|
|
@@ -0,0 +1,244 @@
|
|
|
+#include "board.h"
|
|
|
+
|
|
|
+/* private defines */
|
|
|
+/* private variables */
|
|
|
+static volatile uint32_t TDelay;
|
|
|
+
|
|
|
+/* private typedef */
|
|
|
+/* private functions */
|
|
|
+static void GPIO_Init(void);
|
|
|
+static void ADC_Init(void);
|
|
|
+static void TIM1_Init(void);
|
|
|
+static void TIM3_Init(void);
|
|
|
+static void IWDG_Init(void);
|
|
|
+
|
|
|
+/* Board perephireal Configuration */
|
|
|
+void Board_Init(void)
|
|
|
+{
|
|
|
+ /* Main peripheral clock enable */
|
|
|
+ RCC->APBENR1 = (RCC_APBENR1_PWREN | RCC_APBENR1_TIM3EN);
|
|
|
+ RCC->APBENR2 = (RCC_APBENR2_SYSCFGEN | RCC_APBENR2_ADCEN | RCC_APBENR2_TIM1EN);
|
|
|
+ /* GPIO Ports Clock Enable */
|
|
|
+ RCC->IOPENR = (RCC_IOPENR_GPIOAEN | RCC_IOPENR_GPIOBEN);
|
|
|
+
|
|
|
+ /* Peripheral interrupt init*/
|
|
|
+ /* RCC_IRQn interrupt configuration */
|
|
|
+ NVIC_SetPriority(RCC_IRQn, 0);
|
|
|
+ NVIC_EnableIRQ(RCC_IRQn);
|
|
|
+
|
|
|
+ /* Configure the system clock */
|
|
|
+ SystemClock_Config();
|
|
|
+
|
|
|
+ /* Configure SysTick */
|
|
|
+ SysTick->LOAD = (uint32_t)(SystemCoreClock/1000 - 1UL); /* set reload register */
|
|
|
+ NVIC_SetPriority (SysTick_IRQn, (1UL << __NVIC_PRIO_BITS) - 1UL); /* set Priority for Systick Interrupt */
|
|
|
+ SysTick->VAL = 0UL; /* Load the SysTick Counter Value */
|
|
|
+ SysTick->CTRL = SysTick_CTRL_CLKSOURCE_Msk |
|
|
|
+ SysTick_CTRL_TICKINT_Msk |
|
|
|
+ SysTick_CTRL_ENABLE_Msk; /* Enable SysTick IRQ and SysTick Timer */
|
|
|
+
|
|
|
+ /* Processor uses sleep as its low power mode */
|
|
|
+ SCB->SCR &= ~((uint32_t)SCB_SCR_SLEEPDEEP_Msk);
|
|
|
+ /* DisableSleepOnExit */
|
|
|
+ SCB->SCR &= ~((uint32_t)SCB_SCR_SLEEPONEXIT_Msk);
|
|
|
+
|
|
|
+ /* Initialize all configured peripherals */
|
|
|
+ GPIO_Init();
|
|
|
+
|
|
|
+ ADC_Init();
|
|
|
+
|
|
|
+ TIM1_Init();
|
|
|
+ TIM3_Init();
|
|
|
+
|
|
|
+ IWDG_Init();
|
|
|
+}
|
|
|
+
|
|
|
+
|
|
|
+/**
|
|
|
+ * @brief System Clock Configuration
|
|
|
+ * @retval None
|
|
|
+ */
|
|
|
+void SystemClock_Config(void)
|
|
|
+{
|
|
|
+ /* HSI configuration and activation */
|
|
|
+ RCC->CR |= RCC_CR_HSION; // Enable HSI
|
|
|
+ while((RCC->CR & RCC_CR_HSIRDY) == 0);
|
|
|
+
|
|
|
+ /* Main PLL configuration and activation */
|
|
|
+ RCC->PLLCFGR = (RCC_PLLCFGR_PLLSRC_HSI | RCC_PLLCFGR_PLLM_0 | (9 << RCC_PLLCFGR_PLLN_Pos) | RCC_PLLCFGR_PLLR_1);
|
|
|
+ RCC->PLLCFGR |= RCC_PLLCFGR_PLLREN; // RCC_PLL_EnableDomain_SYS
|
|
|
+ RCC->CR |= RCC_CR_PLLON; // RCC_PLL_Enable
|
|
|
+ while((RCC->CR & RCC_CR_PLLRDY) == 0);
|
|
|
+
|
|
|
+ /* Sysclk activation on the main PLL */
|
|
|
+ RCC->CFGR &= RCC_CFGR_SW;
|
|
|
+ RCC->CFGR |= RCC_CFGR_SW_1;
|
|
|
+ while((RCC->CFGR & RCC_CFGR_SWS) != RCC_CFGR_SWS_1);
|
|
|
+
|
|
|
+ /* Update CMSIS variable (which can be updated also through SystemCoreClockUpdate function) */
|
|
|
+ SystemCoreClock = 24000000;
|
|
|
+}
|
|
|
+
|
|
|
+/**
|
|
|
+ * @brief GPIO Initialization Function
|
|
|
+ * @param None
|
|
|
+ * @retval None
|
|
|
+ */
|
|
|
+static void GPIO_Init(void)
|
|
|
+{
|
|
|
+ /* Servo_1_Pin, Servo_2_Pin - Servos control, Alt PP out, middle speed */
|
|
|
+ GPIO_SetPinMode(Servo_1_Port, (Servo_1_Pin|Servo_2_Pin), GPIO_MODE_AFF);
|
|
|
+ GPIO_SetPinOutputType(Servo_1_Port, (Servo_1_Pin|Servo_2_Pin), GPIO_OTYPE_PP);
|
|
|
+ GPIO_SetPinSpeed(Servo_1_Port, (Servo_1_Pin|Servo_2_Pin), GPIO_OSPEED_LW);
|
|
|
+ GPIO_SetPinPull(Servo_1_Port, (Servo_1_Pin|Servo_2_Pin), GPIO_PUPDR_NO);
|
|
|
+ GPIO_SetAFPin_0_7(Servo_1_Port, (Servo_1_Pin|Servo_2_Pin), GPIO_AF_2);
|
|
|
+
|
|
|
+ /* Photo_Pin: analog in, pull none */
|
|
|
+ GPIO_SetPinPull(Photo_Port, Photo_Pin, GPIO_PUPDR_NO);
|
|
|
+ GPIO_SetPinMode(Photo_Port, Photo_Pin, GPIO_MODE_ANL);
|
|
|
+
|
|
|
+ /* Test out Pin A4 */
|
|
|
+ GPIO_SetPinMode(GPIOA, GPIO_PIN_4, GPIO_MODE_OUT);
|
|
|
+ GPIO_SetPinOutputType(GPIOA, GPIO_PIN_4, GPIO_OTYPE_PP);
|
|
|
+ GPIO_SetPinSpeed(GPIOA, GPIO_PIN_4, GPIO_OSPEED_LW);
|
|
|
+ GPIO_SetPinPull(GPIOA, GPIO_PIN_4, GPIO_PUPDR_NO);
|
|
|
+
|
|
|
+ /* Test in Pin A5 */
|
|
|
+ GPIO_SetPinPull(GPIOA, GPIO_PIN_4, GPIO_PUPDR_UP);
|
|
|
+}
|
|
|
+
|
|
|
+/**
|
|
|
+ * @brief ADC1 Initialization Function
|
|
|
+ * @param None
|
|
|
+ * @retval None
|
|
|
+ */
|
|
|
+static void ADC_Init(void)
|
|
|
+{
|
|
|
+ /* ADC1 interrupt Init */
|
|
|
+ NVIC_SetPriority(ADC1_IRQn, 0);
|
|
|
+ NVIC_EnableIRQ(ADC1_IRQn);
|
|
|
+
|
|
|
+ /* Configure the global features of the ADC
|
|
|
+ * (Clock, Resolution, Data Alignment and number of conversion)
|
|
|
+ */
|
|
|
+ //ADC synchronous clock derived from AHB clock divided by 2
|
|
|
+ ADC1->CFGR2 |= ADC_CFGR2_CKMODE_0;
|
|
|
+
|
|
|
+ /* Poll for ADC channel configuration ready */
|
|
|
+ while ((ADC1->ISR & ADC_ISR_CCRDY) == 0) {};
|
|
|
+ /* Clear flag ADC channel configuration ready */
|
|
|
+ ADC1->ISR |= ADC_ISR_CCRDY;
|
|
|
+
|
|
|
+ ADC1->CFGR1 |= (ADC_CFGR1_EXTSEL_1 | ADC_CFGR1_EXTSEL_0 | ADC_CFGR1_EXTEN_0) | ADC_CFGR1_OVRMOD | ADC_CFGR1_EXTEN_0;
|
|
|
+
|
|
|
+ /* Enable ADC internal voltage regulator */
|
|
|
+ ADC1->CR |= ADC_CR_ADVREGEN; // ???
|
|
|
+
|
|
|
+ /** Configure Regular Channel */
|
|
|
+ ADC1->CHSELR = ADC_CHSELR_CHSEL11;
|
|
|
+
|
|
|
+ /* Poll for ADC channel configuration ready */
|
|
|
+ while ((ADC1->ISR & ADC_ISR_CCRDY) == 0) {};
|
|
|
+ /* Clear flag ADC channel configuration ready */
|
|
|
+ ADC1->ISR |= ADC_ISR_CCRDY;
|
|
|
+
|
|
|
+ // SetChannelSamplingTime
|
|
|
+ ADC1->SMPR |= ADC_SMPR_SMPSEL11;
|
|
|
+
|
|
|
+ /* Calibration in single conversion mode */
|
|
|
+ ADC1->CR |= ADC_CR_ADCAL; // ADC calibration
|
|
|
+ while ((ADC1->CR & ADC_CR_ADCAL) != 0) {};
|
|
|
+
|
|
|
+ /* Enable Interrupt */
|
|
|
+ ADC1->IER |= ADC_IER_EOCIE; // ADC interrupt enable
|
|
|
+ /* Enable ADC */
|
|
|
+ ADC1->CR |= ADC_CR_ADEN; // ADC enable
|
|
|
+ /* Start ADC software conversion */
|
|
|
+ ADC1->CR |= ADC_CR_ADSTART; // ADC start
|
|
|
+}
|
|
|
+
|
|
|
+/**
|
|
|
+ * @brief TIM1 Initialization Function
|
|
|
+ * @param None
|
|
|
+ * @retval None
|
|
|
+ */
|
|
|
+static void TIM1_Init(void)
|
|
|
+{
|
|
|
+ /* target clock */
|
|
|
+ TIM1->PSC = TIM1_PSC; // prescaler
|
|
|
+ TIM1->ARR = TIM1_ARR; // auto reload value
|
|
|
+ TIM1->CR1 = TIM_CR1_ARPE;
|
|
|
+ // initial pwm value
|
|
|
+ TIM1->CCR1 = SERVO_INIT_VAL;
|
|
|
+ TIM1->CCR4 = SERVO_INIT_VAL;
|
|
|
+ // pwm mode 1 for chanels
|
|
|
+ TIM1->CCMR1 = (TIM_CCMR1_OC1M_1 | TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC1PE);
|
|
|
+ TIM1->CCMR2 = (TIM_CCMR2_OC4M_1 | TIM_CCMR2_OC4M_2 | TIM_CCMR2_OC4PE);
|
|
|
+ //TIM1->SR |= TIM_SR_UIF;
|
|
|
+ TIM1->BDTR = TIM_BDTR_MOE; // enable main output
|
|
|
+ TIM1->EGR = TIM_EGR_UG; // force timer update
|
|
|
+ /* TIM1 CC_EnableChannel */
|
|
|
+ TIM1->CCER = (TIM_CCER_CC1E | TIM_CCER_CC1P | TIM_CCER_CC4E | TIM_CCER_CC4P);
|
|
|
+ /* TIM_EnableCounter */
|
|
|
+ TIM1->CR1 |= TIM_CR1_CEN;
|
|
|
+}
|
|
|
+
|
|
|
+/**
|
|
|
+ * @brief TIM3 Initialization Function
|
|
|
+ * @param None
|
|
|
+ * @retval None
|
|
|
+ */
|
|
|
+static void TIM3_Init(void)
|
|
|
+{
|
|
|
+ /* target clock */
|
|
|
+ TIM3->PSC = TIM3_PSC; // prescaler
|
|
|
+ TIM3->ARR = TIM3_ARR; // auto reload value
|
|
|
+ TIM3->CR1 = TIM_CR1_ARPE;
|
|
|
+ // launch timer
|
|
|
+ TIM3->EGR = TIM_EGR_UG; // force timer update
|
|
|
+ /* Set the trigger output 2 (TRGO2) used for ADC synchronization */
|
|
|
+ TIM3->CR2 |= TIM_CR2_MMS2_2; // update event
|
|
|
+ /* TIM3 enable */
|
|
|
+ TIM3->CR1 |= TIM_CR1_CEN;
|
|
|
+}
|
|
|
+
|
|
|
+/**
|
|
|
+ * @brief IWDG Initialization Function
|
|
|
+ * @param None
|
|
|
+ * @retval None
|
|
|
+ */
|
|
|
+static void IWDG_Init(void)
|
|
|
+{
|
|
|
+ IWDG->KR = 0xCCCC;
|
|
|
+ IWDG->KR = 0x5555;
|
|
|
+ IWDG->PR = 0x0;
|
|
|
+ IWDG->RLR = 4095;
|
|
|
+ while (IWDG->SR != 0x00000000) {};
|
|
|
+
|
|
|
+ IWDG->KR = 0xAAAA;
|
|
|
+}
|
|
|
+
|
|
|
+/**
|
|
|
+ * @brief Inserts a delay time.
|
|
|
+ * @param msec: specifies the delay time length, in milliseconds.
|
|
|
+ * @retval None
|
|
|
+ */
|
|
|
+void delay_ms(uint32_t msek) {
|
|
|
+ TDelay = msek;
|
|
|
+
|
|
|
+ do {
|
|
|
+ __WFI();
|
|
|
+ } while (TDelay != 0);
|
|
|
+}
|
|
|
+
|
|
|
+#pragma GCC optimize ("O3")
|
|
|
+/**
|
|
|
+ * @brief This function handles SysTick Handler.
|
|
|
+ * @param None
|
|
|
+ * @retval None
|
|
|
+ */
|
|
|
+void SysTick_Handler(void) {
|
|
|
+ if (TDelay != 0) {
|
|
|
+ TDelay --;
|
|
|
+ }
|
|
|
+}
|
Vladimir N. Shilov