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Diffstat (limited to 'bootloader/Core/Src/main.c')
| -rwxr-xr-x | bootloader/Core/Src/main.c | 792 |
1 files changed, 792 insertions, 0 deletions
diff --git a/bootloader/Core/Src/main.c b/bootloader/Core/Src/main.c new file mode 100755 index 0000000..0a9ebdb --- /dev/null +++ b/bootloader/Core/Src/main.c @@ -0,0 +1,792 @@ +/* USER CODE BEGIN Header */ +/** + ****************************************************************************** + * @file : main.c + * @brief : Main program body + ****************************************************************************** + * @attention + * + * <h2><center>© Copyright (c) 2020 STMicroelectronics. + * All rights reserved.</center></h2> + * + * This software component is licensed by ST under BSD 3-Clause license, + * the "License"; You may not use this file except in compliance with the + * License. You may obtain a copy of the License at: + * opensource.org/licenses/BSD-3-Clause + * + ****************************************************************************** + */ +/* USER CODE END Header */ +/* Includes ------------------------------------------------------------------*/ +#include "main.h" +#include "usb_device.h" + +/* Private includes ----------------------------------------------------------*/ +/* USER CODE BEGIN Includes */ +#include <stdint.h> +#include <stdbool.h> + +/* USER CODE END Includes */ + +/* Private typedef -----------------------------------------------------------*/ +/* USER CODE BEGIN PTD */ + +/* USER CODE END PTD */ + +/* Private define ------------------------------------------------------------*/ +/* USER CODE BEGIN PD */ +/* USER CODE END PD */ + +/* Private macro -------------------------------------------------------------*/ +/* USER CODE BEGIN PM */ + +/* USER CODE END PM */ + +/* Private variables ---------------------------------------------------------*/ +SPI_HandleTypeDef hspi2; + +TIM_HandleTypeDef htim1; +TIM_HandleTypeDef htim2; +TIM_HandleTypeDef htim4; + +UART_HandleTypeDef huart3; + +/* USER CODE BEGIN PV */ + +/* USER CODE END PV */ + +/* Private function prototypes -----------------------------------------------*/ +void SystemClock_Config(void); +static void MX_GPIO_Init(void); +static void MX_TIM1_Init(void); +static void MX_TIM2_Init(void); +static void MX_TIM4_Init(void); +static void MX_SPI2_Init(void); +static void MX_USART3_UART_Init(void); +/* USER CODE BEGIN PFP */ + +/* USER CODE END PFP */ + +/* Private user code ---------------------------------------------------------*/ +/* USER CODE BEGIN 0 */ + + + +#define APP_LOAD_ADDRESS 0x08010000 +#define BOARD_FLASH_SIZE (1024*512) +void jump_to_app() { + const uint32_t *app_base = (const uint32_t *)APP_LOAD_ADDRESS; + + /* + * We refuse to program the first word of the app until the upload is marked + * complete by the host. So if it's not 0xffffffff, we should try booting it. + */ + if (app_base[0] == 0xffffffff) { + return; + } + + // first word is stack base - needs to be in RAM region and word-aligned + if ((app_base[0] & 0xff000003) != 0x20000000) { + return; + } + + /* + * The second word of the app is the entrypoint; it must point within the + * flash area (or we have a bad flash). + */ + if (app_base[1] < APP_LOAD_ADDRESS) { + return; + } + + if (app_base[1] >= (APP_LOAD_ADDRESS + BOARD_FLASH_SIZE)) { + return; + } + + /* just for paranoia's sake */ + HAL_FLASH_Lock(); + + typedef void (*pFunction)(void); + pFunction JumpToApplication; + HAL_RCC_DeInit(); + HAL_DeInit(); + SysTick->CTRL = 0; + SysTick->LOAD = 0; + SysTick->VAL = 0; + //__disable_irq(); + __DSB(); + // __HAL_SYSCFG_REMAPMEMORY_SYSTEMFLASH();/* Remap is bot visible at once. Execute