/*
* See the serial2.h header file.
*/
xComPortHandle xSerialPortInitMinimal( unsigned long ulWantedBaud, unsigned portBASE_TYPE uxQueueLength )
{
xComPortHandle xReturn;
UART_InitTypeDef xUART1_Init;
GPIO_InitTypeDef GPIO_InitStructure;
/* Create the queues used to hold Rx characters. */
xRxedChars = xQueueCreate( uxQueueLength, ( unsigned portBASE_TYPE ) sizeof( signed char ) );
/* Create the semaphore used to wake a task waiting for space to become
available in the FIFO. */
vSemaphoreCreateBinary( xTxFIFOSemaphore );
/* If the queue/semaphore was created correctly then setup the serial port
hardware. */
if( ( xRxedChars != serINVALID_QUEUE ) && ( xTxFIFOSemaphore != serINVALID_QUEUE ) )
{
/* Pre take the semaphore so a task will block if it tries to access
it. */
xSemaphoreTake( xTxFIFOSemaphore, 0 );
/* Configure the UART. */
xUART1_Init.UART_WordLength = UART_WordLength_8D;
xUART1_Init.UART_StopBits = UART_StopBits_1;
xUART1_Init.UART_Parity = UART_Parity_No;
xUART1_Init.UART_BaudRate = ulWantedBaud;
xUART1_Init.UART_HardwareFlowControl = UART_HardwareFlowControl_None;
xUART1_Init.UART_Mode = UART_Mode_Tx_Rx;
xUART1_Init.UART_FIFO = UART_FIFO_Enable;
/* Enable the UART1 Clock */
SCU_APBPeriphClockConfig( __UART1, ENABLE );
/* Enable the GPIO3 Clock */
SCU_APBPeriphClockConfig( __GPIO3, ENABLE );
/* Configure UART1_Rx pin GPIO3.2 */
GPIO_InitStructure.GPIO_Direction = GPIO_PinInput;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ;
GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable;
GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1 ;
GPIO_Init( GPIO3, &GPIO_InitStructure );
/* Configure UART1_Tx pin GPIO3.3 */
GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3;
GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ;
GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable;
GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2 ;
GPIO_Init( GPIO3, &GPIO_InitStructure );
portENTER_CRITICAL();
{
/* Configure the UART itself. */
UART_DeInit( UART1 );
UART_Init( UART1, &xUART1_Init );
UART_ITConfig( UART1, UART_IT_Receive | UART_IT_Transmit, ENABLE );
UART1->ICR = serCLEAR_ALL_INTERRUPTS;
UART_LoopBackConfig( UART1, DISABLE );
UART_IrDACmd( IrDA1, DISABLE );
/* Configure the VIC for the UART interrupts. */
VIC_Config( UART1_ITLine, VIC_IRQ, 9 );
VIC_ITCmd( UART1_ITLine, ENABLE );
UART_Cmd( UART1, ENABLE );
lTaskWaiting = pdFALSE;
}
portEXIT_CRITICAL();
}
else
{
xReturn = ( xComPortHandle ) 0;
}
/* This demo file only supports a single port but we have to return
something to comply with the standard demo header file. */
return xReturn;
}
void f3d_gyro_interface_init() {
GPIO_InitTypeDef GPIO_InitStructure;
///////////////////////////////////////////////////////
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOA, ENABLE);
//SCK Pin PA5
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(GPIOA,&GPIO_InitStructure);
GPIO_PinAFConfig(GPIOA, GPIO_PinSource5, GPIO_AF_5);
//MOSI Pin PA6
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(GPIOA,&GPIO_InitStructure);
GPIO_PinAFConfig(GPIOA, GPIO_PinSource6, GPIO_AF_5);
//MISO Pin PA7
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(GPIOA,&GPIO_InitStructure);
GPIO_PinAFConfig(GPIOA, GPIO_PinSource7, GPIO_AF_5);
//////////////////////////////////////////////////////
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOE, ENABLE);
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOE,&GPIO_InitStructure);
GPIO_SetBits(GPIOE, GPIO_Pin_3);
////////////////////////////////////////////////////
RCC_APB2PeriphClockCmd(RCC_APB2Periph_SPI1, ENABLE);
SPI_InitTypeDef SPI_InitStructure;
SPI_InitStructure.SPI_Direction = SPI_Direction_2Lines_FullDuplex;
SPI_InitStructure.SPI_DataSize = SPI_DataSize_8b;
SPI_InitStructure.SPI_CPOL = SPI_CPOL_Low;
SPI_InitStructure.SPI_CPHA = SPI_CPHA_1Edge;
SPI_InitStructure.SPI_NSS = SPI_NSS_Soft;
SPI_InitStructure.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8;
SPI_InitStructure.SPI_FirstBit = SPI_FirstBit_MSB;
SPI_InitStructure.SPI_CRCPolynomial = 7;
SPI_InitStructure.SPI_Mode = SPI_Mode_Master;
SPI_Init(SPI1, &SPI_InitStructure);
SPI_RxFIFOThresholdConfig(SPI1, SPI_RxFIFOThreshold_QF);
SPI_Cmd(SPI1, ENABLE);
}
/**
* @brief Configures LED GPIO.
* @param xLed Specifies the Led to be configured.
* This parameter can be one of following parameters:
* @arg LED1
* @arg LED2
* @retval None.
*/
void SdkEvalLedInit(SdkEvalLed xLed)
{
/* Configure the GPIO_LED pin */
GPIO_Init(vectpxGpioPort[xLed], s_vectnGpioPin[xLed], GPIO_Mode_Out_PP_High_Fast);
}
int main(void)
{
uint8_t ch;
/* Enable GPIO clock */
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOC, ENABLE);
/* Enable USART3 clock */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE);
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOB, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_WriteBit(GPIOB, GPIO_Pin_6, Bit_RESET);
GPIO_WriteBit(GPIOB, GPIO_Pin_7, Bit_RESET);
/* Configure USART3 Rx & Tx as alternate function */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10 | GPIO_Pin_11;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_40MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(GPIOC, &GPIO_InitStructure);
/* GPIOC --> USART3 Rx & Tx */
GPIO_PinAFConfig(GPIOC, GPIO_PinSource10, GPIO_AF_USART3);
GPIO_PinAFConfig(GPIOC, GPIO_PinSource11, GPIO_AF_USART3);
USART_InitStructure.USART_BaudRate = 9600;
USART_InitStructure.USART_WordLength = USART_WordLength_9b;
USART_InitStructure.USART_StopBits = USART_StopBits_1;
USART_InitStructure.USART_Parity = USART_Parity_No;
USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
/* USART configuration */
USART_Init(USART3, &USART_InitStructure);
/* Enable USART */
USART_Cmd(USART3, ENABLE);
do {
USART_ReceiveData(USART3);
} while(USART_GetFlagStatus(USART3, USART_FLAG_RXNE) != RESET);
while(1) {
/* wait for character to arrive */
while(USART_GetFlagStatus(USART3, USART_FLAG_RXNE) == RESET)
;
GPIO_TOGGLE(GPIOB,GPIO_Pin_6);
/* read the available data */
ch = USART_ReceiveData(USART3);
ch++;
/* Wait while TX is full */
while(USART_GetFlagStatus(USART3, USART_FLAG_TXE) == RESET)
;
/*transmit data only when TX is empty */
USART_SendData(USART3, ch);
GPIO_TOGGLE(GPIOB, GPIO_Pin_7);
}
}
OSStatus internal_uart_init( mico_uart_t uart, const mico_uart_config_t* config, ring_buffer_t* optional_rx_buffer )
{
GPIO_InitTypeDef gpio_init_structure;
USART_InitTypeDef usart_init_structure;
NVIC_InitTypeDef nvic_init_structure;
DMA_InitTypeDef dma_init_structure;
#ifndef NO_MICO_RTOS
mico_rtos_init_semaphore(&uart_interfaces[uart].tx_complete, 1);
mico_rtos_init_semaphore(&uart_interfaces[uart].rx_complete, 1);
#else
uart_interfaces[uart].tx_complete = false;
uart_interfaces[uart].rx_complete = false;
#endif
MicoMcuPowerSaveConfig(false);
/* Enable GPIO peripheral clocks for TX and RX pins */
RCC_AHB1PeriphClockCmd( uart_mapping[uart].pin_rx->peripheral_clock |
uart_mapping[uart].pin_tx->peripheral_clock, ENABLE );
/* Configure USART TX Pin */
gpio_init_structure.GPIO_Pin = (uint32_t) ( 1 << uart_mapping[uart].pin_tx->number );
gpio_init_structure.GPIO_Mode = GPIO_Mode_AF;
gpio_init_structure.GPIO_OType = GPIO_OType_PP;
gpio_init_structure.GPIO_PuPd = GPIO_PuPd_NOPULL;
gpio_init_structure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init( uart_mapping[uart].pin_tx->bank, &gpio_init_structure );
GPIO_PinAFConfig( uart_mapping[uart].pin_tx->bank, uart_mapping[uart].pin_tx->number, uart_mapping[uart].gpio_af );
/* Configure USART RX Pin */
gpio_init_structure.GPIO_Pin = (uint32_t) ( 1 << uart_mapping[uart].pin_rx->number );
gpio_init_structure.GPIO_Mode = GPIO_Mode_AF;
gpio_init_structure.GPIO_OType = GPIO_OType_OD;
gpio_init_structure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init( uart_mapping[uart].pin_rx->bank, &gpio_init_structure );
GPIO_PinAFConfig( uart_mapping[uart].pin_rx->bank, uart_mapping[uart].pin_rx->number, uart_mapping[uart].gpio_af );
#ifndef NO_MICO_RTOS
if(config->flags & UART_WAKEUP_ENABLE){
current_uart = uart;
mico_rtos_init_semaphore( &uart_interfaces[uart].sem_wakeup, 1 );
mico_rtos_create_thread(NULL, MICO_APPLICATION_PRIORITY, "UART_WAKEUP", thread_wakeup, 0x100, ¤t_uart);
}
#endif
/* Check if any of the flow control is enabled */
if ( uart_mapping[uart].pin_cts && (config->flow_control == FLOW_CONTROL_CTS || config->flow_control == FLOW_CONTROL_CTS_RTS) )
{
/* Enable peripheral clock */
RCC_AHB1PeriphClockCmd( uart_mapping[uart].pin_cts->peripheral_clock, ENABLE );
/* Configure CTS Pin */
gpio_init_structure.GPIO_Pin = (uint32_t) ( 1 << uart_mapping[uart].pin_cts->number );
gpio_init_structure.GPIO_Mode = GPIO_Mode_AF;
gpio_init_structure.GPIO_OType = GPIO_OType_OD;
gpio_init_structure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init( uart_mapping[uart].pin_cts->bank, &gpio_init_structure );
GPIO_PinAFConfig( uart_mapping[uart].pin_cts->bank, uart_mapping[uart].pin_cts->number, uart_mapping[uart].gpio_af );
}
if ( uart_mapping[uart].pin_cts && (config->flow_control == FLOW_CONTROL_RTS || config->flow_control == FLOW_CONTROL_CTS_RTS) )
{
/* Enable peripheral clock */
RCC_AHB1PeriphClockCmd( uart_mapping[uart].pin_rts->peripheral_clock, ENABLE );
/* Configure RTS Pin */
gpio_init_structure.GPIO_Pin = (uint32_t) ( 1 << uart_mapping[uart].pin_rts->number );
gpio_init_structure.GPIO_Mode = GPIO_Mode_AF;
gpio_init_structure.GPIO_OType = GPIO_OType_OD;
gpio_init_structure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init( uart_mapping[uart].pin_rts->bank, &gpio_init_structure );
GPIO_PinAFConfig( uart_mapping[uart].pin_rts->bank, uart_mapping[uart].pin_rts->number, uart_mapping[uart].gpio_af );
}
/* Enable UART peripheral clock */
uart_mapping[uart].usart_peripheral_clock_func( uart_mapping[uart].usart_peripheral_clock, ENABLE );
/**************************************************************************
* Initialise STM32 USART registers
* NOTE:
* - Both transmitter and receiver are disabled until usart_enable_transmitter/receiver is called.
* - Only 1 and 2 stop bits are implemented at the moment.
**************************************************************************/
usart_init_structure.USART_Mode = 0;
usart_init_structure.USART_BaudRate = config->baud_rate;
usart_init_structure.USART_WordLength = ( ( config->data_width == DATA_WIDTH_9BIT ) ||
( ( config->data_width == DATA_WIDTH_8BIT ) && ( config->parity != NO_PARITY ) ) ) ? USART_WordLength_9b : USART_WordLength_8b;
usart_init_structure.USART_StopBits = ( config->stop_bits == STOP_BITS_1 ) ? USART_StopBits_1 : USART_StopBits_2;
switch ( config->parity )
{
case NO_PARITY:
usart_init_structure.USART_Parity = USART_Parity_No;
break;
case EVEN_PARITY:
usart_init_structure.USART_Parity = USART_Parity_Even;
break;
case ODD_PARITY:
usart_init_structure.USART_Parity = USART_Parity_Odd;
break;
default:
return kParamErr;
}
switch ( config->flow_control )
{
case FLOW_CONTROL_DISABLED:
usart_init_structure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
break;
case FLOW_CONTROL_CTS:
usart_init_structure.USART_HardwareFlowControl = USART_HardwareFlowControl_CTS;
break;
case FLOW_CONTROL_RTS:
usart_init_structure.USART_HardwareFlowControl = USART_HardwareFlowControl_RTS;
break;
case FLOW_CONTROL_CTS_RTS:
usart_init_structure.USART_HardwareFlowControl = USART_HardwareFlowControl_RTS_CTS;
break;
default:
return kParamErr;
}
/* Initialise USART peripheral */
USART_Init( uart_mapping[uart].usart, &usart_init_structure );
/**************************************************************************
* Initialise STM32 DMA registers
* Note: If DMA is used, USART interrupt isn't enabled.
**************************************************************************/
/* Enable DMA peripheral clock */
uart_mapping[uart].tx_dma_peripheral_clock_func( uart_mapping[uart].tx_dma_peripheral_clock, ENABLE );
uart_mapping[uart].rx_dma_peripheral_clock_func( uart_mapping[uart].rx_dma_peripheral_clock, ENABLE );
/* Fill init structure with common DMA settings */
dma_init_structure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
dma_init_structure.DMA_MemoryInc = DMA_MemoryInc_Enable;
dma_init_structure.DMA_Priority = DMA_Priority_VeryHigh;
dma_init_structure.DMA_FIFOMode = DMA_FIFOMode_Disable;
dma_init_structure.DMA_FIFOThreshold = DMA_FIFOThreshold_Full;
dma_init_structure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
dma_init_structure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
if ( config->data_width == DATA_WIDTH_9BIT )
{
dma_init_structure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord;
dma_init_structure.DMA_MemoryDataSize = DMA_MemoryDataSize_HalfWord;
}
else
{
dma_init_structure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
dma_init_structure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
}
/* Initialise TX DMA */
DMA_DeInit( uart_mapping[uart].tx_dma_stream );
dma_init_structure.DMA_Channel = uart_mapping[uart].tx_dma_channel;
dma_init_structure.DMA_PeripheralBaseAddr = (uint32_t) &uart_mapping[uart].usart->DR;
dma_init_structure.DMA_Memory0BaseAddr = (uint32_t) 0;
dma_init_structure.DMA_DIR = DMA_DIR_MemoryToPeripheral;
dma_init_structure.DMA_BufferSize = 0;
dma_init_structure.DMA_Mode = DMA_Mode_Normal;
DMA_Init( uart_mapping[uart].tx_dma_stream, &dma_init_structure );
/* Initialise RX DMA */
DMA_DeInit( uart_mapping[uart].rx_dma_stream );
dma_init_structure.DMA_Channel = uart_mapping[uart].rx_dma_channel;
dma_init_structure.DMA_PeripheralBaseAddr = (uint32_t) &uart_mapping[uart].usart->DR;
dma_init_structure.DMA_Memory0BaseAddr = 0;
dma_init_structure.DMA_DIR = DMA_DIR_PeripheralToMemory;
dma_init_structure.DMA_BufferSize = 0;
dma_init_structure.DMA_Mode = DMA_Mode_Normal;
DMA_Init( uart_mapping[uart].rx_dma_stream, &dma_init_structure );
/**************************************************************************
* Initialise STM32 DMA interrupts
* Note: Only TX DMA interrupt is enabled.
