mirror of
https://github.com/EFeru/hoverboard-sideboard-hack-GD.git
synced 2025-07-27 09:39:33 +00:00
882d4b0115
- firmware can now be built in Platformio too - minor bug fixes - added LED board picture
302 lines
11 KiB
C
302 lines
11 KiB
C
/**
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* This file is part of the hoverboard-sideboard-hack project.
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*
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* Copyright (C) 2020-2021 Emanuel FERU <aerdronix@gmail.com>
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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// Includes
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#include "gd32f1x0.h"
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#include "systick.h"
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#include "setup.h"
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#include "defines.h"
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#include "config.h"
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#include "util.h"
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// Global variables
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extern volatile ErrStatus status;
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// Private variables
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static rcu_periph_enum USART_CLK[USARTn] = { USART_AUX_CLK,
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USART_MAIN_CLK
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};
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static uint32_t USART_TX_PIN[USARTn] = { USART_AUX_TX_PIN,
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USART_MAIN_TX_PIN
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};
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static uint32_t USART_RX_PIN[USARTn] = { USART_AUX_RX_PIN,
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USART_MAIN_RX_PIN
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};
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void gpio_config(void) {
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/* =========================== Configure LEDs GPIOs =========================== */
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/* enable the GPIO clock */
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rcu_periph_clock_enable(RCU_GPIOA);
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rcu_periph_clock_enable(RCU_GPIOB);
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/* configure GPIO port */
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gpio_mode_set(LED1_GPIO_Port, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, LED1_Pin);
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gpio_mode_set(LED2_GPIO_Port, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, LED2_Pin);
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gpio_mode_set(LED3_GPIO_Port, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, LED3_Pin);
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gpio_mode_set(LED4_GPIO_Port, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, LED4_Pin);
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gpio_mode_set(LED5_GPIO_Port, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, LED5_Pin);
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gpio_output_options_set(LED1_GPIO_Port, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, LED1_Pin);
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gpio_output_options_set(LED2_GPIO_Port, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, LED2_Pin);
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gpio_output_options_set(LED3_GPIO_Port, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, LED3_Pin);
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gpio_output_options_set(LED4_GPIO_Port, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, LED4_Pin);
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gpio_output_options_set(LED5_GPIO_Port, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, LED5_Pin);
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/* reset GPIO pin */
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gpio_bit_reset(LED1_GPIO_Port, LED1_Pin);
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gpio_bit_reset(LED2_GPIO_Port, LED2_Pin);
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gpio_bit_reset(LED3_GPIO_Port, LED3_Pin);
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gpio_bit_reset(LED4_GPIO_Port, LED4_Pin);
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gpio_bit_reset(LED5_GPIO_Port, LED5_Pin);
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/* =========================== Configure Sensors GPIOs =========================== */
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/* enable the GPIO clock */
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rcu_periph_clock_enable(RCU_GPIOA);
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rcu_periph_clock_enable(RCU_GPIOC);
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/* configure GPIO port */
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gpio_mode_set(SENSOR1_GPIO_Port, GPIO_MODE_INPUT, GPIO_PUPD_NONE, SENSOR1_Pin);
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gpio_mode_set(SENSOR2_GPIO_Port, GPIO_MODE_INPUT, GPIO_PUPD_NONE, SENSOR2_Pin);
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/* =========================== Configure I2C GPIOs =========================== */
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/* enable I2C clock */
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rcu_periph_clock_enable(RCU_GPIOB);
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rcu_periph_clock_enable(MPU_RCU_I2C);
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/* connect PB6 to I2C_SCL and PB7 to I2C_SDA */
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gpio_af_set(MPU_SCL_GPIO_Port, GPIO_AF_1, MPU_SCL_Pin);
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gpio_af_set(MPU_SDA_GPIO_Port, GPIO_AF_1, MPU_SDA_Pin);
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/* configure GPIO port */
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gpio_mode_set(MPU_SCL_GPIO_Port, GPIO_MODE_AF, GPIO_PUPD_PULLUP, MPU_SCL_Pin);
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gpio_output_options_set(MPU_SCL_GPIO_Port, GPIO_OTYPE_OD, GPIO_OSPEED_50MHZ, MPU_SCL_Pin);
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gpio_mode_set(MPU_SDA_GPIO_Port, GPIO_MODE_AF, GPIO_PUPD_PULLUP, MPU_SDA_Pin);
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gpio_output_options_set(MPU_SDA_GPIO_Port, GPIO_OTYPE_OD, GPIO_OSPEED_50MHZ, MPU_SDA_Pin);
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#ifdef AUX45_USE_I2C
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/* enable I2C clock */
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rcu_periph_clock_enable(RCU_GPIOA);
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rcu_periph_clock_enable(AUX_RCU_I2C);
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/* connect PB6 to I2C_SCL and PB7 to I2C_SDA */
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gpio_af_set(AUX_SCL_GPIO_Port, GPIO_AF_1, AUX_SCL_Pin);