some unrelated command! */ + // __DSB(); + __ISB(); + //SCB->VTOR = APP_LOAD_ADDRESS ; + JumpToApplication = (void (*)(void)) (*((uint32_t*)(APP_LOAD_ADDRESS + 4))); + __set_MSP(*(__IO uint32_t*) APP_LOAD_ADDRESS); + JumpToApplication(); + while (1); +} + +void jumptoROMbootloader(void) { +#ifndef EMU + // todo - maybe set a flag in the flash and then use NVIC_SystemReset() which will cause it to jumptobootloader earlier + // https://community.st.com/s/question/0D50X00009XkeeW/stm32l476rg-jump-to-bootloader-from-software + typedef void (*pFunction)(void); + pFunction JumpToApplication; + HAL_RCC_DeInit(); + HAL_DeInit(); + SysTick->CTRL = 0; + SysTick->LOAD = 0; + SysTick->VAL = 0; + __disable_irq(); + __DSB(); + __HAL_SYSCFG_REMAPMEMORY_SYSTEMFLASH();/* Remap is bot visible at once. Execute some unrelated command! */ + __DSB(); + __ISB(); + JumpToApplication = (void (*)(void)) (*((uint32_t*)(0x1FFF0000 + 4))); + __set_MSP(*(__IO uint32_t*) 0x1FFF0000); + JumpToApplication(); +#else + while (1); +#endif +} + + +#include <stdarg.h> +void DebugLog(const char *fmt, ...) { +#if 1 + static char logging=0; + if (logging) return; + logging=1; +#ifndef EMU + while (huart3.gState != HAL_UART_STATE_READY); +#endif + char buf[256]; + va_list args; + va_start(args, fmt); + int n = vsnprintf(buf, sizeof(buf), fmt, args); + va_end(args); +#ifdef EMU + _write(1,buf,n); +#else + //HAL_UART_Transmit_IT(&huart3, (u8*) buf, n); + HAL_UART_Transmit(&huart3, (unsigned char*) buf, n, 1000); +#endif + logging=0; +#endif +} +static unsigned char led_state=0xff; + +unsigned char encstate=0; +int encheld=0; +void led_init(void) { +#ifndef EMU + HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); + HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); + HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3); + HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_4); +#ifdef NEW_PINOUT + HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_3); +#else + HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_2); +#endif + HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3); + HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_4); + HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_2); +#endif + led_state=0; +} +void ghostfat_1ms(void); +void led_update(void) { + encstate=(encstate<<1)+(((GPIOC->IDR>>13)&1)^1); + if (encstate==0xff) + encheld++; + else + encheld=0; + if (led_state==0xff) + return; + ghostfat_1ms(); + +#define N1 2 +#define N2 5 +#define N3 7 +#ifdef NEW_PINOUT +#define N4 0 +#else +#define N4 14 +#endif +#define N5 15 + int x=led_state; + +#ifndef EMU + if (x < 8) x ^= 7; + ////////////////////////////////////// + static int frame; + frame++; + unsigned char leds[9]; + int y1 = (x * 512) + 256; + int dy = (y1 - 2048); + if (dy<0) dy=-dy; + for (int xx = 0; xx < 8; ++xx) { + int x1 = (xx * 512) + 256; + int dx = (x1 - 2048); + if (dx<0) dx=-dx; + int dist = (dx<dy) ? dy:dx; + dist -= (frame/8)*16; + int k = -dist / 4; + k&=511; + if (k > 255) + k = 512 - k; + if (k < 0) + k = 0; + leds[xx] = ((k * k) >> 8); + } + ////////////////////////////////////// + const static unsigned int nbits[5]={(1<<(N1*2)),(1<<(N2*2)),(1<<(N3*2)),(1<<(N4*2)),(1<<(N5*2))}; + GPIOD->MODER &= ~((3<<(N1*2))+(3<<(N2*2))+(3<<(N3*2))+(3<<(N4*2))+(3<<(N5*2))); + unsigned char xor=0; + if (led_state&9) { + GPIOD->ODR |= ((1<<N1)+(1<<N2)+(1<<N3)+(1<<N4)+(1<<N5)); + xor=255; + } else + GPIOD->ODR &= ~((1<<N1)+(1<<N2)+(1<<N3)+(1<<N4)+(1<<N5)); + __HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_1 , leds[0]^xor); + __HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_2 , leds[1]^xor); + __HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_3 , leds[2]^xor); + __HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_4 , leds[3]^xor); + __HAL_TIM_SET_COMPARE(&htim4,TIM_CHANNEL_2 , leds[4]^xor); +#ifdef NEW_PINOUT + __HAL_TIM_SET_COMPARE(&htim4,TIM_CHANNEL_3, leds[5]^xor); +#else + __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_2, leds[5] ^ xor); +#endif + __HAL_TIM_SET_COMPARE(&htim2,TIM_CHANNEL_3 , leds[6]^xor); + __HAL_TIM_SET_COMPARE(&htim2,TIM_CHANNEL_4 , leds[7]^xor); + GPIOD->MODER|=nbits[led_state/2]; +#else + const u8* leds = led_ram[x]; + extern u8 emuleds[9][8]; + for (int i=0;i<8;++i) emuleds[led_state][i]=leds[i]; +#endif + led_state++; + if (led_state==9) led_state=0; + +} + +void spi_setchip(uint32_t addr); +int spi_readid(void); + + +/* USER CODE END 0 */ + +/** + * @brief The application entry point. + * @retval int + */ +int main(void) +{ + /* USER CODE BEGIN 1 */ + + /* USER CODE END 1 */ + + /* MCU Configuration--------------------------------------------------------*/ + + /* Reset of all peripherals, Initializes the Flash interface and the Systick. */ + HAL_Init(); + + /* USER CODE BEGIN Init */ + + /* USER CODE END Init */ + + /* Configure the system clock */ + SystemClock_Config(); + + /* USER CODE BEGIN SysInit */ + MX_GPIO_Init(); + + + HAL_Delay(1); + bool encdown = !((GPIOC->IDR>>13)&1); + + if (!encdown) { // encoder not down + jump_to_app(); + } + // BOOTLOADER FLASHING MODE!! + memcpy((void*)DELAY_BUF,(void*)0x08000000,65536); // copy bootloader into RAM!:) + memset((void*)REVERB_BUF,0,32768); // use reverbbuf as a byte mask of which bootlder pages have been written + + /* USER CODE END SysInit */ + + /* Initialize all configured peripherals */ + MX_GPIO_Init(); + MX_USB_DEVICE_Init(); + MX_TIM1_Init(); + MX_TIM2_Init(); + MX_TIM4_Init(); + MX_SPI2_Init(); + MX_USART3_UART_Init(); + /* USER CODE BEGIN 2 */ + led_init(); + /* USER CODE END 2 */ + + /* Infinite loop */ + /* USER CODE BEGIN WHILE */ +/* HAL_Delay(10); + spi_setchip(0xffffffff); + DebugLog("spi chip 1 = %d\r\n", spi_readid()); + spi_setchip(0); + DebugLog("spi chip 0 = %d\r\n", spi_readid()); +*/ + bool startreset=false; + while (1) + { + /* USER CODE END WHILE */ + + /* USER CODE BEGIN 3 */ + if (encstate==1) + startreset=true; + if (encstate==0x80 && startreset) { + // released the encoder + scb_reset_system(); + } + if (encheld>10000) + jumptoROMbootloader(); + } + /* USER CODE END 3 */ +} + +/** + * @brief System Clock Configuration + * @retval None + */ +void SystemClock_Config(void) +{ + RCC_OscInitTypeDef RCC_OscInitStruct = {0}; + RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; + RCC_PeriphCLKInitTypeDef PeriphClkInit = {0}; + + /** Initializes the RCC Oscillators according to the specified parameters + * in the RCC_OscInitTypeDef structure. + */ + RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE; + RCC_OscInitStruct.HSEState = RCC_HSE_ON; + RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; + RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE; + RCC_OscInitStruct.PLL.PLLM = 1; + RCC_OscInitStruct.PLL.PLLN = 12; + RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV7; + RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV2; + RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV4; + if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) + { + Error_Handler(); + } + /** Initializes the CPU, AHB and APB buses clocks + */ + RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK + |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2; + RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; + RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; + RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1; + RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1; + + if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK) + { + Error_Handler(); + } + PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USART3|RCC_PERIPHCLK_USB; + PeriphClkInit.Usart3ClockSelection = RCC_USART3CLKSOURCE_PCLK1; + PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLLSAI1; + PeriphClkInit.PLLSAI1.PLLSAI1Source = RCC_PLLSOURCE_HSE; + PeriphClkInit.PLLSAI1.PLLSAI1M = 1; + PeriphClkInit.PLLSAI1.PLLSAI1N = 12; + PeriphClkInit.PLLSAI1.PLLSAI1P = RCC_PLLP_DIV7; + PeriphClkInit.PLLSAI1.PLLSAI1Q = RCC_PLLQ_DIV4; + PeriphClkInit.PLLSAI1.PLLSAI1R = RCC_PLLR_DIV2; + PeriphClkInit.PLLSAI1.PLLSAI1ClockOut = RCC_PLLSAI1_48M2CLK; + if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) + { + Error_Handler(); + } + /** Enables the Clock Security System + */ + HAL_RCC_EnableCSS(); + /** Configure the main internal regulator output voltage + */ + if (HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1) != HAL_OK) + { + Error_Handler(); + } +} + +/** + * @brief SPI2 Initialization Function + * @param None + * @retval None + */ +static void MX_SPI2_Init(void) +{ + + /* USER CODE BEGIN SPI2_Init 0 */ + + /* USER CODE END SPI2_Init 0 */ + + /* USER CODE BEGIN SPI2_Init 1 */ + + /* USER CODE END SPI2_Init 1 */ + /* SPI2 parameter configuration*/ + hspi2.Instance = SPI2; + hspi2.Init.Mode = SPI_MODE_MASTER; + hspi2.Init.Direction = SPI_DIRECTION_2LINES; + hspi2.Init.DataSize = SPI_DATASIZE_8BIT; + hspi2.Init.CLKPolarity = SPI_POLARITY_LOW; + hspi2.Init.CLKPhase = SPI_PHASE_1EDGE; + hspi2.Init.NSS = SPI_NSS_SOFT; + hspi2.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_8; + hspi2.Init.FirstBit = SPI_FIRSTBIT_MSB; + hspi2.Init.TIMode = SPI_TIMODE_DISABLE; + hspi2.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; + hspi2.Init.CRCPolynomial = 7; + hspi2.Init.CRCLength = SPI_CRC_LENGTH_DATASIZE; + hspi2.Init.NSSPMode = SPI_NSS_PULSE_ENABLE; + if (HAL_SPI_Init(&hspi2) != HAL_OK) + { + Error_Handler(); + } + /* USER CODE BEGIN SPI2_Init 2 */ + + /* USER CODE END SPI2_Init 2 */ + +} + +/** + * @brief TIM1 Initialization Function + * @param None + * @retval None + */ +static void MX_TIM1_Init(void) +{ + + /* USER CODE BEGIN TIM1_Init 0 */ + + /* USER CODE END TIM1_Init 0 */ + + TIM_ClockConfigTypeDef sClockSourceConfig = {0}; + TIM_MasterConfigTypeDef sMasterConfig = {0}; + TIM_OC_InitTypeDef sConfigOC = {0}; + TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; + + /* USER CODE BEGIN TIM1_Init 1 */ + + /* USER CODE END TIM1_Init 1 */ + htim1.Instance = TIM1; + htim1.Init.Prescaler = 0; + htim1.Init.CounterMode = TIM_COUNTERMODE_UP; + htim1.Init.Period = 256; + htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; + htim1.Init.RepetitionCounter = 0; + htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; + if (HAL_TIM_Base_Init(&htim1) != HAL_OK) + { + Error_Handler(); + } + sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; + if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) + { + Error_Handler(); + } + if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) + { + Error_Handler(); + } + sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; + sMasterConfig.MasterOutputTrigger2 = TIM_TRGO2_RESET; + sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; + if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) + { + Error_Handler(); + } + sConfigOC.OCMode = TIM_OCMODE_PWM1; + sConfigOC.Pulse = 0; + sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; + sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; + sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; + sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; + sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; + if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) + { + Error_Handler(); + } + if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) + { + Error_Handler(); + } + if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) + { + Error_Handler(); + } + if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_4) != HAL_OK) + { + Error_Handler(); + } + sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; + sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; + sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; + sBreakDeadTimeConfig.DeadTime = 0; + sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; + sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; + sBreakDeadTimeConfig.BreakFilter = 0; + sBreakDeadTimeConfig.Break2State = TIM_BREAK2_DISABLE; + sBreakDeadTimeConfig.Break2Polarity = TIM_BREAK2POLARITY_HIGH; + sBreakDeadTimeConfig.Break2Filter = 0; + sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; + if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK) + { + Error_Handler(); + } + /* USER CODE BEGIN TIM1_Init 2 */ + + /* USER CODE END TIM1_Init 2 */ + HAL_TIM_MspPostInit(&htim1); + +} + +/** + * @brief TIM2 Initialization Function + * @param None + * @retval None + */ +static void MX_TIM2_Init(void) +{ + + /* USER CODE BEGIN TIM2_Init 0 */ + + /* USER CODE END TIM2_Init 0 */ + + TIM_ClockConfigTypeDef sClockSourceConfig = {0}; + TIM_MasterConfigTypeDef sMasterConfig = {0}; + TIM_OC_InitTypeDef sConfigOC = {0}; + + /* USER CODE BEGIN TIM2_Init 1 */ + + /* USER CODE END TIM2_Init 1 */ + htim2.Instance = TIM2; + htim2.Init.Prescaler = 0; + htim2.Init.CounterMode = TIM_COUNTERMODE_UP; + htim2.Init.Period = 256; + htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; + htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; + if (HAL_TIM_Base_Init(&htim2) != HAL_OK) + { + Error_Handler(); + } + sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; + if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK) + { + Error_Handler(); + } + if (HAL_TIM_PWM_Init(&htim2) != HAL_OK) + { + Error_Handler(); + } + sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; + sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; + if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) + { + Error_Handler(); + } + sConfigOC.OCMode = TIM_OCMODE_PWM1; + sConfigOC.Pulse = 0; + sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; + sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; + if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) + { + Error_Handler(); + } + if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_4) != HAL_OK) + { + Error_Handler(); + } + /* USER CODE BEGIN TIM2_Init 2 */ + + /* USER CODE END TIM2_Init 2 */ + HAL_TIM_MspPostInit(&htim2); + +} + +/** + * @brief TIM4 Initialization Function + * @param None + * @retval None + */ +static void MX_TIM4_Init(void) +{ + + /* USER CODE BEGIN TIM4_Init 0 */ + + /* USER CODE END TIM4_Init 0 */ + + TIM_ClockConfigTypeDef sClockSourceConfig = {0}; + TIM_MasterConfigTypeDef sMasterConfig = {0}; + TIM_OC_InitTypeDef sConfigOC = {0}; + + /* USER CODE BEGIN TIM4_Init 1 */ + + /* USER CODE END TIM4_Init 1 */ + htim4.Instance = TIM4; + htim4.Init.Prescaler = 0; + htim4.Init.CounterMode = TIM_COUNTERMODE_UP; + htim4.Init.Period = 256; + htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; + htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; + if (HAL_TIM_Base_Init(&htim4) != HAL_OK) + { + Error_Handler(); + } + sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; + if (HAL_TIM_ConfigClockSource(&htim4, &sClockSourceConfig) != HAL_OK) + { + Error_Handler(); + } + if (HAL_TIM_PWM_Init(&htim4) != HAL_OK) + { + Error_Handler(); + } + sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; + sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; + if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK) + { + Error_Handler(); + } + sConfigOC.OCMode = TIM_OCMODE_PWM1; + sConfigOC.Pulse = 0; + sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; + sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; + if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) + { + Error_Handler(); + } + if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) + { + Error_Handler(); + } + /* USER CODE BEGIN TIM4_Init 2 */ + + /* USER CODE END TIM4_Init 2 */ + HAL_TIM_MspPostInit(&htim4); + +} + +/** + * @brief USART3 Initialization Function + * @param None + * @retval None + */ +static void MX_USART3_UART_Init(void) +{ + + /* USER CODE BEGIN USART3_Init 0 */ + + /* USER CODE END USART3_Init 0 */ + + /* USER CODE BEGIN USART3_Init 1 */ + + /* USER CODE END USART3_Init 1 */ + huart3.Instance = USART3; + huart3.Init.BaudRate = 115200; + huart3.Init.WordLength = UART_WORDLENGTH_8B; + huart3.Init.StopBits = UART_STOPBITS_1; + huart3.Init.Parity = UART_PARITY_NONE; + huart3.Init.Mode = UART_MODE_TX_RX; + huart3.Init.HwFlowCtl = UART_HWCONTROL_NONE; + huart3.Init.OverSampling = UART_OVERSAMPLING_16; + huart3.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE; + huart3.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT; + if (HAL_UART_Init(&huart3) != HAL_OK) + { + Error_Handler(); + } + /* USER CODE BEGIN USART3_Init 2 */ + + /* USER CODE END USART3_Init 2 */ + +} + +/** + * @brief GPIO Initialization Function + * @param None + * @retval None + */ +static void MX_GPIO_Init(void) +{ + GPIO_InitTypeDef GPIO_InitStruct = {0}; + + /* GPIO Ports Clock Enable */ + __HAL_RCC_GPIOC_CLK_ENABLE(); + __HAL_RCC_GPIOH_CLK_ENABLE(); + __HAL_RCC_GPIOA_CLK_ENABLE(); + __HAL_RCC_GPIOE_CLK_ENABLE(); + __HAL_RCC_GPIOD_CLK_ENABLE(); + + /*Configure GPIO pin Output Level */ + HAL_GPIO_WritePin(GPIOD, GPIO_PIN_15|GPIO_PIN_0|GPIO_PIN_2|GPIO_PIN_5 + |GPIO_PIN_7, GPIO_PIN_RESET); + + /*Configure GPIO pin Output Level */ + HAL_GPIO_WritePin(GPIOE, SPICS2_Pin|SPICS_Pin, GPIO_PIN_SET); + + /*Configure GPIO pin : ENC_Pin */ + GPIO_InitStruct.Pin = ENC_Pin; + GPIO_InitStruct.Mode = GPIO_MODE_INPUT; + GPIO_InitStruct.Pull = GPIO_PULLUP; + HAL_GPIO_Init(ENC_GPIO_Port, &GPIO_InitStruct); + + /*Configure GPIO pins : PD15 PD0 PD2 PD5 + PD7 */ + GPIO_InitStruct.Pin = GPIO_PIN_15|GPIO_PIN_0|GPIO_PIN_2|GPIO_PIN_5 + |GPIO_PIN_7; + GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; + HAL_GPIO_Init(GPIOD, &GPIO_InitStruct); + + /*Configure GPIO pins : SPICS2_Pin SPICS_Pin */ + GPIO_InitStruct.Pin = SPICS2_Pin|SPICS_Pin; + GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; + HAL_GPIO_Init(GPIOE, &GPIO_InitStruct); + +} + +/* USER CODE BEGIN 4 */ + +/* USER CODE END 4 */ + +/** + * @brief This function is executed in case of error occurrence. + * @retval None + */ +void Error_Handler(void) +{ + /* USER CODE BEGIN Error_Handler_Debug */ + /* User can add his own implementation to report the HAL error return state */ + + /* USER CODE END Error_Handler_Debug */ +} + +#ifdef USE_FULL_ASSERT +/** + * @brief Reports the name of the source file and the source line number + * where the assert_param error has occurred. + * @param file: pointer to the source file name + * @param line: assert_param error line source number + * @retval None + */ +void assert_failed(uint8_t *file, uint32_t line) +{ + /* USER CODE BEGIN 6 */ + /* User can add his own implementation to report the file name and line number, + tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */ + /* USER CODE END 6 */ +} +#endif /* USE_FULL_ASSERT */ + +/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ |