RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph, ENABLE);
// cfg.snr_type = X; 0 = PWM56, 1 = RC78, 2 = I2C (DaddyWalross), 3 = MBPWM56, 4 = MBRC78
switch(config)
{
case sonar_pwm56:
trigger_pin = GPIO_Pin_8; // PWM5 (PB8) - 5v tolerant
echo_pin = GPIO_Pin_9; // PWM6 (PB9) - 5v tolerant
exti_line = EXTI_Line9;
exti_pin_source = GPIO_PinSource9;
exti_irqn = EXTI9_5_IRQn;
returnvalue = true;
break;
case sonar_rc78:
trigger_pin = GPIO_Pin_0; // RX7 (PB0) - only 3.3v ( add a 1K Ohms resistor )
echo_pin = GPIO_Pin_1; // RX8 (PB1) - only 3.3v ( add a 1K Ohms resistor )
exti_line = EXTI_Line1;
exti_pin_source = GPIO_PinSource1;
exti_irqn = EXTI1_IRQn;
returnvalue = true;
break;
case sonar_i2cDW: // Deal with I2C daddy walross sonar
delay(1000); // sleep for 1000ms to startup sonar
returnvalue = i2cRead(SONARDW_ADDRESS, SONARDW_DISTANCE_OUT, 2, bufdaddy);
break;
}
if (config == sonar_pwm56 || config == sonar_rc78)
{
if (cfg.snr_type == 0 || cfg.snr_type == 1) // Check for HC-SR04
PulseLimitInUs = 24000; // HC-SR04 Limit 413 cm
if (cfg.snr_type == 3 || cfg.snr_type == 4) // Check for Maxbotics (no "else" stuff here to make it expandable)
PulseLimitInUs = 62000; // Datasheet Limit 62ms
// tp - trigger pin
GPIO_InitStructure.GPIO_Pin = trigger_pin;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
// ep - echo pin
GPIO_InitStructure.GPIO_Pin = echo_pin;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(GPIOB, &GPIO_InitStructure);
// setup external interrupt on echo pin
GPIO_EXTILineConfig(GPIO_PortSourceGPIOB, exti_pin_source);
EXTI_ClearITPendingBit(exti_line);
EXTIInit.EXTI_Line = exti_line;
EXTIInit.EXTI_Mode = EXTI_Mode_Interrupt;
EXTIInit.EXTI_Trigger = EXTI_Trigger_Rising_Falling;
EXTIInit.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTIInit);
NVIC_EnableIRQ(exti_irqn);
last_measurement = 0; // Force 1st measurement in XXX_get_distance
}
return returnvalue; // Return the status of initialization
}
/**
* @brief Configures the IO expander Interrupt line and GPIO in EXTI mode.
* @param None
* @retval None
*/
static void IOE_EXTI_Config(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
EXTI_InitTypeDef EXTI_InitStructure;
/* Enable Button GPIO clock */
RCC_APB2PeriphClockCmd(IOE_IT_GPIO_CLK | RCC_APB2Periph_AFIO, ENABLE);
/* Configure Button pin as input floating */
GPIO_InitStructure.GPIO_Pin = IOE_IT_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(IOE_IT_GPIO_PORT, &GPIO_InitStructure);
/* Connect Button EXTI Line to Button GPIO Pin */
GPIO_EXTILineConfig(IOE_IT_EXTI_PORT_SOURCE, IOE_IT_EXTI_PIN_SOURCE);
/* Configure Button EXTI line */
EXTI_InitStructure.EXTI_Line = IOE_IT_EXTI_LINE;
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising_Falling;
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStructure);
/* Enable and set Button EXTI Interrupt to the lowest priority */
NVIC_InitStructure.NVIC_IRQChannel = IOE_IT_EXTI_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0F;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0F;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
}
/**
* @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(IOE_I2C_CLK, ENABLE);
RCC_APB2PeriphClockCmd(IOE_I2C_SCL_GPIO_CLK | IOE_I2C_SDA_GPIO_CLK | IOE_IT_GPIO_CLK
| RCC_APB2Periph_AFIO, ENABLE);
/* Reset IOE_I2C IP */
RCC_APB1PeriphResetCmd(IOE_I2C_CLK, ENABLE);
/* Release reset signal of IOE_I2C IP */
RCC_APB1PeriphResetCmd(IOE_I2C_CLK, DISABLE);
/* IOE_I2C SCL and SDA pins configuration */
GPIO_InitStructure.GPIO_Pin = IOE_I2C_SCL_PIN;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_10MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD;
GPIO_Init(IOE_I2C_SCL_GPIO_PORT, &GPIO_InitStructure);
/* IOE_I2C SCL and SDA pins configuration */
GPIO_InitStructure.GPIO_Pin = IOE_I2C_SDA_PIN;
GPIO_Init(IOE_I2C_SDA_GPIO_PORT, &GPIO_InitStructure);
/* Set EXTI pin as Input PullUp - IO_Expander_INT */
GPIO_InitStructure.GPIO_Pin = IOE_IT_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_Init(IOE_IT_GPIO_PORT, &GPIO_InitStructure);
/* Connect IO Expander IT line to EXTI line */
GPIO_EXTILineConfig(IOE_IT_EXTI_PORT_SOURCE, IOE_IT_EXTI_PIN_SOURCE);
}