static void prvSetupHardware( void )
{
/* Start with the clocks in their expected state. */
RCC_DeInit();
/* Enable HSE (high speed external clock). */
RCC_HSEConfig( RCC_HSE_ON );
/* Wait till HSE is ready. */
while( RCC_GetFlagStatus( RCC_FLAG_HSERDY ) == RESET )
{
}
/* 2 wait states required on the flash. */
*( ( unsigned long * ) 0x40022000 ) = 0x02;
/* HCLK = SYSCLK */
RCC_HCLKConfig( RCC_SYSCLK_Div1 );
/* PCLK2 = HCLK */
RCC_PCLK2Config( RCC_HCLK_Div1 );
/* PCLK1 = HCLK/2 */
RCC_PCLK1Config( RCC_HCLK_Div2 );
/* PLLCLK = (25MHz / 2 ) * 5 = 62.5 MHz. */
RCC_PLLConfig( RCC_PLLSource_HSE_Div2, RCC_PLLMul_5 );
/* Enable PLL. */
RCC_PLLCmd( ENABLE );
/* Wait till PLL is ready. */
while(RCC_GetFlagStatus(RCC_FLAG_PLLRDY) == RESET)
{
}
/* Select PLL as system clock source. */
RCC_SYSCLKConfig( RCC_SYSCLKSource_PLLCLK );
/* Wait till PLL is used as system clock source. */
while( RCC_GetSYSCLKSource() != 0x08 )
{
}
/* Enable GPIOA, GPIOB, GPIOC, GPIOD, GPIOE and AFIO clocks */
RCC_APB2PeriphClockCmd( RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB |RCC_APB2Periph_GPIOC
| RCC_APB2Periph_GPIOD | RCC_APB2Periph_GPIOE | RCC_APB2Periph_AFIO, ENABLE );
/* Set the Vector Table base address at 0x08000000 */
NVIC_SetVectorTable( NVIC_VectTab_FLASH, 0x0 );
NVIC_PriorityGroupConfig( NVIC_PriorityGroup_4 );
/* Configure HCLK clock as SysTick clock source. */
SysTick_CLKSourceConfig( SysTick_CLKSource_HCLK );
/* Initialise the IO used for the LED outputs. */
vParTestInitialise();
}
static void prvSetupHardware( void )
{
/* RCC system reset(for debug purpose). */
RCC_DeInit ();
/* Enable HSE. */
RCC_HSEConfig( RCC_HSE_ON );
/* Wait till HSE is ready. */
while (RCC_GetFlagStatus(RCC_FLAG_HSERDY) == RESET);
/* HCLK = SYSCLK. */
RCC_HCLKConfig( RCC_SYSCLK_Div1 );
/* PCLK2 = HCLK. */
RCC_PCLK2Config( RCC_HCLK_Div1 );
/* PCLK1 = HCLK/2. */
RCC_PCLK1Config( RCC_HCLK_Div2 );
/* ADCCLK = PCLK2/4. */
RCC_ADCCLKConfig( RCC_PCLK2_Div4 );
/* Flash 2 wait state. */
*( volatile unsigned long * )0x40022000 = 0x01;
/* PLLCLK = 8MHz * 9 = 72 MHz */
RCC_PLLConfig( RCC_PLLSource_HSE_Div1, RCC_PLLMul_9 );
/* Enable PLL. */
RCC_PLLCmd( ENABLE );
/* Wait till PLL is ready. */
while (RCC_GetFlagStatus(RCC_FLAG_PLLRDY) == RESET);
/* Select PLL as system clock source. */
RCC_SYSCLKConfig (RCC_SYSCLKSource_PLLCLK);
/* Wait till PLL is used as system clock source. */
while (RCC_GetSYSCLKSource() != 0x08);
/* Enable GPIOA, GPIOB, GPIOC, GPIOD, GPIOE and AFIO clocks */
RCC_APB2PeriphClockCmd( RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB |RCC_APB2Periph_GPIOC
| RCC_APB2Periph_GPIOD | RCC_APB2Periph_GPIOE | RCC_APB2Periph_AFIO, ENABLE );
/* Set the Vector Table base address at 0x08000000. */
NVIC_SetVectorTable( NVIC_VectTab_FLASH, 0x0 );
NVIC_PriorityGroupConfig( NVIC_PriorityGroup_4 );
/* Configure HCLK clock as SysTick clock source. */
SysTick_CLKSourceConfig( SysTick_CLKSource_HCLK );
/* Initialise the IO used for the LED outputs. */
vParTestInitialise();
/* SPI2 Periph clock enable */
RCC_APB1PeriphClockCmd( RCC_APB1Periph_SPI2, ENABLE );
}
/* init System Ticker with 1ms ----------------------------------------------*/
void initSysTick()
{
// config for systick - delay
SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK);
SysTick_SetReload(72000);
SysTick_ITConfig(ENABLE);
SysTick_CounterCmd(SysTick_Counter_Enable);
}
void SysTick_init(void)
{
RCC_ClocksTypeDef RCC_Clocks;
RCC_GetClocksFreq(&RCC_Clocks);
SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK);
SysTick_Config(RCC_Clocks.HCLK_Frequency / 1000);