**************************************************************************/
/* Configure TX DMA interrupt on Cortex-M3 */
nvic_init_structure.NVIC_IRQChannel = uart_mapping[uart].tx_dma_irq;
nvic_init_structure.NVIC_IRQChannelPreemptionPriority = (uint8_t) 0x5;
nvic_init_structure.NVIC_IRQChannelSubPriority = 0x8;
nvic_init_structure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init( &nvic_init_structure );
/* Enable TC (transfer complete) and TE (transfer error) interrupts on source */
DMA_ITConfig( uart_mapping[uart].tx_dma_stream, DMA_IT_TC | DMA_IT_TE | DMA_IT_DME | DMA_IT_FE, ENABLE );
/* Enable USART's RX DMA interfaces */
USART_DMACmd( uart_mapping[uart].usart, USART_DMAReq_Rx, ENABLE );
/**************************************************************************
* Initialise STM32 USART interrupt
**************************************************************************/
nvic_init_structure.NVIC_IRQChannel = uart_mapping[uart].usart_irq;
nvic_init_structure.NVIC_IRQChannelPreemptionPriority = (uint8_t) 0x6;
nvic_init_structure.NVIC_IRQChannelSubPriority = 0x7;
nvic_init_structure.NVIC_IRQChannelCmd = ENABLE;
/* Enable USART interrupt vector in Cortex-M3 */
NVIC_Init( &nvic_init_structure );
/* Enable USART */
USART_Cmd( uart_mapping[uart].usart, ENABLE );
/* Enable both transmit and receive */
uart_mapping[uart].usart->CR1 |= USART_CR1_TE;
uart_mapping[uart].usart->CR1 |= USART_CR1_RE;
/* Setup ring buffer */
if (optional_rx_buffer != NULL)
{
/* Note that the ring_buffer should've been initialised first */
uart_interfaces[uart].rx_buffer = optional_rx_buffer;
uart_interfaces[uart].rx_size = 0;
platform_uart_receive_bytes( uart, optional_rx_buffer->buffer, optional_rx_buffer->size, 0 );
}
else
{
/* Not using ring buffer. Configure RX DMA interrupt on Cortex-M3 */
nvic_init_structure.NVIC_IRQChannel = uart_mapping[uart].rx_dma_irq;
nvic_init_structure.NVIC_IRQChannelPreemptionPriority = (uint8_t) 0x5;
nvic_init_structure.NVIC_IRQChannelSubPriority = 0x8;
nvic_init_structure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init( &nvic_init_structure );
/* Enable TC (transfer complete) and TE (transfer error) interrupts on source */
DMA_ITConfig( uart_mapping[uart].rx_dma_stream, DMA_IT_TC | DMA_IT_TE | DMA_IT_DME | DMA_IT_FE, ENABLE );
}
MicoMcuPowerSaveConfig(true);
return kNoErr;
}
/**
* @brief ADC configuration
* @note This function Configure the ADC peripheral
1) Enable peripheral clocks
2) Configure ADC Channel 12 pin as analog input
3) DMA2_Stream0 channel2 configuration
4) Configure ADC1 Channel 12
5) Configure ADC2 Channel 12
6) Configure ADC3 Channel 12
* @param None
* @retval None
*/
static void ADC_Config(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
DMA_InitTypeDef DMA_InitStructure;
ADC_InitTypeDef ADC_InitStructure;
ADC_CommonInitTypeDef ADC_CommonInitStructure;
/* Enable peripheral clocks *************************************************/
RCC_AHB1PeriphClockCmd( ADC1_2_CHANNEL_GPIO_CLK , ENABLE);
RCC_AHB1PeriphClockCmd( RCC_AHB1Periph_DMA2 , ENABLE);
RCC_APB2PeriphClockCmd( RCC_APB2Periph_ADC1 , ENABLE);
RCC_APB2PeriphClockCmd( RCC_APB2Periph_ADC2 , ENABLE);
RCC_APB2PeriphClockCmd( RCC_APB2Periph_ADC3 , ENABLE);
/* Configure ADC Channel 12 pin as analog input *****************************/
GPIO_InitStructure.GPIO_Pin = GPIO_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AN;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL ;
GPIO_Init(GPIO_PORT, &GPIO_InitStructure);
/* DMA2 Stream0 channel0 configuration **************************************/
DMA_InitStructure.DMA_Channel = DMA_CHANNELx;
DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)ADC_CDR_ADDRESS;
DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)&aADCTripleConvertedValue;
DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralToMemory;
DMA_InitStructure.DMA_BufferSize = 3;
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Word;
DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Word;
DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
DMA_InitStructure.DMA_Priority = DMA_Priority_High;
DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable;
DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_HalfFull;
DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
DMA_Init(DMA_STREAMx, &DMA_InitStructure);
/* DMA2_Stream0 enable */
DMA_Cmd(DMA_STREAMx, ENABLE);
/* ADC Common configuration *************************************************/
ADC_CommonInitStructure.ADC_Mode = ADC_TripleMode_Interl;
ADC_CommonInitStructure.ADC_TwoSamplingDelay = ADC_TwoSamplingDelay_5Cycles;
ADC_CommonInitStructure.ADC_DMAAccessMode = ADC_DMAAccessMode_2;
ADC_CommonInitStructure.ADC_Prescaler = ADC_Prescaler_Div2;
ADC_CommonInit(&ADC_CommonInitStructure);
/* ADC1 regular channel 12 configuration ************************************/
ADC_InitStructure.ADC_Resolution = ADC_Resolution_12b;
ADC_InitStructure.ADC_ScanConvMode = DISABLE;
ADC_InitStructure.ADC_ContinuousConvMode = ENABLE;
ADC_InitStructure.ADC_ExternalTrigConvEdge = ADC_ExternalTrigConvEdge_None;
ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_T1_CC1;
ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
ADC_InitStructure.ADC_NbrOfConversion = 1;
ADC_Init(ADC1, &ADC_InitStructure);
ADC_RegularChannelConfig(ADC1, ADC_CHANNEL, 1, ADC_SampleTime_3Cycles);
/* Enable ADC1 DMA */
ADC_DMACmd(ADC1, ENABLE);
/* ADC2 regular channel 12 configuration ************************************/
ADC_Init(ADC2, &ADC_InitStructure);
/* ADC2 regular channel12 configuration */
ADC_RegularChannelConfig(ADC2, ADC_CHANNEL, 1, ADC_SampleTime_3Cycles);
/* ADC3 regular channel 12 configuration ************************************/
ADC_Init(ADC3, &ADC_InitStructure);
/* ADC3 regular channel12 configuration */
ADC_RegularChannelConfig(ADC3, ADC_CHANNEL, 1, ADC_SampleTime_3Cycles);
/* Enable DMA request after last transfer (multi-ADC mode) ******************/
ADC_MultiModeDMARequestAfterLastTransferCmd(ENABLE);
/* Enable ADC1 **************************************************************/
ADC_Cmd(ADC1, ENABLE);
/* Enable ADC2 **************************************************************/
ADC_Cmd(ADC2, ENABLE);
/* Enable ADC3 **************************************************************/
ADC_Cmd(ADC3, ENABLE);
}
void USB_OTG_BSP_Init(USB_OTG_CORE_HANDLE *pdev)
{
#ifdef USE_STM3210C_EVAL
RCC_OTGFSCLKConfig(RCC_OTGFSCLKSource_PLLVCO_Div3);
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_OTG_FS, ENABLE) ;
#else // USE_STM322xG_EVAL
GPIO_InitTypeDef GPIO_InitStructure;
#ifdef USE_USB_OTG_FS
RCC_AHB1PeriphClockCmd( RCC_AHB1Periph_GPIOA , ENABLE);
/* Configure SOF ID DM DP Pins */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 |
GPIO_Pin_11 |
GPIO_Pin_12;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL ;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_PinAFConfig(GPIOA,GPIO_PinSource8,GPIO_AF_OTG1_FS) ;
GPIO_PinAFConfig(GPIOA,GPIO_PinSource11,GPIO_AF_OTG1_FS) ;
GPIO_PinAFConfig(GPIOA,GPIO_PinSource12,GPIO_AF_OTG1_FS) ;
/* Configure VBUS Pin */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
GPIO_InitStructure.GPIO_OType = GPIO_OType_OD;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL ;
GPIO_Init(GPIOA, &GPIO_InitStructure);
/* Configure ID pin */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;
GPIO_InitStructure.GPIO_OType = GPIO_OType_OD;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP ;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_PinAFConfig(GPIOA,GPIO_PinSource10,GPIO_AF_OTG1_FS) ;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG, ENABLE);
RCC_AHB2PeriphClockCmd(RCC_AHB2Periph_OTG_FS, ENABLE) ;
#else // USE_USB_OTG_HS
#ifdef USE_ULPI_PHY // ULPI
RCC_AHB1PeriphClockCmd( RCC_AHB1Periph_GPIOA | RCC_AHB1Periph_GPIOB |
RCC_AHB1Periph_GPIOC | RCC_AHB1Periph_GPIOH |
RCC_AHB1Periph_GPIOI, ENABLE);
GPIO_PinAFConfig(GPIOA,GPIO_PinSource3, GPIO_AF_OTG2_HS) ; // D0
GPIO_PinAFConfig(GPIOA,GPIO_PinSource5, GPIO_AF_OTG2_HS) ; // CLK
GPIO_PinAFConfig(GPIOB,GPIO_PinSource0, GPIO_AF_OTG2_HS) ; // D1
GPIO_PinAFConfig(GPIOB,GPIO_PinSource1, GPIO_AF_OTG2_HS) ; // D2
GPIO_PinAFConfig(GPIOB,GPIO_PinSource5, GPIO_AF_OTG2_HS) ; // D7
GPIO_PinAFConfig(GPIOB,GPIO_PinSource10,GPIO_AF_OTG2_HS) ; // D3
GPIO_PinAFConfig(GPIOB,GPIO_PinSource11,GPIO_AF_OTG2_HS) ; // D4
GPIO_PinAFConfig(GPIOB,GPIO_PinSource12,GPIO_AF_OTG2_HS) ; // D5
GPIO_PinAFConfig(GPIOB,GPIO_PinSource13,GPIO_AF_OTG2_HS) ; // D6
GPIO_PinAFConfig(GPIOH,GPIO_PinSource4, GPIO_AF_OTG2_HS) ; // NXT
GPIO_PinAFConfig(GPIOI,GPIO_PinSource11,GPIO_AF_OTG2_HS) ; // DIR
GPIO_PinAFConfig(GPIOC,GPIO_PinSource0, GPIO_AF_OTG2_HS) ; // STP
// CLK
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5 ;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_Init(GPIOA, &GPIO_InitStructure);
// D0
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3 ;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL ;
GPIO_Init(GPIOA, &GPIO_InitStructure);
// D1 D2 D3 D4 D5 D6 D7
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1 |
GPIO_Pin_5 | GPIO_Pin_10 |
GPIO_Pin_11| GPIO_Pin_12 |
GPIO_Pin_13 ;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL ;
GPIO_Init(GPIOB, &GPIO_InitStructure);
// STP
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 ;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_Init(GPIOC, &GPIO_InitStructure);
//NXT
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_Init(GPIOH, &GPIO_InitStructure);
//DIR
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11 ;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_Init(GPIOI, &GPIO_InitStructure);
RCC_AHB1PeriphClockCmd( RCC_AHB1Periph_OTG_HS |
RCC_AHB1Periph_OTG_HS_ULPI, ENABLE) ;
#else
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB , ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12 |
GPIO_Pin_14 |
GPIO_Pin_15;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_PinAFConfig(GPIOB,GPIO_PinSource12, GPIO_AF_OTG2_FS) ;
GPIO_PinAFConfig(GPIOB,GPIO_PinSource14,GPIO_AF_OTG2_FS) ;
GPIO_PinAFConfig(GPIOB,GPIO_PinSource15,GPIO_AF_OTG2_FS) ;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
GPIO_Init(GPIOB, &GPIO_InitStructure);
RCC_AHB1PeriphClockCmd( RCC_AHB1Periph_OTG_HS, ENABLE) ;
#endif
#endif //USB_OTG_HS
#endif //USE_STM322xG_EVAL
}
void LCD_SC_DeInit(void)
{
GPIO_Init(GPIO_PORT_COM0, GPIO_PIN_COM0, GPIO_Mode_Out_PP_Low_Fast);
GPIO_Init(GPIO_PORT_COM1, GPIO_PIN_COM1, GPIO_Mode_Out_PP_Low_Fast);
GPIO_Init(GPIO_PORT_COM2, GPIO_PIN_COM2, GPIO_Mode_Out_PP_Low_Fast);
GPIO_Init(GPIO_PORT_COM3, GPIO_PIN_COM3, GPIO_Mode_Out_PP_Low_Fast);
GPIO_Init(GPIO_PORT_S0, GPIO_PIN_S0, GPIO_Mode_Out_PP_Low_Fast);
GPIO_Init(GPIO_PORT_S1, GPIO_PIN_S1, GPIO_Mode_Out_PP_Low_Fast);
GPIO_Init(GPIO_PORT_S2, GPIO_PIN_S2, GPIO_Mode_Out_PP_Low_Fast);
GPIO_Init(GPIO_PORT_S3, GPIO_PIN_S3, GPIO_Mode_Out_PP_Low_Fast);
GPIO_Init(GPIO_PORT_S4, GPIO_PIN_S4, GPIO_Mode_Out_PP_Low_Fast);
GPIO_Init(GPIO_PORT_S5, GPIO_PIN_S5, GPIO_Mode_Out_PP_Low_Fast);
GPIO_Init(GPIO_PORT_S6, GPIO_PIN_S6, GPIO_Mode_Out_PP_Low_Fast);
GPIO_Init(GPIO_PORT_S7, GPIO_PIN_S7, GPIO_Mode_Out_PP_Low_Fast);
GPIO_Init(GPIO_PORT_S8, GPIO_PIN_S8, GPIO_Mode_Out_PP_Low_Fast);
GPIO_Init(GPIO_PORT_S9, GPIO_PIN_S9, GPIO_Mode_Out_PP_Low_Fast);
GPIO_Init(GPIO_PORT_S10, GPIO_PIN_S10, GPIO_Mode_Out_PP_Low_Fast);
GPIO_Init(GPIO_PORT_S11, GPIO_PIN_S11, GPIO_Mode_Out_PP_Low_Fast);
GPIO_Init(GPIO_PORT_S12, GPIO_PIN_S12, GPIO_Mode_Out_PP_Low_Fast);
GPIO_Init(GPIO_PORT_S13, GPIO_PIN_S13, GPIO_Mode_Out_PP_Low_Fast);
}
static void I2C_Initialize1()
{
I2C_InitTypeDef I2C_InitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_AHB1PeriphClockCmd(I2C1_DMA_CLK, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C1, ENABLE);
RCC_AHB1PeriphClockCmd(I2C1_GPIO_CLK, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG, ENABLE);
RCC_APB1PeriphResetCmd(RCC_APB1Periph_I2C1, ENABLE);
RCC_APB1PeriphResetCmd(RCC_APB1Periph_I2C1, DISABLE);
I2C_StructInit(&I2C_InitStructure);
I2C_InitStructure.I2C_Mode = I2C_Mode_I2C;
I2C_InitStructure.I2C_DutyCycle = I2C_DutyCycle_2;
I2C_InitStructure.I2C_OwnAddress1 = I2C1_OWN_ADDRESS;
I2C_InitStructure.I2C_Ack = I2C_Ack_Enable;
I2C_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
I2C_InitStructure.I2C_ClockSpeed = 100000;
I2C_Cmd(I2C1, ENABLE);
I2C_Init(I2C1, &I2C_InitStructure);
/* Initialize I2C1 on PB8 and PB9 */
GPIO_PinAFConfig(I2C1_SCL_PORT, I2C1_SCL_PIN_SOURCE, GPIO_AF_I2C1);
GPIO_PinAFConfig(I2C1_SDA_PORT, I2C1_SDA_PIN_SOURCE, GPIO_AF_I2C1);
GPIO_InitStructure.GPIO_Pin = I2C1_SCL_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = I2C1_SDA_PIN;
GPIO_Init(GPIOB, &GPIO_InitStructure);
DMA_ClearFlag(I2C1_DMA_STREAM_RX, I2C1_DMA_RX_FLAG_FEIF | I2C1_DMA_RX_FLAG_DMEIF | I2C1_DMA_RX_FLAG_TEIF |
I2C1_DMA_RX_FLAG_HTIF | I2C1_DMA_RX_FLAG_TCIF);
DMA_Cmd(I2C1_DMA_STREAM_RX, DISABLE);
DMA_DeInit(I2C1_DMA_STREAM_RX);
DMA_StructInit(&I2C1_DMA_InitStructure);
I2C1_DMA_InitStructure.DMA_Channel = I2C1_DMA_CHANNEL_RX;
I2C1_DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t) &(I2C1->DR);
I2C1_DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)0; /* This parameter will be configured durig communication */;
I2C1_DMA_InitStructure.DMA_DIR = DMA_DIR_MemoryToPeripheral; /* This parameter will be configured durig communication */
I2C1_DMA_InitStructure.DMA_BufferSize = 0xFFFF; /* This parameter will be configured durig communication */
I2C1_DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
I2C1_DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
I2C1_DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
I2C1_DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
I2C1_DMA_InitStructure.DMA_Mode = DMA_Mode_Normal;
I2C1_DMA_InitStructure.DMA_Priority = DMA_Priority_VeryHigh;
I2C1_DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Enable;
I2C1_DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_Full;
I2C1_DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
I2C1_DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
DMA_Init(I2C1_DMA_STREAM_RX, &I2C1_DMA_InitStructure);
DMA_ClearFlag(I2C1_DMA_STREAM_TX, I2C1_DMA_TX_FLAG_FEIF | I2C1_DMA_TX_FLAG_DMEIF | I2C1_DMA_TX_FLAG_TEIF |
I2C1_DMA_TX_FLAG_HTIF | I2C1_DMA_TX_FLAG_TCIF);
DMA_Cmd(I2C1_DMA_STREAM_TX, DISABLE);
DMA_DeInit(I2C1_DMA_STREAM_TX);
I2C1_DMA_InitStructure.DMA_Channel = I2C1_DMA_CHANNEL_TX;
DMA_Init(I2C1_DMA_STREAM_TX, &I2C1_DMA_InitStructure);
/* Setup interrupts */
NVIC_InitStructure.NVIC_IRQChannel = I2C1_DMA_RX_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = I2C1_DMA_PREPRIO;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = I2C1_DMA_SUBPRIO;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel = I2C1_DMA_TX_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = I2C1_DMA_PREPRIO;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = I2C1_DMA_SUBPRIO;
NVIC_Init(&NVIC_InitStructure);
/* Enable TC Interrupts */
DMA_ITConfig(I2C1_DMA_STREAM_TX, DMA_IT_TC, ENABLE);
DMA_ITConfig(I2C1_DMA_STREAM_RX, DMA_IT_TC, ENABLE);
I2C1_DMA_RX_Semaphore = 0;
I2C1_DMA_TX_Semaphore = 0;
}
void CONF_PWMIN(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
/* TIM2 clock enable */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
/* GPIOB clock enable */
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOC, ENABLE);
/* TIM2 chennel2 configuration : PA.01 */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP ;
GPIO_Init(GPIOC, &GPIO_InitStructure);
/* Connect TIM pin to AF1 */
GPIO_PinAFConfig(GPIOC, GPIO_PinSource7, GPIO_AF_2);
TIM_TimeBaseStructure.TIM_Prescaler = 360;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_Period = 65535;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
/* Enable the TIM2 global Interrupt */
NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
//////
TIM_ICInitStructure.TIM_Channel = TIM_Channel_2;
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
TIM_ICInitStructure.TIM_ICFilter = 0x0;
TIM_PWMIConfig(TIM3, &TIM_ICInitStructure);
/* Select the TIM2 Input Trigger: TI2FP2 */
TIM_SelectInputTrigger(TIM3, TIM_TS_TI2FP2);
/* Select the slave Mode: Reset Mode */
TIM_SelectSlaveMode(TIM3, TIM_SlaveMode_Reset);
TIM_SelectMasterSlaveMode(TIM3,TIM_MasterSlaveMode_Enable);
/* TIM enable counter */
TIM_Cmd(TIM3, ENABLE);
/* Enable the CC2 Interrupt Request */
TIM_ITConfig(TIM3, TIM_IT_CC2, ENABLE);
////TIM4
/* TIM2 clock enable */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
/* GPIOB clock enable */
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOD, ENABLE);
/* TIM2 chennel2 configuration : PA.01 */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP ;
GPIO_Init(GPIOD, &GPIO_InitStructure);
/* Connect TIM pin to AF1 */
GPIO_PinAFConfig(GPIOD, GPIO_PinSource13, GPIO_AF_2);
TIM_TimeBaseStructure.TIM_Prescaler = 360;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_Period = 65535;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
/* Enable the TIM2 global Interrupt */
NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
//////
TIM_ICInitStructure.TIM_Channel = TIM_Channel_2;
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
TIM_ICInitStructure.TIM_ICFilter = 0x0;
TIM_PWMIConfig(TIM4, &TIM_ICInitStructure);
/* Select the TIM2 Input Trigger: TI2FP2 */
TIM_SelectInputTrigger(TIM4, TIM_TS_TI2FP2);
/* Select the slave Mode: Reset Mode */
TIM_SelectSlaveMode(TIM4, TIM_SlaveMode_Reset);
TIM_SelectMasterSlaveMode(TIM4,TIM_MasterSlaveMode_Enable);
/* TIM enable counter */
TIM_Cmd(TIM4, ENABLE);
/* Enable the CC2 Interrupt Request */
TIM_ITConfig(TIM4, TIM_IT_CC2, ENABLE);
////TIM8
/* TIM2 clock enable */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8, ENABLE);
/* GPIOB clock enable */
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOC, ENABLE);
/* TIM2 chennel2 configuration : PA.01 */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP ;
GPIO_Init(GPIOC, &GPIO_InitStructure);
/* Connect TIM pin to AF1 */
GPIO_PinAFConfig(GPIOC, GPIO_PinSource6, GPIO_AF_4);
TIM_TimeBaseStructure.TIM_Prescaler = 360;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_Period = 65535;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseInit(TIM8, &TIM_TimeBaseStructure);
/* Enable the TIM2 global Interrupt */
NVIC_InitStructure.NVIC_IRQChannel = TIM8_BRK_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
//////
TIM_ICInitStructure.TIM_Channel = TIM_Channel_1;
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
TIM_ICInitStructure.TIM_ICFilter = 0x0;
TIM_PWMIConfig(TIM8, &TIM_ICInitStructure);
/* Select the TIM2 Input Trigger: TI2FP2 */
TIM_SelectInputTrigger(TIM8, TIM_TS_TI1FP1);
/* Select the slave Mode: Reset Mode */
TIM_SelectSlaveMode(TIM8, TIM_SlaveMode_Reset);
TIM_SelectMasterSlaveMode(TIM8,TIM_MasterSlaveMode_Enable);
/* TIM enable counter */
TIM_Cmd(TIM8, ENABLE);
/* Enable the CC2 Interrupt Request */
TIM_ITConfig(TIM8, TIM_IT_CC2, ENABLE);
}
static void LCD_FSMCConfig(void)
{
FSMC_NORSRAMInitTypeDef FSMC_NORSRAMInitStructure;
FSMC_NORSRAMTimingInitTypeDef Timing_read,Timing_write;
/* FSMC GPIO configure */
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOD | RCC_APB2Periph_GPIOE | RCC_APB2Periph_GPIOF
| RCC_APB2Periph_GPIOG, ENABLE);
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_FSMC, ENABLE);
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
/*
FSMC_D0 ~ FSMC_D3
PD14 FSMC_D0 PD15 FSMC_D1 PD0 FSMC_D2 PD1 FSMC_D3
*/
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_14 | GPIO_Pin_15;
GPIO_Init(GPIOD,&GPIO_InitStructure);
/*
FSMC_D4 ~ FSMC_D12
PE7 ~ PE15 FSMC_D4 ~ FSMC_D12
*/
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7 | GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10
| GPIO_Pin_11 | GPIO_Pin_12 | GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15;
GPIO_Init(GPIOE,&GPIO_InitStructure);
/* FSMC_D13 ~ FSMC_D15 PD8 ~ PD10 */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10;
GPIO_Init(GPIOD,&GPIO_InitStructure);
/*
FSMC_A0 ~ FSMC_A5 FSMC_A6 ~ FSMC_A9
PF0 ~ PF5 PF12 ~ PF15
*/
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3
| GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_12 | GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15;
GPIO_Init(GPIOF,&GPIO_InitStructure);
/* FSMC_A10 ~ FSMC_A15 PG0 ~ PG5 */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3 | GPIO_Pin_4 | GPIO_Pin_5;
GPIO_Init(GPIOG,&GPIO_InitStructure);
/* FSMC_A16 ~ FSMC_A18 PD11 ~ PD13 */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11 | GPIO_Pin_12 | GPIO_Pin_13;
GPIO_Init(GPIOD,&GPIO_InitStructure);
/* RD-PD4 WR-PD5 */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5;
GPIO_Init(GPIOD,&GPIO_InitStructure);
/* NBL0-PE0 NBL1-PE1 */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;
GPIO_Init(GPIOE,&GPIO_InitStructure);
/* NE1/NCE2 */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7;
GPIO_Init(GPIOD,&GPIO_InitStructure);
/* NE2 */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
GPIO_Init(GPIOG,&GPIO_InitStructure);
/* NE3 */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;
GPIO_Init(GPIOG,&GPIO_InitStructure);
/* NE4 */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
GPIO_Init(GPIOG,&GPIO_InitStructure);
}
/* FSMC GPIO configure */
/*-- FSMC Configuration -------------------------------------------------*/
FSMC_NORSRAMInitStructure.FSMC_ReadWriteTimingStruct = &Timing_read;
FSMC_NORSRAMInitStructure.FSMC_WriteTimingStruct = &Timing_write;
FSMC_NORSRAMStructInit(&FSMC_NORSRAMInitStructure);
Timing_read.FSMC_AddressSetupTime = 8; /* 地址建立时间 */
Timing_read.FSMC_AddressHoldTime = 8; /* 地址保持时间 */
Timing_read.FSMC_DataSetupTime = 8; /* 数据建立时间 */
Timing_read.FSMC_AccessMode = FSMC_AccessMode_A; /* FSMC 访问模式 */
Timing_write.FSMC_AddressSetupTime = 8; /* 地址建立时间 */
Timing_write.FSMC_AddressHoldTime = 8; /* 地址保持时间 */
Timing_write.FSMC_DataSetupTime = 8; /* 数据建立时间 */
Timing_write.FSMC_AccessMode = FSMC_AccessMode_A; /* FSMC 访问模式 */
/* Color LCD configuration ------------------------------------
LCD configured as follow:
- Data/Address MUX = Disable
- Memory Type = SRAM
- Data Width = 16bit
- Write Operation = Enable
- Extended Mode = Enable
- Asynchronous Wait = Disable */
FSMC_NORSRAMInitStructure.FSMC_Bank = FSMC_Bank1_NORSRAM2;
FSMC_NORSRAMInitStructure.FSMC_DataAddressMux = FSMC_DataAddressMux_Disable;
FSMC_NORSRAMInitStructure.FSMC_MemoryType = FSMC_MemoryType_SRAM;
FSMC_NORSRAMInitStructure.FSMC_MemoryDataWidth = FSMC_MemoryDataWidth_16b;
FSMC_NORSRAMInitStructure.FSMC_BurstAccessMode = FSMC_BurstAccessMode_Disable;
FSMC_NORSRAMInitStructure.FSMC_AsynchronousWait = FSMC_AsynchronousWait_Disable;
FSMC_NORSRAMInitStructure.FSMC_WaitSignalPolarity = FSMC_WaitSignalPolarity_Low;
FSMC_NORSRAMInitStructure.FSMC_WrapMode = FSMC_WrapMode_Disable;
FSMC_NORSRAMInitStructure.FSMC_WaitSignalActive = FSMC_WaitSignalActive_BeforeWaitState;
FSMC_NORSRAMInitStructure.FSMC_WriteOperation = FSMC_WriteOperation_Enable;
FSMC_NORSRAMInitStructure.FSMC_WaitSignal = FSMC_WaitSignal_Disable;
FSMC_NORSRAMInitStructure.FSMC_ExtendedMode = FSMC_ExtendedMode_Enable;
FSMC_NORSRAMInitStructure.FSMC_WriteBurst = FSMC_WriteBurst_Disable;
FSMC_NORSRAMInit(&FSMC_NORSRAMInitStructure);
FSMC_NORSRAMCmd(FSMC_Bank1_NORSRAM2, ENABLE);
}
void CONF_TIMERS(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_AHBPeriphClockCmd( RCC_AHBPeriph_GPIOA | RCC_AHBPeriph_GPIOB| RCC_AHBPeriph_GPIOE, ENABLE);
/* GPIOA Configuration: Channel 1, 2, 3 and 4 as alternate function push-pull */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9 | GPIO_Pin_11 | GPIO_Pin_13 | GPIO_Pin_14;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP ;
GPIO_Init(GPIOE, &GPIO_InitStructure);
GPIO_PinAFConfig(GPIOE, GPIO_PinSource9, GPIO_AF_2);
GPIO_PinAFConfig(GPIOE, GPIO_PinSource11, GPIO_AF_2);
GPIO_PinAFConfig(GPIOE, GPIO_PinSource13, GPIO_AF_2);
GPIO_PinAFConfig(GPIOE, GPIO_PinSource14, GPIO_AF_2);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1 , ENABLE);
TIM_TimeBaseStructure.TIM_Prescaler = 10;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_CenterAligned1;
TIM_TimeBaseStructure.TIM_Period = 60000;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;
TIM_OCInitStructure.TIM_Pulse = 3400;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Reset;
TIM_OC1Init(TIM1, &TIM_OCInitStructure);
TIM_OCInitStructure.TIM_Pulse = 3400;
TIM_OC2Init(TIM1, &TIM_OCInitStructure);
TIM_OCInitStructure.TIM_Pulse = 3400;
TIM_OC3Init(TIM1, &TIM_OCInitStructure);
TIM_OCInitStructure.TIM_Pulse = 3400;
TIM_OC4Init(TIM1, &TIM_OCInitStructure);
TIM_Cmd(TIM1, ENABLE);
TIM_CtrlPWMOutputs(TIM1, ENABLE);
////////////////////////////////////////////////////////////////////////////////////
/* TIM2 clock enable */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
/* GPIOB clock enable */
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOA, ENABLE);
/* TIM2 chennel2 configuration : PA.01 */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP ;
GPIO_Init(GPIOA, &GPIO_InitStructure);
/* Connect TIM pin to AF1 */
GPIO_PinAFConfig(GPIOA, GPIO_PinSource1, GPIO_AF_1);
TIM_TimeBaseStructure.TIM_Prescaler = 360;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_Period = 65535;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
/* Enable the TIM2 global Interrupt */
NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
//////
TIM_ICInitStructure.TIM_Channel = TIM_Channel_2;
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
TIM_ICInitStructure.TIM_ICFilter = 0x0;
TIM_PWMIConfig(TIM2, &TIM_ICInitStructure);
/* Select the TIM2 Input Trigger: TI2FP2 */
TIM_SelectInputTrigger(TIM2, TIM_TS_TI2FP2);
/* Select the slave Mode: Reset Mode */
TIM_SelectSlaveMode(TIM2, TIM_SlaveMode_Reset);
TIM_SelectMasterSlaveMode(TIM2,TIM_MasterSlaveMode_Enable);
/* TIM enable counter */
TIM_Cmd(TIM2, ENABLE);
/* Enable the CC2 Interrupt Request */
TIM_ITConfig(TIM2, TIM_IT_CC2, ENABLE);
}
int main(void)
{
int scope1dt,scope1t,scope1s,scope1d,scope1j;
int scope2dt,scope2t,scope2s,scope2d,scope2j;
char znakr;
char znak;
GPIO_InitTypeDef GPIO_str;
uint8_t ii;
uint8_t i = 0;
/* SysTick end of count event each 0,01ms 0,00001*/// 0,01ms -100000
RCC_GetClocksFreq(&RCC_Clocks);
SysTick_Config(RCC_Clocks.HCLK_Frequency / 100000);
/* Accelerometer Configuration */
Acc_Config();
Demo_GyroConfig();
ii = SystemCoreClock; /* This is a way to read the System core clock */
CONF_TIMERS();
CONF_PWMIN();
confI2C();
while(1)
I2C_start();
/////////// Przyciski
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOB, ENABLE);
GPIO_str.GPIO_Pin= GPIO_Pin_4 | GPIO_Pin_5;
GPIO_str.GPIO_Mode=GPIO_Mode_IN;
GPIO_str.GPIO_PuPd=GPIO_PuPd_UP;
GPIO_str.GPIO_Speed=GPIO_Speed_50MHz;
GPIO_Init(GPIOB,&GPIO_str);
ii = 0;
USART2_Init(115200);
GPIO_SetBits(GPIOD, GPIO_Pin_0);
LEFT =3400;
RIGHT=3400;
FRONT=3400;
REAR=3400;
//delay_ms(4000);
while (1)
{
esf=SystemCoreClock/360/(TIM2->CCR2);
esd = (TIM2->CCR1*100);///(TIM2->CCR2);
throttle=(int)(esd*32.0/156.0-1236.0);
esf3=SystemCoreClock/360/(TIM3->CCR2);
if(throttle>6600)
throttle=3400;
esd3 = (TIM3->CCR1*100);///(TIM3->CCR2);
pitch_zadany=(float)(-6.0*esd3/1800.0+100.0)+0.0;
if(pitch_zadany>40 || pitch_zadany<-40)
pitch_zadany=0;
esd4 = (TIM4->CCR1*100);
roll_zadany=(float)(-6.0*esd4/1800.0+100.0);
if(roll_zadany>40 || roll_zadany<-40)
roll_zadany=0;
//esd5 =(TIM8->CCR2*100)/TIM8->CCR1;
//yaw_zadany=(float)(-6.0*esd5/1800.0+100.0);
//if(GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_5)==0)
//flaga=0;
//IMU///////////////////////////////////////////////////////
Acc_ReadData(AccBuffer);
for(i=0;i<3;i++)
AccBuffer[i] /= 100.0f;
acc_x=AccBuffer[0];
acc_y=AccBuffer[1];
acc_z=AccBuffer[2];
Demo_GyroReadAngRate(Buffer);
gyr_x=Buffer[0];
gyr_y=Buffer[1];
gyr_z=Buffer[2];
MadgwickAHRSupdateIMU( -gyr_y*0.01745, gyr_x*0.01745, gyr_z*0.01745, acc_x, acc_y, acc_z);
roll=180/PI*atan2(2*(q2*q3+q0*q1),1-2*(q1*q1+q2*q2));//(q0*q0-q1*q1-q2*q2+q3*q3));
pitch=180/PI*asin(-2*(q1*q3-q0*q2));
yaw=180/PI*atan2(2*(q1*q2+q0*q3),(1-2*(q3*q3+q2*q2)));
scope1=PIDY*1000;//niebieski
scope2=yaw*1000;//czerwony
if(scope1>0)
znak='+';
else
znak='-';
if(scope2>0)
znakr='+';
else
znakr='-';
scope1=abs(scope1);
scope2=abs(scope2);
CZAS_S=(float)CZAS/100000.0;
CZAS=0;
scope1dt=scope1/10000;
scope1t=scope1/1000-scope1dt*10;
scope1s=scope1/100-scope1dt*100-scope1t*10;
scope1d=scope1/10-scope1dt*1000-scope1t*100-scope1s*10;
scope1j=scope1-scope1dt*10000-scope1t*1000-scope1s*100-scope1d*10;
scope2dt=scope2/10000;
scope2t=scope2/1000-scope2dt*10;
scope2s=scope2/100-scope2dt*100-scope2t*10;
scope2d=scope2/10-scope2dt*1000-scope2t*100-scope2s*10;
scope2j=scope2-scope2dt*10000-scope2t*1000-scope2s*100-scope2d*10;
printf("%c%d%d%d%d%d %c%d%d%d%d%d\r\n",znak,scope1dt,scope1t,scope1s,scope1d,scope1j,znakr,scope2dt,scope2t,scope2s,scope2d,scope2j);
/*PIDY=-PIDyawrate(yaw_zadany, yaw);
rollratezadane=PIDroll(roll_zadany, roll);
PIDR=PIDrollrate(rollratezadane, -gyr_y);
speedLeft=(int)((float)throttle+PIDR-PIDY);//throttle+PIDR;
speedRight=(int)((float)throttle-PIDR-PIDY);
pitchratezadane=PIDpitch(pitch_zadany, pitch);
PIDP=PIDpitchrate(pitchratezadane, gyr_x);//float PIDpitchrollrate(float zadana, float aktualna)
speedFront=(int)((float)throttle-PIDP+PIDY);
speedRear=(int)((float)throttle+PIDP+PIDY);
*/
if(speedFront>speedmax)
speedFront=speedmax;
else if(speedFront<speedmin)
speedFront=speedmin;
else
;
if(speedRear>speedmax)
speedRear=speedmax;
else if(speedRear<speedmin)
speedRear=speedmin;
else
;
if(speedLeft>speedmax)
speedLeft=speedmax;
else if(speedLeft<speedmin)
speedLeft=speedmin;
else
;
if(speedRight>speedmax)
speedRight=speedmax;
else if(speedRight<speedmin)
speedRight=speedmin;
else
;
if(throttle>3450)
{
LEFT =(int)speedLeft;
RIGHT=(int)speedRight;
FRONT=3400;//(int)speedFront;
REAR=3400;//(int)speedRear;
}
else
{
LEFT =3400;
RIGHT=3400;
FRONT=3400;
REAR=3400;
}
}
return 0;
}
void main(void)
{
//CFG->GCR |= 0x01; //disable swim pin
/* Configure the Fcpu to DIV1*/
CLK_SYSCLKConfig(CLK_PRESCALER_CPUDIV1);
/* select Clock = 16 MHz */
CLK_SYSCLKConfig(CLK_PRESCALER_HSIDIV1);
/* Configure the system clock to use HSI clock source and to run at 16Mhz */
CLK_ClockSwitchConfig(CLK_SWITCHMODE_AUTO, CLK_SOURCE_HSI, DISABLE, CLK_CURRENTCLOCKSTATE_DISABLE);
CLK_HSIPrescalerConfig(CLK_PRESCALER_HSIDIV1);
CLK_HSICmd(ENABLE);
FLASH_Config();
EXTI_DeInit();
//You should add:
// Define FLASH programming time
//FLASH_SetProgrammingTime(FLASH_PROGRAMTIME_STANDARD);
//optbyte1 = FLASH_ReadOptionByte(0x4803); //255 by def
//optbyte2 = FLASH_ReadOptionByte(0x4804); //255 by def
/*
if (optbyte != 765)
{
FLASH_Unlock(FLASH_MEMTYPE_DATA); // unlock data memory by passing the RASS key in the proper order
FLASH_ProgramOptionByte(0x4803, 0xFD); // byte OPT2 resides at address x4803, write a 1 to bit 7. This will also write to the NOPT2 complement byte
FLASH_Lock(FLASH_MEMTYPE_DATA); // re-lock data memory
}
*/
//General purpose timer
TIM4_Config();
#ifdef DFS_90
HotAir_Config();
#endif
#ifndef DFS_90
GPIO_Init(CONTROL_GPIO_PORT, CONTROL_GPIO_PIN, GPIO_MODE_OUT_PP_LOW_FAST);
#endif
Temperature_ADC_Config();
STM_EVAL_SEGInit(SEG1);
STM_EVAL_SEGInit(SEG2);
STM_EVAL_SEGInit(SEG3);
STM_EVAL_LEDInit(LEDA);
STM_EVAL_LEDInit(LEDB);
STM_EVAL_LEDInit(LEDC);
STM_EVAL_LEDInit(LEDD);
STM_EVAL_LEDInit(LEDE);
STM_EVAL_LEDInit(LEDF);
STM_EVAL_LEDInit(LEDG);
STM_EVAL_LEDInit(LEDP);
#ifndef SOLDERING_VAR2
//STM_EVAL_LEDInit(LEDP);
#endif
// STM_EVAL_SEGOn(SEG1);
// STM_EVAL_SEGOn(SEG2);
// STM_EVAL_SEGOn(SEG3);
//
// STM_EVAL_LEDOn(LEDA);
// STM_EVAL_LEDOn(LEDB);
// STM_EVAL_LEDOn(LEDC);
// STM_EVAL_LEDOn(LEDD);
// STM_EVAL_LEDOn(LEDE);
// STM_EVAL_LEDOn(LEDF);
// STM_EVAL_LEDOn(LEDG);
//
// STM_EVAL_LEDOff(LEDA);
// STM_EVAL_LEDOff(LEDB);
// STM_EVAL_LEDOff(LEDC);
// STM_EVAL_LEDOff(LEDD);
// STM_EVAL_LEDOff(LEDE);
// STM_EVAL_LEDOff(LEDF);
// STM_EVAL_LEDOff(LEDG);
// STM_EVAL_LEDOff(LEDP);
//
// STM_EVAL_SEGOff(SEG1);
// STM_EVAL_SEGOff(SEG2);
// STM_EVAL_SEGOff(SEG3);
//STM_EVAL_LEDOn(LEDP);
//GPIO_Init(ENC_DN_BUTTON_PORT, ENC_DN_BUTTON_PIN, GPIO_MODE_IN_PU_NO_IT);
//GPIO_Init(ENC_UP_BUTTON_PORT, ENC_UP_BUTTON_PIN, GPIO_MODE_IN_PU_NO_IT);
STM_EVAL_PBInit(BUTTON_KEY, BUTTON_MODE_GPIO);
STM_EVAL_PBInit(BUTTON_UP, BUTTON_MODE_GPIO);
STM_EVAL_PBInit(BUTTON_DOWN, BUTTON_MODE_GPIO);
STM_EVAL_PBInit(BUTTON_REED, BUTTON_MODE_GPIO);
ssegInit();
ssegWriteStr("1.0.1", 5, SEG1);
enableInterrupts();
#ifdef DFS_90
HotAir_Main();
#endif
#ifdef SOLDERING_HAKKO_A1321
Soldering_Main();
#endif
while(1)
{
/*
#if 0
for (level = 0; level < calUpperLimit; level +=5)
{
Delayms(1);
}
for (level = calUpperLimit; level > 0; level -=5)
{
Delayms(1);
}
#else
RawData = GetAdcValue(ADC_SOLDER_TEMP_CHANNEL);
SmoothData = SmoothData - (LPF_Beta * (SmoothData - RawData));
level = ((int)SmoothData)*26;
#endif
*/
}
}
void GPIO_Config(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
/*************************************/
/*!< SD_SPI_CS_GPIO, SD_SPI_MOSI_GPIO, SD_SPI_MISO_GPIO, SD_SPI_DETECT_GPIO
and SD_SPI_SCK_GPIO Periph clock enable */
RCC_AHBPeriphClockCmd(SD_CS_GPIO_CLK | SD_SPI_MOSI_GPIO_CLK | SD_SPI_MISO_GPIO_CLK |
SD_SPI_SCK_GPIO_CLK | SD_DETECT_GPIO_CLK, ENABLE);
/*!< SD_SPI Periph clock enable */
RCC_APB2PeriphClockCmd(SD_SPI_CLK, ENABLE);
/*!< Configure SD_SPI pins: SCK */
GPIO_InitStructure.GPIO_Pin = SD_SPI_SCK_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_40MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(SD_SPI_SCK_GPIO_PORT, &GPIO_InitStructure);
/*!< Configure SD_SPI pins: MISO */
GPIO_InitStructure.GPIO_Pin = SD_SPI_MISO_PIN;
GPIO_Init(SD_SPI_MISO_GPIO_PORT, &GPIO_InitStructure);
/*!< Configure SD_SPI pins: MOSI */
GPIO_InitStructure.GPIO_Pin = SD_SPI_MOSI_PIN;
GPIO_Init(SD_SPI_MOSI_GPIO_PORT, &GPIO_InitStructure);
/*!< Configure SD_SPI_CS_PIN pin: SD Card CS pin */
GPIO_InitStructure.GPIO_Pin = SD_CS_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_40MHz;
GPIO_Init(SD_CS_GPIO_PORT, &GPIO_InitStructure);
/*!< Configure SD_SPI_DETECT_PIN pin: SD Card detect pin */
GPIO_InitStructure.GPIO_Pin = SD_DETECT_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(SD_DETECT_GPIO_PORT, &GPIO_InitStructure);
/* Connect PXx to SD_SPI_SCK */
GPIO_PinAFConfig(SD_SPI_SCK_GPIO_PORT, SD_SPI_SCK_SOURCE, SD_SPI_SCK_AF);
/* Connect PXx to SD_SPI_MISO */
GPIO_PinAFConfig(SD_SPI_MISO_GPIO_PORT, SD_SPI_MISO_SOURCE, SD_SPI_MISO_AF);
/* Connect PXx to SD_SPI_MOSI */
GPIO_PinAFConfig(SD_SPI_MOSI_GPIO_PORT, SD_SPI_MOSI_SOURCE, SD_SPI_MOSI_AF);
/**************************************/
/* MCO config */
//RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOA, ENABLE);
//GPIO_PinAFConfig(GPIOA, GPIO_PinSource8, GPIO_AF_MCO);
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOA, ENABLE);
/* Output clock on MCO pin ---------------------------------------------*/
/*
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_40MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(GPIOA, &GPIO_InitStructure);
// pick one of the clocks to spew
//RCC_MCOConfig(RCC_MCOSource_SYSCLK); // Put on MCO pin the: System clock selected
RCC_MCOConfig(RCC_MCOSource_PLLCLK,RCC_MCODiv_1);
*/
}
/*..........................................................................*/
uint8_t QS_onStartup(void const *arg) {
static uint8_t qsBuf[QS_BUF_SIZE]; /* buffer for Quantum Spy */
QS_initBuf(qsBuf, sizeof(qsBuf));
/* enable USART2 and GPIOA/AFIO clocks */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO,
ENABLE);
GPIO_PinRemapConfig(GPIO_Remap_USART2, ENABLE);
/* configure GPIOD.5 as push-pull... */
GPIO_InitTypeDef gpio_init;
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);
USART_InitTypeDef usart_init;
usart_init.USART_BaudRate = QS_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_Tx;
USART_Init(USART2, &usart_init);
USART_ClockInitTypeDef usart_clk_init;
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;
USART_ClockInit(USART2, &usart_clk_init);
USART_Cmd(USART2, ENABLE); /* enable USART2 */
QS_tickPeriod_ = (QSTimeCtr)(SystemFrequency_SysClk / BSP_TICKS_PER_SEC);
QS_tickTime_ = QS_tickPeriod_; /* to start the timestamp at zero */
/* setup the QS filters... */
QS_FILTER_ON(QS_ALL_RECORDS);
// QS_FILTER_OFF(QS_QEP_STATE_EMPTY);
// QS_FILTER_OFF(QS_QEP_STATE_ENTRY);
// QS_FILTER_OFF(QS_QEP_STATE_EXIT);
// QS_FILTER_OFF(QS_QEP_STATE_INIT);
// QS_FILTER_OFF(QS_QEP_INIT_TRAN);
// QS_FILTER_OFF(QS_QEP_INTERN_TRAN);
// QS_FILTER_OFF(QS_QEP_TRAN);
// QS_FILTER_OFF(QS_QEP_IGNORED);
QS_FILTER_OFF(QS_QF_ACTIVE_ADD);
QS_FILTER_OFF(QS_QF_ACTIVE_REMOVE);
QS_FILTER_OFF(QS_QF_ACTIVE_SUBSCRIBE);
QS_FILTER_OFF(QS_QF_ACTIVE_UNSUBSCRIBE);
QS_FILTER_OFF(QS_QF_ACTIVE_POST_FIFO);
QS_FILTER_OFF(QS_QF_ACTIVE_POST_LIFO);
QS_FILTER_OFF(QS_QF_ACTIVE_GET);
QS_FILTER_OFF(QS_QF_ACTIVE_GET_LAST);
QS_FILTER_OFF(QS_QF_EQUEUE_INIT);
QS_FILTER_OFF(QS_QF_EQUEUE_POST_FIFO);
QS_FILTER_OFF(QS_QF_EQUEUE_POST_LIFO);
QS_FILTER_OFF(QS_QF_EQUEUE_GET);
QS_FILTER_OFF(QS_QF_EQUEUE_GET_LAST);
QS_FILTER_OFF(QS_QF_MPOOL_INIT);
QS_FILTER_OFF(QS_QF_MPOOL_GET);
QS_FILTER_OFF(QS_QF_MPOOL_PUT);
QS_FILTER_OFF(QS_QF_PUBLISH);
QS_FILTER_OFF(QS_QF_NEW);
QS_FILTER_OFF(QS_QF_GC_ATTEMPT);
QS_FILTER_OFF(QS_QF_GC);
// QS_FILTER_OFF(QS_QF_TICK);
QS_FILTER_OFF(QS_QF_TIMEEVT_ARM);
QS_FILTER_OFF(QS_QF_TIMEEVT_AUTO_DISARM);
QS_FILTER_OFF(QS_QF_TIMEEVT_DISARM_ATTEMPT);
QS_FILTER_OFF(QS_QF_TIMEEVT_DISARM);
QS_FILTER_OFF(QS_QF_TIMEEVT_REARM);
QS_FILTER_OFF(QS_QF_TIMEEVT_POST);
QS_FILTER_OFF(QS_QF_CRIT_ENTRY);
QS_FILTER_OFF(QS_QF_CRIT_EXIT);
QS_FILTER_OFF(QS_QF_ISR_ENTRY);
QS_FILTER_OFF(QS_QF_ISR_EXIT);
// QS_FILTER_OFF(QS_QK_MUTEX_LOCK);
// QS_FILTER_OFF(QS_QK_MUTEX_UNLOCK);
QS_FILTER_OFF(QS_QK_SCHEDULE);
return (uint8_t)1; /* return success */
}
/**
* @brief Configures the FSMC and GPIOs to interface with the NAND memory.
* This function must be called before any write/read operation on the
* NAND.
* @param None
* @retval None
*/
void NAND_Init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
FSMC_NAND_PCCARDTimingInitTypeDef p;
FSMC_NANDInitTypeDef FSMC_NANDInitStructure;
/*FSMC总线使用的GPIO组时钟使能*/
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD | RCC_AHB1Periph_GPIOG | RCC_AHB1Periph_GPIOE |
RCC_AHB1Periph_GPIOF, ENABLE);
//RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG, ENABLE);
RCC_AHB3PeriphClockCmd(RCC_AHB3Periph_FSMC, ENABLE);
/*FSMC CLE, ALE, D0->D3, NOE, NWE and NCE2初始化，推挽复用输出*/
/* GPIOD configuration */
GPIO_PinAFConfig(GPIOD, GPIO_PinSource0, GPIO_AF_FSMC);
GPIO_PinAFConfig(GPIOD, GPIO_PinSource1, GPIO_AF_FSMC);
GPIO_PinAFConfig(GPIOD, GPIO_PinSource4, GPIO_AF_FSMC);
GPIO_PinAFConfig(GPIOD, GPIO_PinSource5, GPIO_AF_FSMC);
GPIO_PinAFConfig(GPIOD, GPIO_PinSource6, GPIO_AF_FSMC);
GPIO_PinAFConfig(GPIOD, GPIO_PinSource7, GPIO_AF_FSMC);
GPIO_PinAFConfig(GPIOD, GPIO_PinSource8, GPIO_AF_FSMC);
GPIO_PinAFConfig(GPIOD, GPIO_PinSource9, GPIO_AF_FSMC);
GPIO_PinAFConfig(GPIOD, GPIO_PinSource10, GPIO_AF_FSMC);
GPIO_PinAFConfig(GPIOD, GPIO_PinSource11, GPIO_AF_FSMC);
GPIO_PinAFConfig(GPIOD, GPIO_PinSource12, GPIO_AF_FSMC);
GPIO_PinAFConfig(GPIOD, GPIO_PinSource13, GPIO_AF_FSMC);
GPIO_PinAFConfig(GPIOD, GPIO_PinSource14, GPIO_AF_FSMC);
GPIO_PinAFConfig(GPIOD, GPIO_PinSource15, GPIO_AF_FSMC);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_6 |
GPIO_Pin_7 | GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10 | GPIO_Pin_11 |
GPIO_Pin_12 | GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(GPIOD, &GPIO_InitStructure);
/* GPIOE configuration */
GPIO_PinAFConfig(GPIOE, GPIO_PinSource0 , GPIO_AF_FSMC);
GPIO_PinAFConfig(GPIOE, GPIO_PinSource1 , GPIO_AF_FSMC);
GPIO_PinAFConfig(GPIOE, GPIO_PinSource2 , GPIO_AF_FSMC);
GPIO_PinAFConfig(GPIOE, GPIO_PinSource3 , GPIO_AF_FSMC);
GPIO_PinAFConfig(GPIOE, GPIO_PinSource4 , GPIO_AF_FSMC);
GPIO_PinAFConfig(GPIOE, GPIO_PinSource5 , GPIO_AF_FSMC);
GPIO_PinAFConfig(GPIOE, GPIO_PinSource6 , GPIO_AF_FSMC);
GPIO_PinAFConfig(GPIOE, GPIO_PinSource7 , GPIO_AF_FSMC);
GPIO_PinAFConfig(GPIOE, GPIO_PinSource8 , GPIO_AF_FSMC);
GPIO_PinAFConfig(GPIOE, GPIO_PinSource9 , GPIO_AF_FSMC);
GPIO_PinAFConfig(GPIOE, GPIO_PinSource10 , GPIO_AF_FSMC);
GPIO_PinAFConfig(GPIOE, GPIO_PinSource11 , GPIO_AF_FSMC);
GPIO_PinAFConfig(GPIOE, GPIO_PinSource12 , GPIO_AF_FSMC);
GPIO_PinAFConfig(GPIOE, GPIO_PinSource13 , GPIO_AF_FSMC);
GPIO_PinAFConfig(GPIOE, GPIO_PinSource14 , GPIO_AF_FSMC);
GPIO_PinAFConfig(GPIOE, GPIO_PinSource15 , GPIO_AF_FSMC);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3 |
GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_6 | GPIO_Pin_7 |
GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10 | GPIO_Pin_11|
GPIO_Pin_12 | GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15;
GPIO_Init(GPIOE, &GPIO_InitStructure);
/* GPIOF configuration */
GPIO_PinAFConfig(GPIOF, GPIO_PinSource0 , GPIO_AF_FSMC);
GPIO_PinAFConfig(GPIOF, GPIO_PinSource1 , GPIO_AF_FSMC);
GPIO_PinAFConfig(GPIOF, GPIO_PinSource2 , GPIO_AF_FSMC);
GPIO_PinAFConfig(GPIOF, GPIO_PinSource3 , GPIO_AF_FSMC);
GPIO_PinAFConfig(GPIOF, GPIO_PinSource4 , GPIO_AF_FSMC);
GPIO_PinAFConfig(GPIOF, GPIO_PinSource5 , GPIO_AF_FSMC);
GPIO_PinAFConfig(GPIOF, GPIO_PinSource12 , GPIO_AF_FSMC);
GPIO_PinAFConfig(GPIOF, GPIO_PinSource13 , GPIO_AF_FSMC);
GPIO_PinAFConfig(GPIOF, GPIO_PinSource14 , GPIO_AF_FSMC);
GPIO_PinAFConfig(GPIOF, GPIO_PinSource15 , GPIO_AF_FSMC);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3 |
GPIO_Pin_4 | GPIO_Pin_5 |
GPIO_Pin_12 | GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15;
GPIO_Init(GPIOF, &GPIO_InitStructure);
/* GPIOG configuration */
GPIO_PinAFConfig(GPIOG, GPIO_PinSource0 , GPIO_AF_FSMC);
GPIO_PinAFConfig(GPIOG, GPIO_PinSource1 , GPIO_AF_FSMC);
GPIO_PinAFConfig(GPIOG, GPIO_PinSource2 , GPIO_AF_FSMC);
GPIO_PinAFConfig(GPIOG, GPIO_PinSource3 , GPIO_AF_FSMC);
GPIO_PinAFConfig(GPIOG, GPIO_PinSource4 , GPIO_AF_FSMC);
GPIO_PinAFConfig(GPIOG, GPIO_PinSource5 , GPIO_AF_FSMC);
GPIO_PinAFConfig(GPIOG, GPIO_PinSource9 , GPIO_AF_FSMC);
GPIO_PinAFConfig(GPIOG, GPIO_PinSource10 , GPIO_AF_FSMC);
GPIO_PinAFConfig(GPIOG, GPIO_PinSource12 , GPIO_AF_FSMC);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3 |
GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_9 | GPIO_Pin_10 |
GPIO_Pin_12 ;
GPIO_Init(GPIOG, &GPIO_InitStructure);
/*--------------FSMC 总线 存储器参数配置------------------------------*/
p.FSMC_SetupTime = 0x0; //建立时间
p.FSMC_WaitSetupTime = 0x4; //等待时间
p.FSMC_HoldSetupTime = 0x2; //保持时间
p.FSMC_HiZSetupTime = 0x0; //高阻建立时间
FSMC_NANDInitStructure.FSMC_Bank = FSMC_Bank2_NAND; //使用FSMC BANK2
FSMC_NANDInitStructure.FSMC_Waitfeature = FSMC_Waitfeature_Enable; //使能FSMC的等待功能
FSMC_NANDInitStructure.FSMC_MemoryDataWidth = FSMC_MemoryDataWidth_8b; //NAND Flash的数据宽度为8位
FSMC_NANDInitStructure.FSMC_ECC = FSMC_ECC_Enable; //使能ECC特性
FSMC_NANDInitStructure.FSMC_ECCPageSize = FSMC_ECCPageSize_2048Bytes; //ECC页大小2048
FSMC_NANDInitStructure.FSMC_TCLRSetupTime = 0x00;
FSMC_NANDInitStructure.FSMC_TARSetupTime = 0x00;
FSMC_NANDInitStructure.FSMC_CommonSpaceTimingStruct = &p;
FSMC_NANDInitStructure.FSMC_AttributeSpaceTimingStruct = &p;
FSMC_NANDInit(&FSMC_NANDInitStructure);
/*!使能FSMC BANK2 */
FSMC_NANDCmd(FSMC_Bank2_NAND, ENABLE);
}
void PIOS_Board_Init(void)
{
/* Delay system */
PIOS_DELAY_Init();
const struct pios_board_info *bdinfo = &pios_board_info_blob;
#if defined(PIOS_INCLUDE_LED)
const struct pios_led_cfg *led_cfg = PIOS_BOARD_HW_DEFS_GetLedCfg(bdinfo->board_rev);
PIOS_Assert(led_cfg);
PIOS_LED_Init(led_cfg);
#endif /* PIOS_INCLUDE_LED */
/* Set up the SPI interface to the gyro/acelerometer */
if (PIOS_SPI_Init(&pios_spi_gyro_id, &pios_spi_gyro_cfg)) {
PIOS_DEBUG_Assert(0);
}
/* Set up the SPI interface to the flash and rfm22b */
if (PIOS_SPI_Init(&pios_spi_telem_flash_id, &pios_spi_telem_flash_cfg)) {
PIOS_DEBUG_Assert(0);
}
#if defined(PIOS_INCLUDE_FLASH)
/* Connect flash to the appropriate interface and configure it */
uintptr_t flash_id;
// Initialize the external USER flash
if (PIOS_Flash_Jedec_Init(&flash_id, pios_spi_telem_flash_id, 1)) {
PIOS_DEBUG_Assert(0);
}
if (PIOS_FLASHFS_Logfs_Init(&pios_uavo_settings_fs_id, &flashfs_external_system_cfg, &pios_jedec_flash_driver, flash_id)) {
PIOS_DEBUG_Assert(0);
}
if (PIOS_FLASHFS_Logfs_Init(&pios_user_fs_id, &flashfs_external_user_cfg, &pios_jedec_flash_driver, flash_id)) {
PIOS_DEBUG_Assert(0);
}
#endif /* if defined(PIOS_INCLUDE_FLASH) */
#if defined(PIOS_INCLUDE_RTC)
PIOS_RTC_Init(&pios_rtc_main_cfg);
#endif
/* IAP System Setup */
PIOS_IAP_Init();
// check for safe mode commands from gcs
if (PIOS_IAP_ReadBootCmd(0) == PIOS_IAP_CLEAR_FLASH_CMD_0 &&
PIOS_IAP_ReadBootCmd(1) == PIOS_IAP_CLEAR_FLASH_CMD_1 &&
PIOS_IAP_ReadBootCmd(2) == PIOS_IAP_CLEAR_FLASH_CMD_2) {
PIOS_FLASHFS_Format(pios_uavo_settings_fs_id);
PIOS_IAP_WriteBootCmd(0, 0);
PIOS_IAP_WriteBootCmd(1, 0);
PIOS_IAP_WriteBootCmd(2, 0);
}
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_Init();
#endif
/* Initialize the task monitor */
if (PIOS_TASK_MONITOR_Initialize(TASKINFO_RUNNING_NUMELEM)) {
PIOS_Assert(0);
}
/* Initialize UAVObject libraries */
EventDispatcherInitialize();
UAVObjInitialize();
HwSettingsInitialize();
#if defined(PIOS_INCLUDE_RFM22B)
OPLinkSettingsInitialize();
OPLinkStatusInitialize();
#endif /* PIOS_INCLUDE_RFM22B */
/* Initialize the alarms library */
AlarmsInitialize();
/* Initialize the delayed callback library */
CallbackSchedulerInitialize();
/* Set up pulse timers */
PIOS_TIM_InitClock(&tim_1_cfg);
PIOS_TIM_InitClock(&tim_3_cfg);
PIOS_TIM_InitClock(&tim_4_cfg);
PIOS_TIM_InitClock(&tim_5_cfg);
PIOS_TIM_InitClock(&tim_8_cfg);
PIOS_TIM_InitClock(&tim_9_cfg);
PIOS_TIM_InitClock(&tim_10_cfg);
PIOS_TIM_InitClock(&tim_11_cfg);
PIOS_TIM_InitClock(&tim_12_cfg);
uint16_t boot_count = PIOS_IAP_ReadBootCount();
if (boot_count < 3) {
PIOS_IAP_WriteBootCount(++boot_count);
AlarmsClear(SYSTEMALARMS_ALARM_BOOTFAULT);
} else {
/* Too many failed boot attempts, force hwsettings to defaults */
HwSettingsSetDefaults(HwSettingsHandle(), 0);
AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL);
}
// PIOS_IAP_Init();
#if defined(PIOS_INCLUDE_USB)
/* Initialize board specific USB data */
PIOS_USB_BOARD_DATA_Init();
/* Flags to determine if various USB interfaces are advertised */
bool usb_hid_present = false;
bool usb_cdc_present = false;
#if defined(PIOS_INCLUDE_USB_CDC)
if (PIOS_USB_DESC_HID_CDC_Init()) {
PIOS_Assert(0);
}
usb_hid_present = true;
usb_cdc_present = true;
#else
if (PIOS_USB_DESC_HID_ONLY_Init()) {
PIOS_Assert(0);
}
usb_hid_present = true;
#endif
uint32_t pios_usb_id;
PIOS_USB_Init(&pios_usb_id, PIOS_BOARD_HW_DEFS_GetUsbCfg(bdinfo->board_rev));
#if defined(PIOS_INCLUDE_USB_CDC)
uint8_t hwsettings_usb_vcpport;
/* Configure the USB VCP port */
HwSettingsUSB_VCPPortGet(&hwsettings_usb_vcpport);
if (!usb_cdc_present) {
/* Force VCP port function to disabled if we haven't advertised VCP in our USB descriptor */
hwsettings_usb_vcpport = HWSETTINGS_USB_VCPPORT_DISABLED;
}
uint32_t pios_usb_cdc_id;
if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) {
PIOS_Assert(0);
}
uint32_t pios_usb_hid_id;
if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) {
PIOS_Assert(0);
}
switch (hwsettings_usb_vcpport) {
case HWSETTINGS_USB_VCPPORT_DISABLED:
break;
case HWSETTINGS_USB_VCPPORT_USBTELEMETRY:
#if defined(PIOS_INCLUDE_COM)
{
uint8_t *rx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
uint8_t *tx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_COM */
break;
case HWSETTINGS_USB_VCPPORT_COMBRIDGE:
#if defined(PIOS_INCLUDE_COM)
{
uint8_t *rx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_BRIDGE_RX_BUF_LEN);
uint8_t *tx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_BRIDGE_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_vcp_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
rx_buffer, PIOS_COM_BRIDGE_RX_BUF_LEN,
tx_buffer, PIOS_COM_BRIDGE_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_COM */
break;
case HWSETTINGS_USB_VCPPORT_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_COM)
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
{
uint8_t *tx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_debug_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
NULL, 0,
tx_buffer, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
#endif /* PIOS_INCLUDE_COM */
break;
}
#endif /* PIOS_INCLUDE_USB_CDC */
#if defined(PIOS_INCLUDE_USB_HID)
/* Configure the usb HID port */
uint8_t hwsettings_usb_hidport;
HwSettingsUSB_HIDPortGet(&hwsettings_usb_hidport);
if (!usb_hid_present) {
/* Force HID port function to disabled if we haven't advertised HID in our USB descriptor */
hwsettings_usb_hidport = HWSETTINGS_USB_HIDPORT_DISABLED;
}
switch (hwsettings_usb_hidport) {
case HWSETTINGS_USB_HIDPORT_DISABLED:
break;
case HWSETTINGS_USB_HIDPORT_USBTELEMETRY:
#if defined(PIOS_INCLUDE_COM)
{
uint8_t *rx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
uint8_t *tx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id,
rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_COM */
break;
}
#endif /* PIOS_INCLUDE_USB_HID */
if (usb_hid_present || usb_cdc_present) {
PIOS_USBHOOK_Activate();
}
#endif /* PIOS_INCLUDE_USB */
/* Configure IO ports */
uint8_t hwsettings_DSMxBind;
HwSettingsDSMxBindGet(&hwsettings_DSMxBind);
/* Configure main USART port */
uint8_t hwsettings_mainport;
HwSettingsRM_MainPortGet(&hwsettings_mainport);
switch (hwsettings_mainport) {
case HWSETTINGS_RM_MAINPORT_DISABLED:
break;
case HWSETTINGS_RM_MAINPORT_TELEMETRY:
PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id);
break;
case HWSETTINGS_RM_MAINPORT_GPS:
PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_GPS_RX_BUF_LEN, -1, &pios_usart_com_driver, &pios_com_gps_id);
break;
case HWSETTINGS_RM_MAINPORT_SBUS:
#if defined(PIOS_INCLUDE_SBUS)
{
uint32_t pios_usart_sbus_id;
if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_usart_sbus_main_cfg)) {
PIOS_Assert(0);
}
uint32_t pios_sbus_id;
if (PIOS_SBus_Init(&pios_sbus_id, &pios_sbus_cfg, &pios_usart_com_driver, pios_usart_sbus_id)) {
PIOS_Assert(0);
}
uint32_t pios_sbus_rcvr_id;
if (PIOS_RCVR_Init(&pios_sbus_rcvr_id, &pios_sbus_rcvr_driver, pios_sbus_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SBUS] = pios_sbus_rcvr_id;
}
#endif
break;
case HWSETTINGS_RM_MAINPORT_DSM2:
case HWSETTINGS_RM_MAINPORT_DSMX10BIT:
case HWSETTINGS_RM_MAINPORT_DSMX11BIT:
{
enum pios_dsm_proto proto;
switch (hwsettings_mainport) {
case HWSETTINGS_RM_MAINPORT_DSM2:
proto = PIOS_DSM_PROTO_DSM2;
break;
case HWSETTINGS_RM_MAINPORT_DSMX10BIT:
proto = PIOS_DSM_PROTO_DSMX10BIT;
break;
case HWSETTINGS_RM_MAINPORT_DSMX11BIT:
proto = PIOS_DSM_PROTO_DSMX11BIT;
break;
default:
PIOS_Assert(0);
break;
}
// Force binding to zero on the main port
hwsettings_DSMxBind = 0;
// TODO: Define the various Channelgroup for Revo dsm inputs and handle here
PIOS_Board_configure_dsm(&pios_usart_dsm_main_cfg, &pios_dsm_main_cfg,
&pios_usart_com_driver, &proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT, &hwsettings_DSMxBind);
}
break;
case HWSETTINGS_RM_MAINPORT_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
{
PIOS_Board_configure_com(&pios_usart_main_cfg, 0, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_debug_id);
}
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
break;
case HWSETTINGS_RM_MAINPORT_COMBRIDGE:
PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
break;
case HWSETTINGS_RM_MAINPORT_OSDHK:
PIOS_Board_configure_com(&pios_usart_hkosd_main_cfg, PIOS_COM_HKOSD_RX_BUF_LEN, PIOS_COM_HKOSD_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_hkosd_id);
break;
} /* hwsettings_rm_mainport */
if (hwsettings_mainport != HWSETTINGS_RM_MAINPORT_SBUS) {
GPIO_Init(pios_sbus_cfg.inv.gpio, &pios_sbus_cfg.inv.init);
GPIO_WriteBit(pios_sbus_cfg.inv.gpio, pios_sbus_cfg.inv.init.GPIO_Pin, pios_sbus_cfg.gpio_inv_disable);
}
/* Configure FlexiPort */
uint8_t hwsettings_flexiport;
HwSettingsRM_FlexiPortGet(&hwsettings_flexiport);
switch (hwsettings_flexiport) {
case HWSETTINGS_RM_FLEXIPORT_DISABLED:
break;
case HWSETTINGS_RM_FLEXIPORT_TELEMETRY:
PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id);
break;
case HWSETTINGS_RM_FLEXIPORT_I2C:
#if defined(PIOS_INCLUDE_I2C)
{
if (PIOS_I2C_Init(&pios_i2c_flexiport_adapter_id, &pios_i2c_flexiport_adapter_cfg)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_I2C */
break;
case HWSETTINGS_RM_FLEXIPORT_GPS:
PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_GPS_RX_BUF_LEN, -1, &pios_usart_com_driver, &pios_com_gps_id);
break;
case HWSETTINGS_RM_FLEXIPORT_DSM2:
case HWSETTINGS_RM_FLEXIPORT_DSMX10BIT:
case HWSETTINGS_RM_FLEXIPORT_DSMX11BIT:
{
enum pios_dsm_proto proto;
switch (hwsettings_flexiport) {
case HWSETTINGS_RM_FLEXIPORT_DSM2:
proto = PIOS_DSM_PROTO_DSM2;
break;
case HWSETTINGS_RM_FLEXIPORT_DSMX10BIT:
proto = PIOS_DSM_PROTO_DSMX10BIT;
break;
case HWSETTINGS_RM_FLEXIPORT_DSMX11BIT:
proto = PIOS_DSM_PROTO_DSMX11BIT;
break;
default:
PIOS_Assert(0);
break;
}
// TODO: Define the various Channelgroup for Revo dsm inputs and handle here
PIOS_Board_configure_dsm(&pios_usart_dsm_flexi_cfg, &pios_dsm_flexi_cfg,
&pios_usart_com_driver, &proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMFLEXIPORT, &hwsettings_DSMxBind);
}
break;
case HWSETTINGS_RM_FLEXIPORT_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
{
PIOS_Board_configure_com(&pios_usart_main_cfg, 0, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_debug_id);
}
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
break;
case HWSETTINGS_RM_FLEXIPORT_COMBRIDGE:
PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
break;
case HWSETTINGS_RM_FLEXIPORT_OSDHK:
PIOS_Board_configure_com(&pios_usart_hkosd_flexi_cfg, PIOS_COM_HKOSD_RX_BUF_LEN, PIOS_COM_HKOSD_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_hkosd_id);
break;
} /* hwsettings_rm_flexiport */
/* Initalize the RFM22B radio COM device. */
#if defined(PIOS_INCLUDE_RFM22B)
/* Fetch the OPinkSettings object. */
OPLinkSettingsData oplinkSettings;
OPLinkSettingsGet(&oplinkSettings);
// Initialize out status object.
OPLinkStatusData oplinkStatus;
OPLinkStatusGet(&oplinkStatus);
oplinkStatus.BoardType = bdinfo->board_type;
PIOS_BL_HELPER_FLASH_Read_Description(oplinkStatus.Description, OPLINKSTATUS_DESCRIPTION_NUMELEM);
PIOS_SYS_SerialNumberGetBinary(oplinkStatus.CPUSerial);
oplinkStatus.BoardRevision = bdinfo->board_rev;
/* Is the radio turned on? */
bool is_coordinator = (oplinkSettings.Coordinator == OPLINKSETTINGS_COORDINATOR_TRUE);
bool is_oneway = (oplinkSettings.OneWay == OPLINKSETTINGS_ONEWAY_TRUE);
bool ppm_mode = (oplinkSettings.PPM == OPLINKSETTINGS_PPM_TRUE);
bool ppm_only = (oplinkSettings.PPMOnly == OPLINKSETTINGS_PPMONLY_TRUE);
if (oplinkSettings.MaxRFPower != OPLINKSETTINGS_MAXRFPOWER_0) {
/* Configure the RFM22B device. */
const struct pios_rfm22b_cfg *rfm22b_cfg = PIOS_BOARD_HW_DEFS_GetRfm22Cfg(bdinfo->board_rev);
if (PIOS_RFM22B_Init(&pios_rfm22b_id, PIOS_RFM22_SPI_PORT, rfm22b_cfg->slave_num, rfm22b_cfg)) {
PIOS_Assert(0);
}
/* Configure the radio com interface */
uint8_t *rx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_RFM22B_RF_RX_BUF_LEN);
uint8_t *tx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_RFM22B_RF_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_rfm22b_com_driver, pios_rfm22b_id,
rx_buffer, PIOS_COM_RFM22B_RF_RX_BUF_LEN,
tx_buffer, PIOS_COM_RFM22B_RF_TX_BUF_LEN)) {
PIOS_Assert(0);
}
oplinkStatus.LinkState = OPLINKSTATUS_LINKSTATE_ENABLED;
// Set the RF data rate on the modem to ~2X the selected buad rate because the modem is half duplex.
enum rfm22b_datarate datarate = RFM22_datarate_64000;
switch (oplinkSettings.ComSpeed) {
case OPLINKSETTINGS_COMSPEED_4800:
datarate = RFM22_datarate_9600;
break;
case OPLINKSETTINGS_COMSPEED_9600:
datarate = RFM22_datarate_19200;
break;
case OPLINKSETTINGS_COMSPEED_19200:
datarate = RFM22_datarate_32000;
break;
case OPLINKSETTINGS_COMSPEED_38400:
datarate = RFM22_datarate_64000;
break;
case OPLINKSETTINGS_COMSPEED_57600:
datarate = RFM22_datarate_100000;
break;
case OPLINKSETTINGS_COMSPEED_115200:
datarate = RFM22_datarate_192000;
break;
}
/* Set the radio configuration parameters. */
PIOS_RFM22B_SetChannelConfig(pios_rfm22b_id, datarate, oplinkSettings.MinChannel, oplinkSettings.MaxChannel, oplinkSettings.ChannelSet, is_coordinator, is_oneway, ppm_mode, ppm_only);
PIOS_RFM22B_SetCoordinatorID(pios_rfm22b_id, oplinkSettings.CoordID);
/* Set the PPM callback if we should be receiving PPM. */
if (ppm_mode) {
PIOS_RFM22B_SetPPMCallback(pios_rfm22b_id, PIOS_Board_PPM_callback);
}
/* Set the modem Tx poer level */
switch (oplinkSettings.MaxRFPower) {
case OPLINKSETTINGS_MAXRFPOWER_125:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_0);
break;
case OPLINKSETTINGS_MAXRFPOWER_16:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_1);
break;
case OPLINKSETTINGS_MAXRFPOWER_316:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_2);
break;
case OPLINKSETTINGS_MAXRFPOWER_63:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_3);
break;
case OPLINKSETTINGS_MAXRFPOWER_126:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_4);
break;
case OPLINKSETTINGS_MAXRFPOWER_25:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_5);
break;
case OPLINKSETTINGS_MAXRFPOWER_50:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_6);
break;
case OPLINKSETTINGS_MAXRFPOWER_100:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_7);
break;
default:
// do nothing
break;
}
/* Reinitialize the modem. */
PIOS_RFM22B_Reinit(pios_rfm22b_id);
} else {
oplinkStatus.LinkState = OPLINKSTATUS_LINKSTATE_DISABLED;
}
OPLinkStatusSet(&oplinkStatus);
#endif /* PIOS_INCLUDE_RFM22B */
#if defined(PIOS_INCLUDE_PWM) || defined(PIOS_INCLUDE_PWM)
const struct pios_servo_cfg *pios_servo_cfg;
// default to servo outputs only
pios_servo_cfg = &pios_servo_cfg_out;
#endif
/* Configure the receiver port*/
uint8_t hwsettings_rcvrport;
HwSettingsRM_RcvrPortGet(&hwsettings_rcvrport);
//
switch (hwsettings_rcvrport) {
case HWSETTINGS_RM_RCVRPORT_DISABLED:
break;
case HWSETTINGS_RM_RCVRPORT_PWM:
#if defined(PIOS_INCLUDE_PWM)
/* Set up the receiver port. Later this should be optional */
PIOS_Board_configure_pwm(&pios_pwm_cfg);
#endif /* PIOS_INCLUDE_PWM */
break;
case HWSETTINGS_RM_RCVRPORT_PPM:
case HWSETTINGS_RM_RCVRPORT_PPMOUTPUTS:
case HWSETTINGS_RM_RCVRPORT_PPMPWM:
#if defined(PIOS_INCLUDE_PPM)
if (hwsettings_rcvrport == HWSETTINGS_RM_RCVRPORT_PPMOUTPUTS) {
// configure servo outputs and the remaining 5 inputs as outputs
pios_servo_cfg = &pios_servo_cfg_out_in_ppm;
}
PIOS_Board_configure_ppm(&pios_ppm_cfg);
// enable pwm on the remaining channels
if (hwsettings_rcvrport == HWSETTINGS_RM_RCVRPORT_PPMPWM) {
PIOS_Board_configure_pwm(&pios_pwm_ppm_cfg);
}
break;
#endif /* PIOS_INCLUDE_PPM */
case HWSETTINGS_RM_RCVRPORT_OUTPUTS:
// configure only the servo outputs
pios_servo_cfg = &pios_servo_cfg_out_in;
break;
}
#if defined(PIOS_INCLUDE_GCSRCVR)
GCSReceiverInitialize();
uint32_t pios_gcsrcvr_id;
PIOS_GCSRCVR_Init(&pios_gcsrcvr_id);
uint32_t pios_gcsrcvr_rcvr_id;
if (PIOS_RCVR_Init(&pios_gcsrcvr_rcvr_id, &pios_gcsrcvr_rcvr_driver, pios_gcsrcvr_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_GCS] = pios_gcsrcvr_rcvr_id;
#endif /* PIOS_INCLUDE_GCSRCVR */
#if defined(PIOS_INCLUDE_OPLINKRCVR)
{
OPLinkReceiverInitialize();
uint32_t pios_oplinkrcvr_id;
PIOS_OPLinkRCVR_Init(&pios_oplinkrcvr_id);
uint32_t pios_oplinkrcvr_rcvr_id;
if (PIOS_RCVR_Init(&pios_oplinkrcvr_rcvr_id, &pios_oplinkrcvr_rcvr_driver, pios_oplinkrcvr_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_OPLINK] = pios_oplinkrcvr_rcvr_id;
}
#endif /* PIOS_INCLUDE_OPLINKRCVR */
#ifndef PIOS_ENABLE_DEBUG_PINS
// pios_servo_cfg points to the correct configuration based on input port settings
PIOS_Servo_Init(pios_servo_cfg);
#else
PIOS_DEBUG_Init(pios_tim_servoport_all_pins, NELEMENTS(pios_tim_servoport_all_pins));
#endif
if (PIOS_I2C_Init(&pios_i2c_mag_pressure_adapter_id, &pios_i2c_mag_pressure_adapter_cfg)) {
PIOS_DEBUG_Assert(0);
}
PIOS_DELAY_WaitmS(50);
#if defined(PIOS_INCLUDE_ADC)
PIOS_ADC_Init(&pios_adc_cfg);
#endif
#if defined(PIOS_INCLUDE_HMC5883)
PIOS_HMC5883_Init(&pios_hmc5883_cfg);
#endif
#if defined(PIOS_INCLUDE_MS5611)
PIOS_MS5611_Init(&pios_ms5611_cfg, pios_i2c_mag_pressure_adapter_id);
#endif
#if defined(PIOS_INCLUDE_MPU6000)
PIOS_MPU6000_Init(pios_spi_gyro_id, 0, &pios_mpu6000_cfg);
PIOS_MPU6000_CONFIG_Configure();
#endif
}
/**
* @brief Configures the CAN.