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gpio_af_set(AUX_SDA_GPIO_Port, GPIO_AF_1, AUX_SDA_Pin);
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/* configure GPIO port */
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gpio_mode_set(AUX_SCL_GPIO_Port, GPIO_MODE_AF, GPIO_PUPD_PULLUP, AUX_SCL_Pin);
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gpio_output_options_set(AUX_SCL_GPIO_Port, GPIO_OTYPE_OD, GPIO_OSPEED_50MHZ, AUX_SCL_Pin);
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gpio_mode_set(AUX_SDA_GPIO_Port, GPIO_MODE_AF, GPIO_PUPD_PULLUP, AUX_SDA_Pin);
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gpio_output_options_set(AUX_SDA_GPIO_Port, GPIO_OTYPE_OD, GPIO_OSPEED_50MHZ, AUX_SDA_Pin);
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#endif
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/* =========================== Configure AUX GPIOs =========================== */
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/* configure AUX GPIO port */
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rcu_periph_clock_enable(RCU_GPIOA);
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rcu_periph_clock_enable(RCU_GPIOB);
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rcu_periph_clock_enable(RCU_GPIOC);
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/* configure GPIO port - inputs */
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gpio_mode_set(AUX1_PU_GPIO_Port, GPIO_MODE_INPUT, GPIO_PUPD_NONE, AUX1_PU_Pin);
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/* configure GPIO port - outputs */
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gpio_mode_set(AUX2_GPIO_Port, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, AUX2_Pin);
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gpio_mode_set(AUX3_GPIO_Port, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, AUX3_Pin);
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gpio_output_options_set(AUX2_GPIO_Port, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, AUX2_Pin);
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gpio_output_options_set(AUX3_GPIO_Port, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, AUX3_Pin);
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/* reset GPIO pin */
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gpio_bit_reset(AUX2_GPIO_Port, AUX2_Pin);
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gpio_bit_reset(AUX3_GPIO_Port, AUX3_Pin);
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#ifdef AUX45_USE_GPIO
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/* configure GPIO port - outputs */
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gpio_mode_set(AUX4_GPIO_Port, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, AUX4_Pin);
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gpio_mode_set(AUX5_GPIO_Port, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, AUX5_Pin);
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gpio_output_options_set(AUX4_GPIO_Port, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, AUX4_Pin);
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gpio_output_options_set(AUX5_GPIO_Port, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, AUX5_Pin);
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/* reset GPIO pin */
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gpio_bit_reset(AUX4_GPIO_Port, AUX4_Pin);
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gpio_bit_reset(AUX5_GPIO_Port, AUX5_Pin);
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#endif
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}
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void usart_config(uint32_t selUSART, uint32_t selBaudRate) {
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/* enable GPIO clock */
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uint32_t USART_ID = 0U;
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if(selUSART == USART0){
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USART_ID = 0U;
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}
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if(selUSART == USART1){
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USART_ID = 1U;
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}
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rcu_periph_clock_enable(USART_GPIO_CLK);
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/* enable USART clock */
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rcu_periph_clock_enable(USART_CLK[USART_ID]);
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/* connect port to USARTx_Tx */
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gpio_af_set(USART_GPIO_PORT, USART_AF, USART_TX_PIN[USART_ID]);
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/* connect port to USARTx_Rx */
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gpio_af_set(USART_GPIO_PORT, USART_AF, USART_RX_PIN[USART_ID]);
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/* configure USART Tx as alternate function push-pull */
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gpio_mode_set(USART_GPIO_PORT, GPIO_MODE_AF, GPIO_PUPD_PULLUP, USART_TX_PIN[USART_ID]);
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gpio_output_options_set(USART_GPIO_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_10MHZ, USART_TX_PIN[USART_ID]);
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/* configure USART Rx as alternate function push-pull */
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gpio_mode_set(USART_GPIO_PORT, GPIO_MODE_AF, GPIO_PUPD_PULLUP, USART_RX_PIN[USART_ID]);
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gpio_output_options_set(USART_GPIO_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_10MHZ, USART_RX_PIN[USART_ID]);
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/* USART configure */
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usart_deinit(selUSART);
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usart_baudrate_set(selUSART, selBaudRate);
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usart_transmit_config(selUSART, USART_TRANSMIT_ENABLE);
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usart_receive_config(selUSART, USART_RECEIVE_ENABLE);
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usart_enable(selUSART);
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}
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// DMA_CH1 = USART0_TX
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// DMA_CH2 = USART0_RX
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// DMA_CH3 = USART1_TX
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// DMA_CH4 = USART1_RX
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void usart_Tx_DMA_config(uint32_t selUSART, uint8_t *pData, uint32_t Size) {
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dma_parameter_struct dma_init_struct;
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// --------------------------- TX Channel ---------------------------
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/* enable DMA clock */
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rcu_periph_clock_enable(RCU_DMA);
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/* deinitialize DMA channel2 */
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dma_deinit(DMA_CH3);