NVIC_SetPriority(SysTick_IRQn, 0x03);
}
void Delay_init(uint32_t interval){
SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK_Div8); //set clock source
SysTick->LOAD = interval; //set reload value
SysTick->VAL = 0; //set counter value to 0
SysTick->CTRL = SysTick_CTRL_CLKSOURCE_Msk | SysTick_CTRL_ENABLE_Msk; //set clock and enable
}
/**************************************************************************************************************
函数描述 : SysTick初始化,8分频,分频后每计1个数为0.111us
***************************************************************************************************************/
void SysTick_Init(void)
{
SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK_Div8); //计数器时钟源 == AHB(HCLK)/8 = 72MHz/8 = 9MHz
SysTick->LOAD = 0xFFFFFE; //装载计数器初始值
SysTick->VAL = 0; //重新装载
SysTick->CTRL &= ~(SYSTICK_TICKINT<<1); //禁止中断
}
//SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK_Div8)
// Reload Value = SysTick Counter Clock (Hz) x Desired Time base (s)
//
// - Reload Value is the parameter to be passed for SysTick_Config() function
// - Reload Value should not exceed 0xFFFFFF
void InitDelay(__IO uint32_t BaseTime)
{
RCC_ClocksTypeDef RCC_Clocks;
RCC_GetClocksFreq(&RCC_Clocks);
SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK);
if(SysTick_Config((uint32_t)(BaseTime*(RCC_Clocks.HCLK_Frequency))/1000000))
while(1); // capture an error
}
/*==================================================================================
* 函 数 名： systick_init
* 参 数： None
* 功能描述: 初始化系统嘀嗒定时器
* 返 回 值： None
* 备 注： 此函数调用的SysTick_CLKSourceConfig()设定定时器的输入时钟，可是不知道为
什么更改SysTick_CLKSource_HCLK_Div8和SysTick_CLKSource_HCLK两个输入参数
，定时周期一样，有待考证。
* 作 者： gaodb
* 创建时间： 2012.10
==================================================================================*/
static void systick_init(void)
{
SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK);
if (SysTick_Config(72000))
{
while (1);
}
}
void start_timer() {
RCC_ClocksTypeDef RCC_Clocks;
/* Configure Systick clock source as HCLK */
SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK);
/* SystTick configuration: an interrupt every 10ms */
RCC_GetClocksFreq(&RCC_Clocks);
SysTick_Config(RCC_Clocks.HCLK_Frequency / 100);
}
/********************************************************************************************
*函数名称：void Delay(u32 nTime)
*
*入口参数：u32 nTime:延时时间
*
*出口参数：无
*
*功能说明：SYSTICK滴答延时配置
*******************************************************************************************/
void Delay(u32 nTime)
{
SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK_Div8); //时钟源选择
SysTick_Config(72000); //调置产生中断的计数个数
TimingDelay = nTime;
while(TimingDelay != 0);
}
void systick_init(void)
{
//72MHz / 8 = 9MHz
SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK_Div8);
SysTick -> CTRL = 0x02; //开启SysTick中断
SysTick -> LOAD = 9000; //重载值
systick_value = 0;
SYSTICK_START
}
void RCC_Configuration(void)
{
SystemInit();
SysTick_CLKSourceConfig( SysTick_CLKSource_HCLK );
RCC_USBCLKConfig(RCC_USBCLKSource_PLLCLK_1Div5);
// enable usb
RCC_APB1PeriphClockCmd(RCC_APB1Periph_USB, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
}
void SysTick_Initial(void)
{
RCC_ClocksTypeDef RCC_Clocks;
RCC_GetClocksFreq(&RCC_Clocks);
SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK_Div8);
factor_us = SystemCoreClock/8000000;
factor_ms = factor_us * 1000;
}
/*******************************************************************************
* Function Name : delay_init
* Description :
* Input : None
* Output : None
* Return : None
* Attention :