* @param None
* @retval None
*/
static void CAN_Config(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
CAN_InitTypeDef CAN_InitStructure;
/* CAN GPIOs configuration **************************************************/
/* Enable GPIO clock */
RCC_AHBPeriphClockCmd(CAN_GPIO_CLK, ENABLE);
/* Connect CAN pins to AF7 */
GPIO_PinAFConfig(CAN_GPIO_PORT, CAN_RX_SOURCE, CAN_AF_PORT);
GPIO_PinAFConfig(CAN_GPIO_PORT, CAN_TX_SOURCE, CAN_AF_PORT);
/* Configure CAN RX and TX pins */
GPIO_InitStructure.GPIO_Pin = CAN_RX_PIN | CAN_TX_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(CAN_GPIO_PORT, &GPIO_InitStructure);
/* CAN NVIC configuration **************************************************/
NVIC_InitStructure.NVIC_IRQChannel = CEC_CAN_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
/* CAN configuration ********************************************************/
/* Enable CAN clock */
RCC_APB1PeriphClockCmd(CAN_CLK, ENABLE);
/* CAN register init */
CAN_DeInit(CANx);
CAN_StructInit(&CAN_InitStructure);
/* CAN cell init */
CAN_InitStructure.CAN_TTCM = DISABLE;
CAN_InitStructure.CAN_ABOM = DISABLE;
CAN_InitStructure.CAN_AWUM = DISABLE;
CAN_InitStructure.CAN_NART = DISABLE;
CAN_InitStructure.CAN_RFLM = ENABLE;
CAN_InitStructure.CAN_TXFP = ENABLE;
CAN_InitStructure.CAN_Mode = CAN_Mode_Normal;
CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
/* CAN Baudrate = 1MBps (CAN clocked at 36 MHz) */
CAN_InitStructure.CAN_BS1 = CAN_BS1_9tq;
CAN_InitStructure.CAN_BS2 = CAN_BS2_8tq;
CAN_InitStructure.CAN_Prescaler = 2;
CAN_Init(CANx, &CAN_InitStructure);
/* CAN filter init "FIFO0" */
CAN_FilterInitStructure.CAN_FilterNumber = 0;
CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdList;
CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit;
CAN_FilterInitStructure.CAN_FilterIdHigh = 0x6420;
CAN_FilterInitStructure.CAN_FilterIdLow = 0x2461;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment = 0;
CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;
CAN_FilterInit(&CAN_FilterInitStructure);
/* Transmit Structure preparation */
TxMessage.StdId = 0x321;
TxMessage.ExtId = 0x00;
TxMessage.RTR = CAN_RTR_DATA;
TxMessage.IDE = CAN_ID_STD;
TxMessage.DLC = 1;
/* Enable FIFO 0 full Interrupt */
CAN_ITConfig(CANx, CAN_IT_FF0, ENABLE);
/* Enable FIFO 1 full Interrupt */
CAN_ITConfig(CANx, CAN_IT_FF1, ENABLE);
}
int main(){
SysTick_Config(SystemCoreClock / 2000); // 0.5ms
// NEED OF KEY AND LED
RCC_ClockSecuritySystemCmd(ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_15;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_Init(GPIOB, &GPIO_InitStructure);
// Init LCD
LCD_Cmd_InitFSMC();
LCD_Cmd_Init();
LCD_Cmd_InitBacklight();
// Put some background
// LCD_FillRectangle_RGB565(0, 0, 240, 320, C_RGB565(0x80, 0x80, 0x80));
Painter_PutImage(res_img_res_lp_jpg,0,0,0xff);
// Painter_SetupContextBitmask(240, 320, 0);
// benchmark(2);
// A circle to overlay long shadow
LCD_FillCircle_RGB4444(120, 120, 100+18, 0x88fa);
// now you can see it
long_shadow();
// an alternative shadow
// LCD_FillCircle(120+1, 120+1, 100+2, 0x8886, 0);
// LCD_FillCircle(120, 120, 100+2, 0x8886, 0);
// LCD_FillCircle(120, 120, 100+1, 0x8886, 0);
// Put my clock panel on screen
LCD_FillCircle_RGB565(120, 120, 100, C_RGB565(0, 0, 0));
LCD_FillCircle_RGB565(120, 120, 90, C_RGB565(0xff, 0xff, 0xff));
// Clock frame need some shadow!
Painter_SetupContextBitmask(210, 210, 0);
u16 x, y, i;
u32 t;
for (x=0;x<200;x++) for (y=0;y<200;y++){
t = (x-100)*(x-100)+(y-100)*(y-100);
if ((t>=91*91)&&(t<100*100)) LCD_SetBitMask(_d_dl_ctx.bm, x, y, 210);
}
// Draw ticks and numbers
const s8 TICK_XI[] = { 0, 42, 73, 85, 73, 42, 0, -42, -73, -85, -73, -42};
const s8 TICK_YI[] = {-85, -73, -42, 0, 42, 73, 85, 73, 42, 0, -42, -73};
const s8 TICK_XO[] = { 0, 44, 77, 90, 77, 45, 0, -44, -77, -90, -77, -45};
const s8 TICK_YO[] = {-90, -77, -45, 0, 44, 77, 90, 77, 45, 0, -44, -77};
const u16 *text[] = {res_string_0/*_FSTR_0*/,
res_string_1/*_FSTR_1*/,
res_string_2/*_FSTR_2*/,
res_string_3/*_FSTR_3*/,
res_string_4/*_FSTR_4*/,
res_string_5/*_FSTR_5*/,
res_string_6/*_FSTR_6*/,
res_string_7/*_FSTR_7*/,
res_string_8/*_FSTR_8*/,
res_string_9/*_FSTR_9*/,
res_string_11/*_FSTR_10*/,
res_string_12/*_FSTR_11*/,
res_string_13/*_FSTR_12*/
};
const u16 *col = res_string_14/*_FSTR_:*/;
const u16 *space = res_string_15/*_FSTR_ */;
u16 time[20];
for (i=0;i<12;i++){
Painter_LocateContextBitmask(100+TICK_XO[i], 100+TICK_YO[i]);
Painter_DrawLine(120+TICK_XO[i], 120+TICK_YO[i], 120+TICK_XI[i], 120+TICK_YI[i], 0x000f, 5, PAINTER_DRAW_BM_HOLD);
Painter_PutString(text[i?i:12], 14, 0x000f, 0
, 120+TICK_XI[i]-(TICK_XO[i]-TICK_XI[i])*2-5, 120+TICK_YI[i]-(TICK_YO[i]-TICK_YI[i])*2-8
, 20, 20, PAINTER_STR_SHADOW*2);
}
// Bravo!
Painter_Fill_BitMaskShadow(30, 30, 230, 230, 0L, 10, 10, 210, 0x0008, 4, 4, 15);
// LET IT RUN!
u8 m, s; // so-called second and minute
bitmask bm;
_UNUSED(bm);
s = 0; m = 0;
Painter_SetupContextBitmask(200, 200, 0); // new context for new shadow
Painter_LocateContextBitmask(100, 100); // start from center
u8 shadow_on;
u16 bg[200*60];
// grab screen region, saving for later repaint
LCD_SetWindow(20, 240, 200, 60);
LCD_GetImage_RGB565(bg, 200*60);
while (1){
// PUSH BUTTON TO RUN REALLY FAST, WITHOUT SHADOW!
shadow_on = GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_15)?PAINTER_STR_SHADOW*2:0;
LCD_FillCircle_RGB565(120, 120, 65, 0xffff); // Clear clock hands, sucks aha~
// Dont forget bitmasks
for (x=30;x<170;x++) for (y=30;y<170;y++){
LCD_ResetBitMask(_d_dl_ctx.bm, x, y, 200);
}
// second hand
u16 sh_x[] = {120, 120+(TICK_XI[_mod(s+11,12)]+3)/5,
120+TICK_XI[s]-(TICK_XO[s]-TICK_XI[s])*6,
120+(TICK_XI[_mod(s+1,12)]+3)/5
};
u16 sh_y[] = {120, 120+(TICK_YI[_mod(s+11,12)]+3)/5,
120+TICK_YI[s]-(TICK_YO[s]-TICK_YI[s])*6,
120+(TICK_YI[_mod(s+1,12)]+3)/5
};
// Center circle makes it cute~
Painter_DrawCircle(120, 120, 4, 0x6a2f, 12, PAINTER_DRAW_BM_HOLD);
Painter_DrawPoly(sh_x, sh_y, 4, 0x6a2f, 3, PAINTER_DRAW_BM_HOLD | PAINTER_DRAW_POLY_CLOSE);
// Painter_DrawLine(120, 120
// , 120+TICK_XI[s]-(TICK_XO[s]-TICK_XI[s])*6
// , 120+TICK_YI[s]-(TICK_YO[s]-TICK_YI[s])*6,
// 0x6a2f, 5, PAINTER_DRAW_BM_HOLD);
// Painter_DrawLine(120, 120
// , 120-(TICK_XI[s]+4)/8
// , 120-(TICK_YI[s]+4)/8,
// 0x6a2f, 5, PAINTER_DRAW_BM_HOLD);
// GET MY SHADOW!
if (shadow_on) Painter_Fill_BitMaskShadow(50, 50, 190, 190, 0L, 30, 30, 200, 0x0008, 4, 4, 12);
for (x=30;x<170;x++) for (y=30;y<170;y++){
LCD_ResetBitMask(_d_dl_ctx.bm, x, y, 200);
}
u32 mm = m % 12;
// minute hand
Painter_DrawLine(120, 120
, 120+TICK_XI[mm]-(TICK_XO[mm]-TICK_XI[mm])*10
, 120+TICK_YI[mm]-(TICK_YO[mm]-TICK_YI[mm])*10,
0xa22f, 5, PAINTER_DRAW_BM_HOLD);
Painter_DrawLine(120, 120
, 120-(TICK_XI[mm]+4)/8
, 120-(TICK_YI[mm]+4)/8,
0xa22f, 5, PAINTER_DRAW_BM_HOLD);
// Center circle makes it cute~
Painter_DrawCircle(120, 120, 3, 0xa22f, 5, PAINTER_DRAW_BM_HOLD);
// GET MY SHADOW!
if (shadow_on) Painter_Fill_BitMaskShadow(50, 50, 190, 190, 0L, 30, 30, 200, 0x0008, 4, 4, 12);
// show time in text
u16 *p = time, *q;
// need some space
*p++ = space[0];
mm = m?m:1;
while (mm<10000) {
*p++ = space[0];
mm *= 10;
}
//put minute digits
p = itoa(m, p);
*p++ = col[0];
//put second text directly
q = (u16 *)(text)[s];
while (*q) *p++ = *q++;
*p++ = 0;
// repaint the background
LCD_SetWindow(20, 240, 200, 60);
LCD_PutImage_RGB565(bg, 200*60);
// GET MY TIME!
Painter_PutString((const u16*)time, 48, 0xffff, 0xf5b9
, 20, 240, 200, 60, shadow_on | PAINTER_STR_SFLUSH);
put_fps(1);
// PUSH A TO DASH!
if (GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_15)) DUMMY;
// TICK TOCK~
s++;
if (s == 12) {
m++;
s = 0;
}
}
return 0;
}
// PWM
// TIM2 and TIM5 have CH1, CH2, CH3, CH4 on PA0-PA3 respectively
// they are both 32-bit counters
// 16-bit prescaler
// TIM2_CH3 also on PB10 (used below)
void servo_init(void) {
// TIM2 clock enable
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
// for PB10
/*
// GPIOB Configuration: TIM2_CH3 (PB10)
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(GPIOB, &GPIO_InitStructure);
// Connect TIM2 pins to AF1
GPIO_PinAFConfig(GPIOB, GPIO_PinSource10, GPIO_AF_TIM2);
*/
// for PA0, PA1, PA2, PA3
{
// GPIOA Configuration: TIM2_CH0, TIM2_CH1 (PA0, PA1)
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(GPIOA, &GPIO_InitStructure);
// Connect TIM2 pins to AF1
GPIO_PinAFConfig(GPIOA, GPIO_PinSource0, GPIO_AF_TIM2);
GPIO_PinAFConfig(GPIOA, GPIO_PinSource1, GPIO_AF_TIM2);
GPIO_PinAFConfig(GPIOA, GPIO_PinSource2, GPIO_AF_TIM2);
GPIO_PinAFConfig(GPIOA, GPIO_PinSource3, GPIO_AF_TIM2);
}
// Compute the prescaler value so TIM2 runs at 100kHz
uint16_t PrescalerValue = (uint16_t) ((SystemCoreClock / 2) / 100000) - 1;
// Time base configuration
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_TimeBaseStructure.TIM_Period = 2000; // timer cycles at 50Hz
TIM_TimeBaseStructure.TIM_Prescaler = PrescalerValue;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
// PWM Mode configuration
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 150; // units of 10us
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC1Init(TIM2, &TIM_OCInitStructure); // channel 1
TIM_OC2Init(TIM2, &TIM_OCInitStructure); // channel 2
TIM_OC3Init(TIM2, &TIM_OCInitStructure); // channel 3
TIM_OC4Init(TIM2, &TIM_OCInitStructure); // channel 4
// ?
TIM_OC1PreloadConfig(TIM2, TIM_OCPreload_Enable); // channel 1
TIM_OC2PreloadConfig(TIM2, TIM_OCPreload_Enable); // channel 2
TIM_OC3PreloadConfig(TIM2, TIM_OCPreload_Enable); // channel 3
TIM_OC4PreloadConfig(TIM2, TIM_OCPreload_Enable); // channel 4
// ?
TIM_ARRPreloadConfig(TIM2, ENABLE);
// TIM2 enable counter
TIM_Cmd(TIM2, ENABLE);
}
/*
* 函数名：LCD_GPIO_Config
* 描述 ：根据FSMC配置LCD的I/O
* 输入 ：无
* 输出 ：无
* 调用 ：内部调用
*/
void LCD_GPIO_Config(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
/* Enable the FSMC Clock */
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_FSMC, ENABLE);
/* config lcd gpio clock base on FSMC */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC | RCC_APB2Periph_GPIOD | RCC_APB2Periph_GPIOE , ENABLE);
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
/* config tft back_light gpio base on the PT4101 */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13;
GPIO_Init(GPIOD, &GPIO_InitStructure);
/* config tft rst gpio */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5 | GPIO_Pin_13 ;
GPIO_Init(GPIOC, &GPIO_InitStructure);
/* config tft data lines base on FSMC
* data lines,FSMC-D0~D15: PD 14 15 0 1,PE 7 8 9 10 11 12 13 14 15,PD 8 9 10
*/
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_8 | GPIO_Pin_9 |
GPIO_Pin_10 | GPIO_Pin_14 | GPIO_Pin_15;
GPIO_Init(GPIOD, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7 | GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10 |
GPIO_Pin_11 | GPIO_Pin_12 | GPIO_Pin_13 | GPIO_Pin_14 |
GPIO_Pin_15;
GPIO_Init(GPIOE, &GPIO_InitStructure);
/* config tft control lines base on FSMC
* PD4-FSMC_NOE :LCD-RD
* PD5-FSMC_NWE :LCD-WR
* PD7-FSMC_NE1 :LCD-CS
* PD11-FSMC_A16 :LCD-DC
*/
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4;
GPIO_Init(GPIOD, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;
GPIO_Init(GPIOD, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7;
GPIO_Init(GPIOD, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11 ;
GPIO_Init(GPIOD, &GPIO_InitStructure);
/* tft control gpio init */
GPIO_SetBits(GPIOD, GPIO_Pin_13); // RST = 1
GPIO_SetBits(GPIOC, GPIO_Pin_5); // LIGHT
GPIO_SetBits(GPIOD, GPIO_Pin_4); // RD = 1
GPIO_SetBits(GPIOD, GPIO_Pin_5); // WR = 1
GPIO_SetBits(GPIOD, GPIO_Pin_7); // CS = 1
// BL RS CS
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_3 | GPIO_Pin_4;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_ResetBits(GPIOA, GPIO_Pin_4);
GPIO_SetBits(GPIOC, GPIO_Pin_13); // CS2
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7 | GPIO_Pin_5|GPIO_Pin_11;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOD, &GPIO_InitStructure);
GPIO_ResetBits(GPIOD, GPIO_Pin_7);
}
/*
GPIOx: where x can be (A..H) to select the GPIO peripheral.
pinNumber: GPIO_Pin_0 ... GPIO_Pin_15, GPIO_Pin_All
GPIO_AF: stm32l1xx_gpio.c, search GPIO_AFSelection.
pinType: GPIO_OType_PP, GPIO_OType_OD - sets the pin type to push / pull or open drain
pinPull: GPIO_PuPd_NOPULL, GPIO_PuPd_UP, GPIO_PuPd_DOWN
pinSpeed: GPIO_Speed_400KHz, GPIO_Speed_2MHz, GPIO_Speed_10MHz, GPIO_Speed_40MHz
gpio_pinSetup_AF(GPIOA, GPIO_Pin_2, GPIO_AF_TIM9, GPIO_OType_PP, GPIO_PuPd_UP, GPIO_Speed_2MHz);
*/
void gpio_pinSetup_AF(GPIO_TypeDef* GPIOx, uint32_t pinNumber, uint8_t GPIO_AF, GPIOOType_TypeDef pinType, GPIOPuPd_TypeDef pinPull, GPIOSpeed_TypeDef pinSpeed)
{
GPIO_InitTypeDef GPIO_setup;
uint32_t pinSource = 0;
/* Check the parameters */
assert_param(IS_GPIO_ALL_PERIPH(GPIOx));
if(GPIOx == GPIOA)
{
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOA, ENABLE);
}
else if(GPIOx == GPIOB)
{
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOB, ENABLE);
}
else if(GPIOx == GPIOC)
{
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOC, ENABLE);
}
else if(GPIOx == GPIOD)
{
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOD, ENABLE);
}
else if(GPIOx == GPIOE)
{
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOE, ENABLE);
}
else if(GPIOx == GPIOF)
{
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOF, ENABLE);
}
else if(GPIOx == GPIOG)
{
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOG, ENABLE);
}
else
{
if(GPIOx == GPIOH)
{
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOH, ENABLE);
}
}
switch(pinNumber)
{
case GPIO_Pin_0: pinSource = GPIO_PinSource0; break;
case GPIO_Pin_1: pinSource = GPIO_PinSource1; break;
case GPIO_Pin_2: pinSource = GPIO_PinSource2; break;
case GPIO_Pin_3: pinSource = GPIO_PinSource3; break;
case GPIO_Pin_4: pinSource = GPIO_PinSource4; break;
case GPIO_Pin_5: pinSource = GPIO_PinSource5; break;
case GPIO_Pin_6: pinSource = GPIO_PinSource6; break;
case GPIO_Pin_7: pinSource = GPIO_PinSource7; break;
case GPIO_Pin_8: pinSource = GPIO_PinSource8; break;
case GPIO_Pin_9: pinSource = GPIO_PinSource9; break;
case GPIO_Pin_10: pinSource = GPIO_PinSource10; break;
case GPIO_Pin_11: pinSource = GPIO_PinSource11; break;
case GPIO_Pin_12: pinSource = GPIO_PinSource12; break;
case GPIO_Pin_13: pinSource = GPIO_PinSource13; break;
case GPIO_Pin_14: pinSource = GPIO_PinSource14; break;
case GPIO_Pin_15: pinSource = GPIO_PinSource15; break;
}
GPIO_PinAFConfig(GPIOx, pinSource, GPIO_AF);
GPIO_setup.GPIO_Pin = pinNumber;
GPIO_setup.GPIO_Mode = GPIO_Mode_AF;
GPIO_setup.GPIO_OType = pinType;
GPIO_setup.GPIO_PuPd = pinPull;
GPIO_setup.GPIO_Speed = pinSpeed;
GPIO_Init(GPIOx, &GPIO_setup);
}
void OSView_InitTarget (INT32U baud_rate)
{
GPIO_InitTypeDef gpio_init;
USART_InitTypeDef usart_init;
USART_ClockInitTypeDef usart_clk_init;
OSView_TmrInit(); /* Initialize the free running timer */
/* ----------------- 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;
#if (OS_VIEW_COMM_SEL == OS_VIEW_UART_1)
BSP_PeriphEn(BSP_PERIPH_ID_USART1);
/* ----------------- SETUP USART1 GPIO ---------------- */
BSP_PeriphEn(BSP_PERIPH_ID_IOPA);
/* Configure GPIOA.9 as push-pull */
gpio_init.GPIO_Pin = GPIO_Pin_9;
gpio_init.GPIO_Speed = GPIO_Speed_50MHz;
gpio_init.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_Init(GPIOA, &gpio_init);
/* Configure GPIOA.10 as input floating */
gpio_init.GPIO_Pin = GPIO_Pin_10;
gpio_init.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(GPIOA, &gpio_init);
/* ------------------ SETUP USART1 -------------------- */
USART_Init(USART1, &usart_init);
USART_ClockInit(USART1, &usart_clk_init);
USART_Cmd(USART1, ENABLE);
BSP_IntVectSet(BSP_INT_ID_USART1, OSView_RxTxISRHandler);
BSP_IntEn(BSP_INT_ID_USART1);
#endif
#if (OS_VIEW_COMM_SEL == OS_VIEW_UART_2)
BSP_PeriphEn(BSP_PERIPH_ID_USART2);
/* ----------------- SETUP USART2 GPIO ---------------- */
BSP_PeriphEn(BSP_PERIPH_ID_IOPA);
/* Configure GPIOA.2 as push-pull */
gpio_init.GPIO_Pin = GPIO_Pin_2;
gpio_init.GPIO_Speed = GPIO_Speed_50MHz;
gpio_init.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_Init(GPIOA, &gpio_init);
/* Configure GPIOA.3 as input floating */
gpio_init.GPIO_Pin = GPIO_Pin_3;
gpio_init.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(GPIOA, &gpio_init);
/* ------------------ SETUP USART2 -------------------- */
USART_Init(USART2, &usart_init);
USART_ClockInit(USART2, &usart_clk_init);
USART_Cmd(USART2, ENABLE);
BSP_IntVectSet(BSP_INT_ID_USART2, OSView_RxTxISRHandler);
BSP_IntEn(BSP_INT_ID_USART2);
#endif
#if (OS_VIEW_COMM_SEL == OS_VIEW_UART_3)
BSP_PeriphEn(BSP_PERIPH_ID_USART3);
/* ----------------- SETUP USART3 GPIO ---------------- */
BSP_PeriphEn(BSP_PERIPH_ID_IOPB);
/* Configure GPIOB.10 as push-pull */
gpio_init.GPIO_Pin = GPIO_Pin_10;
gpio_init.GPIO_Speed = GPIO_Speed_50MHz;
gpio_init.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_Init(GPIOB, &gpio_init);
/* Configure GPIOB.11 as input floating */
gpio_init.GPIO_Pin = GPIO_Pin_11;
gpio_init.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(GPIOB, &gpio_init);
/* ------------------ SETUP USART3 -------------------- */
USART_Init(USART3, &usart_init);
USART_ClockInit(USART3, &usart_clk_init);
USART_Cmd(USART3, ENABLE);
BSP_IntVectSet(BSP_INT_ID_USART3, OSView_RxTxISRHandler);
BSP_IntEn(BSP_INT_ID_USART3);
#endif
}
/**
* @brief Configure the TIM2 Pins.
* @param None
* @retval None
*/
static void TIM_Config(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
/* TIM4 clock enable */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
/* GPIOA clock enable */
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOA, ENABLE);
/* TIM2_CH1 pin (PA.05) and TIM2_CH2 pin (PA.01) configuration */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1 | GPIO_Pin_5;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(GPIOA, &GPIO_InitStructure);
/* Connect TIM pins to AF2 */
GPIO_PinAFConfig(GPIOA, GPIO_PinSource1, GPIO_AF_2);
GPIO_PinAFConfig(GPIOA, GPIO_PinSource5, GPIO_AF_2);
/* --------------------------------------------------------------------------
TIM2 configuration: One Pulse mode
The external signal is connected to TIM2_CH2 pin (PA.01),
The Rising edge is used as active edge,
The One Pulse signal is output on TIM2_CH1 pin (PA.05)
The TIM_Pulse defines the delay value
The (TIM_Period - TIM_Pulse) defines the One Pulse value.
TIM2 input clock (TIM2CLK) is set to APB1 clock (PCLK1)
TIM2CLK = PCLK1
PCLK1 = HCLK
=> TIM2CLK = HCLK = SystemCoreClock
TIM2CLK = SystemCoreClock, we want to get TIM2 counter clock at 24 MHz:
Prescaler = (TIM2CLK / TIM2 counter clock) - 1
Prescaler = (SystemCoreClock /24 MHz) - 1
The Autoreload value is 65535 (TIM2->ARR), so the maximum frequency value
to trigger the TIM2 input is 24000000/65535 = 366.2 Hz.
The TIM_Pulse defines the delay value, this value is fixed to:
delay = CCR1/TIM2 counter clock = 682.6 us.
The (TIM_Period - TIM_Pulse) defines the One Pulse value, this value is fixed to:
One Pulse value = (TIM_Period - TIM_Pulse) / TIM2 counter clock = 2.04 ms.
Note:
SystemCoreClock variable holds HCLK frequency and is defined in system_stm32f0xx.c file.
Each time the core clock (HCLK) changes, user had to call SystemCoreClockUpdate()
function to update SystemCoreClock variable value. Otherwise, any configuration
based on this variable will be incorrect.
--------------------------------------------------------------------------- */
/* Compute the prescaler value */
PrescalerValue = (uint16_t) ((SystemCoreClock ) / 24000000) - 1;
/* Time base configuration */
TIM_TimeBaseStructure.TIM_Period = 65535;
TIM_TimeBaseStructure.TIM_Prescaler = PrescalerValue;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
/* TIM2 PWM2 Mode configuration: Channel1 */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 16383;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC1Init(TIM2, &TIM_OCInitStructure);
/* TIM4 configuration in Input Capture Mode */
TIM_ICStructInit(&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_Channel = TIM_Channel_2;
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
TIM_ICInitStructure.TIM_ICFilter = 0;
TIM_ICInit(TIM2, &TIM_ICInitStructure);
/* One Pulse Mode selection */
TIM_SelectOnePulseMode(TIM2, TIM_OPMode_Single);
/* Input Trigger selection */
TIM_SelectInputTrigger(TIM2, TIM_TS_TI2FP2);
/* Slave Mode selection: Trigger Mode */
TIM_SelectSlaveMode(TIM2, TIM_SlaveMode_Trigger);
}
void USB_OTG_BSP_Init(USB_OTG_CORE_HANDLE *pdev)
{
GPIO_InitTypeDef GPIO_InitStructure;
#ifndef USE_ULPI_PHY
#ifdef USB_OTG_FS_LOW_PWR_MGMT_SUPPORT
EXTI_InitTypeDef EXTI_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
#endif
#endif
#ifdef USE_USB_OTG_FS
RCC_AHB1PeriphClockCmd( RCC_AHB1Periph_GPIOA , ENABLE);
/* Configure SOF VBUS ID DM DP Pins */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 |
GPIO_Pin_9 |
GPIO_Pin_11 |
GPIO_Pin_12;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL ;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_PinAFConfig(GPIOA,GPIO_PinSource8,GPIO_AF_OTG1_FS) ;
GPIO_PinAFConfig(GPIOA,GPIO_PinSource9,GPIO_AF_OTG1_FS) ;
GPIO_PinAFConfig(GPIOA,GPIO_PinSource11,GPIO_AF_OTG1_FS) ;
GPIO_PinAFConfig(GPIOA,GPIO_PinSource12,GPIO_AF_OTG1_FS) ;
/* this for ID line debug */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;
GPIO_InitStructure.GPIO_OType = GPIO_OType_OD;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP ;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_PinAFConfig(GPIOA,GPIO_PinSource10,GPIO_AF_OTG1_FS) ;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG, ENABLE);
RCC_AHB2PeriphClockCmd(RCC_AHB2Periph_OTG_FS, ENABLE) ;
#else // USE_USB_OTG_HS
#ifdef USE_ULPI_PHY // ULPI
RCC_AHB1PeriphClockCmd( RCC_AHB1Periph_GPIOA | RCC_AHB1Periph_GPIOB |
RCC_AHB1Periph_GPIOC | RCC_AHB1Periph_GPIOH |
RCC_AHB1Periph_GPIOI, ENABLE);
GPIO_PinAFConfig(GPIOA,GPIO_PinSource3, GPIO_AF_OTG2_HS) ; // D0
GPIO_PinAFConfig(GPIOA,GPIO_PinSource5, GPIO_AF_OTG2_HS) ; // CLK
GPIO_PinAFConfig(GPIOB,GPIO_PinSource0, GPIO_AF_OTG2_HS) ; // D1
GPIO_PinAFConfig(GPIOB,GPIO_PinSource1, GPIO_AF_OTG2_HS) ; // D2
GPIO_PinAFConfig(GPIOB,GPIO_PinSource5, GPIO_AF_OTG2_HS) ; // D7
GPIO_PinAFConfig(GPIOB,GPIO_PinSource10,GPIO_AF_OTG2_HS) ; // D3
GPIO_PinAFConfig(GPIOB,GPIO_PinSource11,GPIO_AF_OTG2_HS) ; // D4
GPIO_PinAFConfig(GPIOB,GPIO_PinSource12,GPIO_AF_OTG2_HS) ; // D5
GPIO_PinAFConfig(GPIOB,GPIO_PinSource13,GPIO_AF_OTG2_HS) ; // D6
GPIO_PinAFConfig(GPIOH,GPIO_PinSource4, GPIO_AF_OTG2_HS) ; // NXT
GPIO_PinAFConfig(GPIOI,GPIO_PinSource11,GPIO_AF_OTG2_HS) ; // DIR
GPIO_PinAFConfig(GPIOC,GPIO_PinSource0, GPIO_AF_OTG2_HS) ; // STP
// CLK
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5 ;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_Init(GPIOA, &GPIO_InitStructure);
// D0
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3 ;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL ;
GPIO_Init(GPIOA, &GPIO_InitStructure);
// D1 D2 D3 D4 D5 D6 D7
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1 |
GPIO_Pin_5 | GPIO_Pin_10 |
GPIO_Pin_11| GPIO_Pin_12 |
GPIO_Pin_13 ;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL ;
GPIO_Init(GPIOB, &GPIO_InitStructure);
// STP
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 ;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_Init(GPIOC, &GPIO_InitStructure);
//NXT
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_Init(GPIOH, &GPIO_InitStructure);
//DIR
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11 ;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_Init(GPIOI, &GPIO_InitStructure);
RCC_AHB1PeriphClockCmd( RCC_AHB1Periph_OTG_HS |
RCC_AHB1Periph_OTG_HS_ULPI, ENABLE) ;
#else
#ifdef USE_I2C_PHY
RCC_AHB1PeriphClockCmd( RCC_AHB1Periph_GPIOB , ENABLE);
/* Configure RESET INTN SCL SDA (Phy/I2C) Pins */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 |
GPIO_Pin_1 |
GPIO_Pin_10 |
GPIO_Pin_11;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_PinAFConfig(GPIOB,GPIO_PinSource0,GPIO_AF_OTG2_FS) ;
GPIO_PinAFConfig(GPIOB,GPIO_PinSource1,GPIO_AF_OTG2_FS) ;
GPIO_PinAFConfig(GPIOB,GPIO_PinSource10,GPIO_AF_OTG2_FS) ;
GPIO_PinAFConfig(GPIOB,GPIO_PinSource11,GPIO_AF_OTG2_FS);
RCC_AHB1PeriphClockCmd( RCC_AHB1Periph_OTG_HS, ENABLE) ;
#else
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB , ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12 |
GPIO_Pin_13 |
GPIO_Pin_14 |
GPIO_Pin_15;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_PinAFConfig(GPIOB,GPIO_PinSource12, GPIO_AF_OTG2_FS) ;
GPIO_PinAFConfig(GPIOB,GPIO_PinSource13,GPIO_AF_OTG2_FS) ;
GPIO_PinAFConfig(GPIOB,GPIO_PinSource14,GPIO_AF_OTG2_FS) ;
GPIO_PinAFConfig(GPIOB,GPIO_PinSource15,GPIO_AF_OTG2_FS) ;
RCC_AHB1PeriphClockCmd( RCC_AHB1Periph_OTG_HS, ENABLE) ;
#endif
#endif // USE_ULPI_PHY
#endif //USB_OTG_HS
/* enable the PWR clock */
RCC_APB1PeriphResetCmd(RCC_APB1Periph_PWR, ENABLE);
/* Configure the Key button in EXTI mode */
STM_EVAL_PBInit(BUTTON_USER, BUTTON_MODE_EXTI);
#ifdef USB_OTG_FS_LOW_PWR_MGMT_SUPPORT
EXTI_ClearITPendingBit(EXTI_Line18);
EXTI_InitStructure.EXTI_Line = EXTI_Line18;
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStructure);
EXTI_ClearITPendingBit(EXTI_Line18);
NVIC_InitStructure.NVIC_IRQChannel = OTG_FS_WKUP_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