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dma_init_struct.direction = DMA_MEMORY_TO_PERIPHERAL;
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dma_init_struct.memory_addr = (uint32_t)pData;
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dma_init_struct.memory_inc = DMA_MEMORY_INCREASE_ENABLE;
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dma_init_struct.memory_width = DMA_MEMORY_WIDTH_8BIT;
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dma_init_struct.number = Size;
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dma_init_struct.periph_addr = USART1_TDATA_ADDRESS;
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dma_init_struct.periph_inc = DMA_PERIPH_INCREASE_DISABLE;
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dma_init_struct.periph_width = DMA_PERIPHERAL_WIDTH_8BIT;
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dma_init_struct.priority = DMA_PRIORITY_ULTRA_HIGH; // Priorities: *_LOW, *_MEDIUM, *_HIGH, *_ULTRA_HIGH,
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dma_init(DMA_CH3, dma_init_struct);
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/* configure DMA mode */
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dma_circulation_disable(DMA_CH3);
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dma_memory_to_memory_disable(DMA_CH3);
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/* enable DMA channel1 */
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dma_channel_enable(DMA_CH3);
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/* USART DMA enable for transmission and reception */
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usart_dma_transmit_config(selUSART, USART_DENT_ENABLE);
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/* wait DMA channel transfer complete */
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// while (RESET == dma_flag_get(DMA_CH3, DMA_FLAG_FTF));
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}
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void usart_Rx_DMA_config(uint32_t selUSART, uint8_t *pData, uint32_t Size) {
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dma_parameter_struct dma_init_struct;
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// --------------------------- RX Channel ---------------------------
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/* deinitialize DMA channel4 */
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dma_deinit(DMA_CH4);
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dma_init_struct.direction = DMA_PERIPHERAL_TO_MEMORY;
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dma_init_struct.memory_addr = (uint32_t)pData;
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dma_init_struct.memory_inc = DMA_MEMORY_INCREASE_ENABLE;
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dma_init_struct.memory_width = DMA_MEMORY_WIDTH_8BIT;
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dma_init_struct.number = Size;
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dma_init_struct.periph_addr = USART1_RDATA_ADDRESS;
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dma_init_struct.periph_inc = DMA_PERIPH_INCREASE_DISABLE;
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dma_init_struct.periph_width = DMA_PERIPHERAL_WIDTH_8BIT;
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dma_init_struct.priority = DMA_PRIORITY_ULTRA_HIGH; // Priorities: *_LOW, *_MEDIUM, *_HIGH, *_ULTRA_HIGH,
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dma_init(DMA_CH4, dma_init_struct);
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/* configure DMA mode */
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dma_circulation_enable(DMA_CH4); // dma_circulation_disable(DMA_CH4);
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dma_memory_to_memory_disable(DMA_CH4);
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dma_channel_enable(DMA_CH4);
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usart_dma_receive_config(selUSART, USART_DENR_ENABLE);
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/* wait DMA channel transfer complete */
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// while (RESET == dma_flag_get(DMA_CH4, DMA_FLAG_FTF));
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}
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void i2c_config(void) {
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/* I2C clock configure */
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//i2c_clock_config(MPU_I2C, MPU_I2C_SPEED, I2C_DTCY_2); // I2C duty cycle in fast mode
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i2c_clock_config(MPU_I2C, MPU_I2C_SPEED, I2C_DTCY_16_9); // I2C duty cycle in fast mode plus
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/* I2C address configure */
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i2c_mode_addr_config(MPU_I2C, I2C_I2CMODE_ENABLE, I2C_ADDFORMAT_7BITS, I2C_OWN_ADDRESS7);
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/* enable I2C */
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i2c_enable(MPU_I2C);
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/* enable acknowledge */
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i2c_ack_config(MPU_I2C, I2C_ACK_ENABLE);
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#ifdef AUX45_USE_I2C
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/* I2C clock configure */
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//i2c_clock_config(AUX_I2C, AUX_I2C_SPEED, I2C_DTCY_2); // I2C duty cycle in fast mode
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i2c_clock_config(AUX_I2C, AUX_I2C_SPEED, I2C_DTCY_16_9); // I2C duty cycle in fast mode plus
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/* I2C address configure */
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i2c_mode_addr_config(AUX_I2C, I2C_I2CMODE_ENABLE, I2C_ADDFORMAT_7BITS, AUX_I2C_OWN_ADDRESS7);
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/* enable I2C */
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i2c_enable(AUX_I2C);
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/* enable acknowledge */
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i2c_ack_config(AUX_I2C, I2C_ACK_ENABLE);
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#endif
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}
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void i2c_nvic_config(void)
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{
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/* configure the NVIC peripheral */
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nvic_priority_group_set(NVIC_PRIGROUP_PRE1_SUB3);
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nvic_irq_enable(I2C0_EV_IRQn, 0, 3);
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nvic_irq_enable(I2C0_ER_IRQn, 0, 2);
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#ifdef AUX45_USE_I2C
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nvic_irq_enable(I2C1_EV_IRQn, 0, 4);
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nvic_irq_enable(I2C1_ER_IRQn, 0, 1);
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#endif
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}
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