*******************************************************************************/
void delay_init(void)
{
RCC_ClocksTypeDef RCC_ClocksStatus;
RCC_GetClocksFreq(&RCC_ClocksStatus);
SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK_Div8);
SysTick_ITConfig(DISABLE);
delay_fac_us = RCC_ClocksStatus.HCLK_Frequency / 8000000;
delay_fac_ms = RCC_ClocksStatus.HCLK_Frequency / 8000;
}
void SysTick_Configuration(void)
{
/* Configure HCLK clock as SysTick clock source */
SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK);
SysTick_SetReload(72000);
/* Enable the SysTick Interrupt */
SysTick_ITConfig(ENABLE);
/* Enable the SysTick Counter */
SysTick_CounterCmd(SysTick_Counter_Enable);
}
void initTimer(void)
{
SysTick_CounterCmd(SysTick_Counter_Disable);
SysTick_ITConfig(DISABLE);
SysTick->LOAD = 9000;
SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK_Div8);
SysTick_ITConfig(ENABLE);
}
//初始化延迟函数
//当使用ucos的时候,此函数会初始化ucos的时钟节拍
//SYSTICK的时钟固定为HCLK时钟的1/8
//SYSCLK:系统时钟
void delay_init(void)
{
SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK_Div8); //选择外部时钟 HCLK/8
fac_us=SystemCoreClock/8000000; //为系统时钟的1/8
fac_ms=(u16)fac_us*1000;//非ucos下,代表每个ms需要的systick时钟数
}
/*******************************************************************************
* Function Name : main.
* Description : Main routine.
* Input : None.
* Output : None.
* Return : None.
*******************************************************************************/
int main(void)
{
#ifdef DEBUG
debug();
#endif
Set_System();
Set_USBClock();
USB_Config();
USB_Init();
InitialIO();
InitialADC();
#ifdef JOYSTICK
SSD1303_Init();
InitialSSD1306_controller();
#endif
InitialProcTask();
//WaitConfig();
InitialDevice(&dev,&SSD1303_Prop,SongSmall5_DrawChar);
SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK);
SysTick_SetReload(72000000/20);
SysTick_CounterCmd(SysTick_Counter_Enable);
SysTick_ITConfig(ENABLE);
CurrentProcess = JoystickProcess;
CurrentSystick = JoystickSystick;
JoystickUIInit();
void HidProcess(void);
while (1)
{
HidProcess();
continue;
static u8 lastCamOn = 0;
if(lastCamOn != bCameraOn) {
if(bCameraOn) {
CurrentProcess = TetrisProcess;
CurrentSystick = TetrisSystick;
TetrisUIInit();
} else {
CurrentProcess = JoystickProcess;
CurrentSystick = JoystickSystick;
JoystickUIInit();
}
}
lastCamOn = bCameraOn;
CurrentProcess();
}
}
void main(void)
{
ENTR_CRT_SECTION();
/* Setup STM32 system (clock, PLL and Flash configuration) */
SystemInit();
/* Set the Vector Table base location at 0x08000000 */
NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x0);
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);
// SysTick end of count event each 0.5s with input clock equal to 9MHz (HCLK/8, default)
SysTick_Config(1500000);
SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK_Div8);
// Step motor init
StepMotorInit();
// I2C1 init
I2C1_Init();
EXT_CRT_SECTION();
// GLCD init
GLCD_PowerUpInit((pInt8U)IAR_Logo.pPicStream); //(
GLCD_Backlight(BACKLIGHT_ON);
GLCD_SetFont(&Terminal_9_12_6,0x000F00,0x00FF0);
GLCD_SetWindow(10,104,131,131);
// Init Accl sensor
if(FALSE == Accl_Init())
{
// Initialization fault
GLCD_TextSetPos(0,0);
GLCD_print("\fLIS3LV020 Init.\r\nfault\r\n");
while(1);
}
Car_Init();
while(1)
{
A=position();
/* A = accX[1];
B = velX[1];
C = posX[1]; */
if(SysTickFl) //
{
SysTickFl = FALSE;
GLCD_TextSetPos(0,0);
GLCD_print("\f%d Deg\r\n",A);
}
GoCar(Test, TestTurn);
}
}
/***************************************************************************//**
* @brief
* Configure the SysTick for OS tick.
*
* @details
*
* @note
*
******************************************************************************/
void SysTick_Configuration(void)
{
rt_uint32_t core_clock;
rt_uint32_t cnts;
core_clock = SystemCoreClockGet();
cnts = core_clock / RT_TICK_PER_SECOND;
SysTick_Config(cnts);
SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK);
}
/** System Clock Configuration
*/
void SystemClock_Config(void)
{
RCC_ClocksTypeDef System_Clocks;
/* This part doesn't have an equivalent in the original code,
* but we NEED this to generate PRECISE 1ms timing function 5Delay_msfor instance)
*/
RCC_GetClocksFreq(&System_Clocks);
SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK);
SysTick_Config(System_Clocks.HCLK_Frequency / 1000); //Interrupt generated every 1000 us = 1ms
}
/*******************************************************************************
* Function Name : SysTick_Config
* Description : Configure a SysTick Base time to 10 ms.
* Input : None
* Output : None
* Return : None
*******************************************************************************/
void SysTick_ConfigX(void)
{
/* Configure HCLK clock as SysTick clock source */
SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK);
/* SysTick interrupt each 100 Hz with HCLK equal to 72MHz */
//SysTick_SetReload(SYSTICK_FREQUENCY);
/* Enable the SysTick Interrupt */
//SysTick_ITConfig(ENABLE);
}
inline void RCC_Configuration(void)
{
SystemInit();
SysTick_CLKSourceConfig( SysTick_CLKSource_HCLK );
// Enable GPIO modules
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_USART1 | RCC_APB2Periph_AFIO | RCC_APB2Periph_ADC1 | RCC_APB2Periph_SPI1, ENABLE);
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC | RCC_AHBPeriph_DMA1, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_PWR | RCC_APB1Periph_BKP, ENABLE);
}
/**
* @brief Configures SysTick to generate an interrupt each 250ms.
* @param None
* @retval None
*/
void SysTick_Configuration(void)
{
/* SysTick interrupt each 250ms with counter clock equal to (HCLK/8) */
if (SysTick_Config((SystemCoreClock/8) / 4))
{
/* Capture error */
while (1);
}
/* Select HCLK/8 as SysTick clock source */
SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK_Div8);
}
/*******************************************************************************
* Function Name : SysTick_Configuration
* Description : Configures the SysTick for OS tick.
* Input : None
* Output : None
* Return : None
*******************************************************************************/
void SysTick_Configuration(void)
{
RCC_ClocksTypeDef rcc_clocks;
rt_uint32_t cnts;
RCC_GetClocksFreq(&rcc_clocks);
cnts = (rt_uint32_t)rcc_clocks.HCLK_Frequency / RT_TICK_PER_SECOND;
SysTick_Config(cnts);
SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK);
}
/****************************** SysTick_Conf *******************************
* Function Name : SysTick_Conf
* Description : SysTick_Conf.
* Input : None
* Output : None
* Return : None
********************************************************************/
void SysTick_Conf(void)
{
//Zegar SysTick bedzie wynosil 168MHz
SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK);
if(SysTick_Config(1680000)) //przerwanie co 1ms - 168MHz/1680000=100Hz => T=10ms
{
while(1);
}
}
void SPIRIT_INIT(void)
{
NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x0000); // Use STM32L1xx_flash.icf
RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE);
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOA | RCC_AHBPeriph_GPIOB | RCC_AHBPeriph_GPIOC, ENABLE );
SdkEvalIdentification();
SdkStartSysTick();
SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK);
SdkEvalLedInit(LED1);
SdkEvalLedInit(LED2);
SdkEvalM2SGpioInit(M2S_GPIO_SDN,M2S_MODE_GPIO_OUT);
SpiritSpiInit();
USART1_Init();
SpiritEnterShutdown();
SpiritExitShutdown();
SpiritManagementIdentificationRFBoard();
SdkEvalM2SGpioInit(M2S_GPIO_0, M2S_MODE_EXTI_IN);
SdkEvalM2SGpioInterruptCmd(M2S_GPIO_0,0x0F,0x0F,ENABLE);
SpiritGpioInit(&xGpioIRQ);
SpiritRadioInit(&xRadioInit);
SpiritPktBasicInit(&xBasicInit);
SpiritPktBasicAddressesInit(&xAddressInit);
SpiritIrqDeInit(&xIrqStatus);
SpiritIrq(RX_DATA_DISC, S_ENABLE);
SpiritIrq(RX_DATA_READY, S_ENABLE); // testy dla odbioru komend !!!!!
SpiritIrq(TX_DATA_SENT, S_ENABLE);
SpiritIrq(TX_FIFO_ERROR, S_ENABLE);
// Declare Length of Payload
SpiritPktBasicSetPayloadLength(PAYLOAD_LENGTH);
SpiritQiSetSqiThreshold(SQI_TH_0);
SpiritQiSqiCheck(S_ENABLE);
SpiritIrqClearStatus();
// SET_INFINITE_RX_TIMEOUT();
SpiritTimerSetRxTimeoutMs(RX_TIMEOUT);
//SpiritTimerSetRxTimeoutStopCondition(TIMEOUT_ALWAYS_STOPPED);
SpiritTimerSetRxTimeoutStopCondition(SQI_ABOVE_THRESHOLD);
SpiritIrqClearStatus();
//USART_Conf();
//*** For test purposes only: create unsigned, 16-bit counter
vectcTxBuff[0] = 0; // Clear Counter to overwrite initial values
vectcTxBuff[1] = 0;
SdkDelayMs(2000); //wait till the tested board FW active
// IWDG_Init(); // let the dogs out,
}
void eBoxInit(void)
{
SysTick_Config(SysTickOverFlowValue);// 每隔 (nhz/9,000,000)s产生一次中断
SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK_Div8);//9Mhz的systemticks clock；
Init_ADC1();
NVIC_PriorityGroupConfig(NVIC_GROUP_CONFIG);
//将pb4默认设置为IO口，仅用jtag
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO,ENABLE);
GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable,ENABLE);
}
static void prvSetupHardware( void )
{
/* Enable GPIOA, GPIOB, GPIOC, GPIOD, GPIOE and AFIO clocks */
RCC_APB2PeriphClockCmd( RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB |RCC_APB2Periph_GPIOC
| RCC_APB2Periph_GPIOD | RCC_APB2Periph_GPIOE | RCC_APB2Periph_AFIO, ENABLE );
/* Set the Vector Table base address at 0x08000000 */
NVIC_SetVectorTable( NVIC_VectTab_FLASH, 0x0 );
NVIC_PriorityGroupConfig( NVIC_PriorityGroup_4 );
/* Configure HCLK clock as SysTick clock source. */
SysTick_CLKSourceConfig( SysTick_CLKSource_HCLK );
}
/*******************************************************************************
* Function Name : SysTick_Configuration
* Description : Configures the SysTick to generate an interrupt each 1 millisecond.
* Input : None
* Output : None
* Return : None
*******************************************************************************/
void SysTick_Configuration(void)
{
/* Select AHB clock(HCLK) as SysTick clock source */
SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK);
/* Set SysTick Priority to 3 */
NVIC_SystemHandlerPriorityConfig(SystemHandler_SysTick, 3, 0);
/* SysTick interrupt each 1ms with HCLK equal to 72MHz */
SysTick_SetReload(72000);
/* Enable the SysTick Interrupt */
SysTick_ITConfig(ENABLE);
}