EXTI_ClearITPendingBit(EXTI_Line18);
#endif
#ifdef USB_OTG_HS_LOW_PWR_MGMT_SUPPORT
EXTI_ClearITPendingBit(EXTI_Line20);
EXTI_InitStructure.EXTI_Line = EXTI_Line20;
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStructure);
EXTI_ClearITPendingBit(EXTI_Line20);
NVIC_InitStructure.NVIC_IRQChannel = OTG_HS_WKUP_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
EXTI_ClearITPendingBit(EXTI_Line20);
#endif
EXTI_ClearITPendingBit(USER_BUTTON_EXTI_LINE);
}
void i2cInit()
{
NVIC_InitTypeDef nvic;
I2C_InitTypeDef i2c;
GPIO_InitTypeDef GPIO_InitStructure;
//Enable the i2c
RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C1, ENABLE);
//Reset the Peripheral
RCC_APB1PeriphResetCmd(RCC_APB1Periph_I2C1, ENABLE);
RCC_APB1PeriphResetCmd(RCC_APB1Periph_I2C1, DISABLE);
//Enable the GPIOs for the SCL/SDA Pins
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
//Configure and initialize the GPIOs
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_OD;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
GPIO_Init(GPIOB, &GPIO_InitStructure);
//Connect GPIO pins to peripheral
GPIO_PinAFConfig(GPIOB, GPIO_PinSource8, GPIO_AF_I2C1);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource9, GPIO_AF_I2C1);
// clock out stuff to make sure slaves arent stuck
// This will also configure GPIO as AF_OD at the end
//i2cUnstick();
// Init I2C peripheral
I2C_DeInit(I2C1);
I2C_StructInit(&i2c);
I2C_ITConfig(I2C1, I2C_IT_EVT | I2C_IT_ERR, DISABLE); // Enable EVT and ERR interrupts - they are enabled by the first request
i2c.I2C_Mode = I2C_Mode_I2C;
i2c.I2C_DutyCycle = I2C_DutyCycle_2;
i2c.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
i2c.I2C_Ack = I2C_Ack_Enable;
i2c.I2C_OwnAddress1 = 0;
i2c.I2C_ClockSpeed = 100000;
I2C_Init(I2C1, &i2c);
I2C_Cmd(I2C1, ENABLE);
// I2C ER Interrupt
nvic.NVIC_IRQChannel = I2C1_ER_IRQn;
nvic.NVIC_IRQChannelPreemptionPriority = 0;
nvic.NVIC_IRQChannelSubPriority = 2;
nvic.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&nvic);
// I2C EV Interrupt
nvic.NVIC_IRQChannel = I2C1_EV_IRQn;
nvic.NVIC_IRQChannelPreemptionPriority = 0;
nvic.NVIC_IRQChannelSubPriority = 2;
NVIC_Init(&nvic);
}
void sens9DInit(void){
//PB10/I2C2_SCL, PB11/I2C2_SDA
// XM Read Address 8bit 0x3B, Gyro 8bit Read 0xD7
GPIO_InitTypeDef GPIO_InitStructure;
I2C_InitTypeDef I2C_InitStructure;
u8 statOk=!0;
int i;
I2C_DeInit(I2C2);
I2C_Cmd(I2C2, DISABLE);
I2C_SoftwareResetCmd(I2C2, ENABLE);
I2C_SoftwareResetCmd(I2C2, DISABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C2,ENABLE);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB,ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10|GPIO_Pin_11;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_OD;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIOB->BSRRL=GPIO_Pin_10|GPIO_Pin_11;
i=8;
while( (i--) && ((GPIOB->IDR&GPIO_Pin_11)==0)){
delay_us(200);
GPIOB->BSRRH=GPIO_Pin_10;
delay_us(200);
GPIOB->BSRRL=GPIO_Pin_10;
}
GPIO_PinAFConfig(GPIOB,GPIO_PinSource10, GPIO_AF_I2C2);
GPIO_PinAFConfig(GPIOB,GPIO_PinSource11, GPIO_AF_I2C2);
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_Init(GPIOB, &GPIO_InitStructure);
I2C_InitStructure.I2C_Mode = I2C_Mode_I2C;
I2C_InitStructure.I2C_OwnAddress1 = 0x01;
I2C_InitStructure.I2C_Ack = I2C_Ack_Enable;
I2C_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
I2C_InitStructure.I2C_ClockSpeed=100e3;
I2C_InitStructure.I2C_DutyCycle=I2C_DutyCycle_16_9;
I2C_Init(I2C2, &I2C_InitStructure);
I2C_StretchClockCmd(I2C2,ENABLE);
//I2C_GeneralCallCmd(I2C1,ENABLE);
//I2C_AnalogFilterCmd(I2C2,ENABLE);
//I2C_DigitalFilterConfig(I2C2,0x02); Not available on 407.. :(
I2C_Cmd(I2C2, ENABLE);
delay_us(1e3);
//CTRL_REG1_G to CTRL_REG5_G 0x20..0x24
//190Hz, 25Hz cut
//0.45Hz HPass
//Full scale 2000dps
//HPass ΝΟΤ selected
// 20h 21h 22h 23h 24h
u8 GyroCTRreg[5]={0b01111111, 0b00100101, 0b00000000, 0b10100000, 0b00000000 };//24h ->0b00000000 disables LPF2 //Enable 0b00000010
I2C_write(Gy_addr,0x20|0x80,GyroCTRreg,5);
// HP filter bypassed
// 1Fh 20h 21h 22h 23h 24h 25h 26h
u8 XM_CTRreg[8]={0b00000000, 0b01111111, 0b11001000, 0b00000000, 0b00000000, 0b11110100, 0b00000000, 0b00000000 };//200Hz, 50HzBW, 4G, Magn:100Hz,2Gauss
I2C_write(XM_addr,0x1F|0x80,XM_CTRreg,8);
}
bool spi_init()
{
// --- clocks ----
GPIO_InitTypeDef GPIO_InitStructure;
/*!< Enable the SPI clock */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_SPI2, ENABLE);
/*!< Enable GPIO clocks */
RCC_AHB1PeriphClockCmd(SPI_SCK_GPIO_CLK | SPI_MISO_GPIO_CLK |
SPI_MOSI_GPIO_CLK | SPI_CS_GPIO_CLK, ENABLE);
// --- GPIOs ----
/*!< Connect SPI pins to AF */
GPIO_PinAFConfig(SPI_SCK_GPIO_PORT, SPI_SCK_GPIO_PINSOURCE, GPIO_AF_SPI2);
GPIO_PinAFConfig(SPI_MISO_GPIO_PORT, SPI_MISO_GPIO_PINSOURCE, GPIO_AF_SPI2);
GPIO_PinAFConfig(SPI_MOSI_GPIO_PORT, SPI_MOSI_GPIO_PINSOURCE, GPIO_AF_SPI2);
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_DOWN;
/*!< SPI SCK pin configuration */
GPIO_InitStructure.GPIO_Pin = SPI_SCK_GPIO_PIN;
GPIO_Init(SPI_SCK_GPIO_PORT, &GPIO_InitStructure);
/*!< SPI MOSI pin configuration */
GPIO_InitStructure.GPIO_Pin = SPI_MOSI_GPIO_PIN;
GPIO_Init(SPI_MOSI_GPIO_PORT, &GPIO_InitStructure);
/*!< SPI MISO pin configuration */
GPIO_InitStructure.GPIO_Pin = SPI_MISO_GPIO_PIN;
GPIO_Init(SPI_MISO_GPIO_PORT, &GPIO_InitStructure);
/*!< Configure CS pin in output pushpull mode ********************/
GPIO_InitStructure.GPIO_Pin = SPI_CS_GPIO_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(SPI_CS_GPIO_PORT, &GPIO_InitStructure);
// ---- SPI ----
SPI_InitTypeDef SPI_InitStructure;
/*!< Deselect bus: Chip Select high */
spi_CS_high();
/*!< SPI configuration */
SPI_InitStructure.SPI_Direction = SPI_Direction_2Lines_FullDuplex;
SPI_InitStructure.SPI_Mode = SPI_Mode_Master;
SPI_InitStructure.SPI_DataSize = SPI_DataSize_8b;
SPI_InitStructure.SPI_CPOL = SPI_CPOL_High;
SPI_InitStructure.SPI_CPHA = SPI_CPHA_2Edge;
SPI_InitStructure.SPI_NSS = SPI_NSS_Soft;
SPI_InitStructure.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_64; // lets go slow first
SPI_InitStructure.SPI_FirstBit = SPI_FirstBit_MSB;
SPI_InitStructure.SPI_CRCPolynomial = 7;
SPI_Init(SPI2, &SPI_InitStructure);
/*!< Enable the sFLASH_SPI */
SPI_Cmd(SPI2, ENABLE);
return true;
}
/***************************************************************************************************
* @fn uarts_regist
*
* @brief 串口资源注册
* @param NULL
* @return null
***************************************************************************************************/
void uarts_regist(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
USART_InitTypeDef USART_InitStructure;
DMA_InitTypeDef DMA_InitStructure;
uint32_t temp;
//USART_S_PORT_TxPin
RCC_AHB1PeriphClockCmd(USART_S_PORT_GPIO_CLK, ENABLE);
GPIO_InitStructure.GPIO_Pin = USART_S_PORT_TxPin ;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(USART_S_PORT_GPIO, &GPIO_InitStructure);
GPIO_PinAFConfig(USART_S_PORT_GPIO, USART_S_PORT_Tx_Pinsource, USART_S_PORT_GPIO_AF);
//USART_S_PORT_RxPin
GPIO_InitStructure.GPIO_Pin = USART_S_PORT_RxPin ;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(USART_S_PORT_GPIO, &GPIO_InitStructure);
GPIO_PinAFConfig(USART_S_PORT_GPIO, USART_S_PORT_Rx_Pinsource, USART_S_PORT_GPIO_AF);
//USARTdbg_TxPin
RCC_AHB1PeriphClockCmd(USARTdbg_GPIO_CLK, ENABLE);
GPIO_InitStructure.GPIO_Pin = USARTdbg_TxPin ;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(USARTdbg_GPIO, &GPIO_InitStructure);
GPIO_PinAFConfig(USARTdbg_GPIO, USARTdbg_Tx_Pinsource, USARTdbg_GPIO_AF);
//USARTdbg_RxPin
GPIO_InitStructure.GPIO_Pin = USARTdbg_RxPin ;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(USARTdbg_GPIO, &GPIO_InitStructure);
GPIO_PinAFConfig(USARTdbg_GPIO, USARTdbg_Rx_Pinsource, USARTdbg_GPIO_AF);
//---------------------USART_S_PORT串口功能配置---------------------
//打开串口对应的外设时钟
RCC_APB1PeriphClockCmd(USART_S_PORT_CLK, ENABLE);
//串口发DMA配置
//启动DMA时钟
RCC_AHB1PeriphClockCmd(USART_S_PORT_DMA_CLK, ENABLE);
//DMA1通道配置
//关闭通道
DMA_Cmd(USART_S_PORT_Tx_DMA_STREAM,DISABLE);
DMA_DeInit(USART_S_PORT_Tx_DMA_STREAM);
//通道地址
DMA_InitStructure.DMA_Channel = USART_S_PORT_Tx_DMA_Channel;
//外设地址
DMA_InitStructure.DMA_PeripheralBaseAddr = (u32)(&USART_S_PORT->DR);
//内存地址
DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)Sport_TxBuffer;
//dma传输方向单向
DMA_InitStructure.DMA_DIR = DMA_DIR_MemoryToPeripheral;
//设置DMA在传输时缓冲区的长度
DMA_InitStructure.DMA_BufferSize = S_PORT_TX_BUFF_LEN;
//设置DMA的外设递增模式，一个外设
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
//设置DMA的内存递增模式
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
//外设数据字长
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
//内存数据字长
DMA_InitStructure.DMA_MemoryDataSize = DMA_PeripheralDataSize_Byte;
//设置DMA的传输模式
DMA_InitStructure.DMA_Mode = DMA_Mode_Normal;
//设置DMA的优先级别
DMA_InitStructure.DMA_Priority = DMA_Priority_High;
DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable;
DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_HalfFull;
DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
DMA_Init(USART_S_PORT_Tx_DMA_STREAM,&DMA_InitStructure);
//清中断
DMA_ClearITPendingBit(USART_S_PORT_Tx_DMA_STREAM, USART_S_PORT_Tx_DMA_FLAG);
//使能中断
DMA_ITConfig(USART_S_PORT_Tx_DMA_STREAM,DMA_IT_TC,ENABLE);
//串口收DMA配置
//关闭通道
DMA_Cmd(USART_S_PORT_Rx_DMA_STREAM,DISABLE);
DMA_DeInit(USART_S_PORT_Rx_DMA_STREAM);
//通道地址
DMA_InitStructure.DMA_Channel = USART_S_PORT_Rx_DMA_Channel;
//外设地址
DMA_InitStructure.DMA_PeripheralBaseAddr = (u32)(&USART_S_PORT->DR);
//内存地址
DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)Sport_RxBuffer;
//dma传输方向单向
DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralToMemory;
//设置DMA在传输时缓冲区的长度
DMA_InitStructure.DMA_BufferSize = S_PORT_RX_BUFF_LEN;
//设置DMA的外设递增模式，一个外设
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
//设置DMA的内存递增模式
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
//外设数据字长
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
//内存数据字长
DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
//设置DMA的传输模式
DMA_InitStructure.DMA_Mode = DMA_Mode_Normal;
//设置DMA的优先级别
DMA_InitStructure.DMA_Priority = DMA_Priority_VeryHigh;
DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable;
DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_HalfFull;
DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
DMA_Init(USART_S_PORT_Rx_DMA_STREAM,&DMA_InitStructure);
DMA_Cmd(USART_S_PORT_Rx_DMA_STREAM,ENABLE);
USART_InitStructure.USART_BaudRate = 115200;
USART_InitStructure.USART_WordLength = USART_WordLength_8b;
USART_InitStructure.USART_StopBits = USART_StopBits_1;
USART_InitStructure.USART_Parity = USART_Parity_No;
USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
//初始化串口
USART_Init(USART_S_PORT,&USART_InitStructure);
//中断配置
USART_ITConfig(USART_S_PORT,USART_IT_TC,DISABLE);
USART_ITConfig(USART_S_PORT,USART_IT_RXNE,DISABLE);
USART_ITConfig(USART_S_PORT,USART_IT_IDLE,ENABLE);
//配置UART中断
NVIC_InitStructure.NVIC_IRQChannel = USART_S_PORT_IRQn; //通道设置为串口1中断
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = USART_S_PORT_Rx_NVIC_PRIORITY; //中断占先等级
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; //中断响应优先级0
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //打开中断
NVIC_Init(&NVIC_InitStructure);
//DMA发送中断
NVIC_InitStructure.NVIC_IRQChannel = USART_S_PORT_Tx_DMA_IRQn; //通道设置为串口1中断
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = USART_S_PORT_Tx_DMA_NVIC_PRIORITY; //中断占先等级
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; //中断响应优先级0
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //打开中断
NVIC_Init(&NVIC_InitStructure);
//清中断
temp = USART_S_PORT->SR;
temp = USART_S_PORT->DR; //清USART_IT_IDLE标志
//采用DMA方式发送
// USART_DMACmd(USART_S_PORT,USART_DMAReq_Tx,ENABLE);
// //采用DMA方式接收
USART_DMACmd(USART_S_PORT,USART_DMAReq_Rx,ENABLE);
//启动串口
USART_Cmd(USART_S_PORT, ENABLE);
//---------------------USARTdbg串口功能配置---------------------
//打开串口对应的外设时钟
RCC_APB1PeriphClockCmd(USARTdbg_CLK, ENABLE);
//串口发DMA配置
//关闭通道
DMA_Cmd(USARTdbg_Tx_DMA_STREAM,DISABLE);
DMA_DeInit(USARTdbg_Tx_DMA_STREAM);
//通道地址
DMA_InitStructure.DMA_Channel = USARTdbg_Tx_DMA_Channel;
//外设地址
DMA_InitStructure.DMA_PeripheralBaseAddr = (u32)(&USARTdbg->DR);
//内存地址
DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)dbg_TxBuffer;
//dma传输方向单向
DMA_InitStructure.DMA_DIR = DMA_DIR_MemoryToPeripheral;
//设置DMA在传输时缓冲区的长度
DMA_InitStructure.DMA_BufferSize = DBG_TX_BUF_LEN;
//设置DMA的外设递增模式，一个外设
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
//设置DMA的内存递增模式
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
//外设数据字长
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
//内存数据字长
DMA_InitStructure.DMA_MemoryDataSize = DMA_PeripheralDataSize_Byte;
//设置DMA的传输模式
DMA_InitStructure.DMA_Mode = DMA_Mode_Normal;
//设置DMA的优先级别
DMA_InitStructure.DMA_Priority = DMA_Priority_High;
DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable;
DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_HalfFull;
DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
DMA_Init(USARTdbg_Tx_DMA_STREAM,&DMA_InitStructure);
//清中断
DMA_ClearITPendingBit(USARTdbg_Tx_DMA_STREAM, USARTdbg_Tx_DMA_FLAG);
//使能中断
DMA_ITConfig(USARTdbg_Tx_DMA_STREAM,DMA_IT_TC,ENABLE);
//串口收DMA配置
//关闭通道
DMA_Cmd(USARTdbg_Rx_DMA_STREAM,DISABLE);
DMA_DeInit(USARTdbg_Rx_DMA_STREAM);
//通道地址
DMA_InitStructure.DMA_Channel = USARTdbg_Rx_DMA_Channel;
//外设地址
DMA_InitStructure.DMA_PeripheralBaseAddr = (u32)(&USARTdbg->DR);
//内存地址
DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)dbg_RxBuffer;
//dma传输方向单向
DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralToMemory;
//设置DMA在传输时缓冲区的长度
DMA_InitStructure.DMA_BufferSize = DBG_RX_BUF_LEN;
//设置DMA的外设递增模式，一个外设
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
//设置DMA的内存递增模式
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
//外设数据字长
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
//内存数据字长
DMA_InitStructure.DMA_MemoryDataSize = DMA_PeripheralDataSize_Byte;
//设置DMA的传输模式
DMA_InitStructure.DMA_Mode = DMA_Mode_Normal;
//设置DMA的优先级别
DMA_InitStructure.DMA_Priority = DMA_Priority_High;
DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable;
DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_HalfFull;
DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
DMA_Init(USARTdbg_Rx_DMA_STREAM,&DMA_InitStructure);
DMA_Cmd(USARTdbg_Rx_DMA_STREAM,ENABLE);
USART_InitStructure.USART_BaudRate = 115200;
USART_InitStructure.USART_WordLength = USART_WordLength_8b;
USART_InitStructure.USART_StopBits = USART_StopBits_1;
USART_InitStructure.USART_Parity = USART_Parity_No;
USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
//初始化串口
USART_Init(USARTdbg,&USART_InitStructure);
//中断配置
USART_ITConfig(USARTdbg,USART_IT_TC,DISABLE);
USART_ITConfig(USARTdbg,USART_IT_RXNE,DISABLE);
USART_ITConfig(USARTdbg,USART_IT_IDLE,ENABLE);
USART_ClearITPendingBit(USARTdbg, USART_IT_RXNE);
//清中断
temp = USARTdbg->SR;
temp = USARTdbg->DR; //清USART_IT_IDLE标志
//配置UART中断
NVIC_InitStructure.NVIC_IRQChannel = USARTdbg_IRQn; //通道设置为串口1中断
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = USARTdbg_Rx_NVIC_PRIORITY; //中断占先等级
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; //中断响应优先级0
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //打开中断
NVIC_Init(&NVIC_InitStructure);
//DMA发送中断
NVIC_InitStructure.NVIC_IRQChannel = USARTdbg_Tx_DMA_IRQn; //通道设置为串口1中断
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = USARTdbg_Tx_DMA_NVIC_PRIORITY; //中断占先等级
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; //中断响应优先级0
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //打开中断
NVIC_Init(&NVIC_InitStructure);
//采用DMA方式发送
// USART_DMACmd(USARTdbg,USART_DMAReq_Tx,ENABLE);
//采用DMA方式接收
USART_DMACmd(USARTdbg,USART_DMAReq_Rx,ENABLE);
//启动串口
USART_Cmd(USARTdbg, ENABLE);
}