Motor_v2/Robot_V2/sys/initial.cpp

#include "initial.h"
#include "systick.h"
#include <stdint.h>

extern u16 adc_value[7];

/*!
	\brief      configure the DMA peripheral
	\param[in]  none
	\param[out] none
	\retval     none
*/
void dma_config(void) {
	/* enable DMA0 clock */
	rcu_periph_clock_enable(RCU_DMA0);
	/* ADC_DMA_channel configuration */
	dma_parameter_struct dma_data_parameter;

	/* ADC DMA_channel configuration */
	dma_deinit(DMA0, DMA_CH0);

	/* initialize DMA single data mode */
	dma_data_parameter.periph_addr = (uint32_t)(&ADC_RDATA(ADC0));
	dma_data_parameter.periph_inc = DMA_PERIPH_INCREASE_DISABLE;
	dma_data_parameter.memory_addr = (uint32_t)(adc_value);
	dma_data_parameter.memory_inc = DMA_MEMORY_INCREASE_ENABLE;
	dma_data_parameter.periph_width = DMA_PERIPHERAL_WIDTH_16BIT;
	dma_data_parameter.memory_width = DMA_MEMORY_WIDTH_16BIT;
	dma_data_parameter.direction = DMA_PERIPHERAL_TO_MEMORY;
	dma_data_parameter.number = 6;
	dma_data_parameter.priority = DMA_PRIORITY_HIGH;
	dma_init(DMA0, DMA_CH0, &dma_data_parameter);

	dma_circulation_enable(DMA0, DMA_CH0);

	/* enable DMA channel */
	dma_channel_enable(DMA0, DMA_CH0);
}

/*!
	\brief      configure the ADC peripheral
	\param[in]  none
	\param[out] none
	\retval     none
*/
void adc_config(void) {
	/* enable ADC clock */
	rcu_periph_clock_enable(RCU_ADC0);
	/* config ADC clock */
	rcu_adc_clock_config(RCU_CKADC_CKAPB2_DIV4);

	/* 复位ADC */
	adc_deinit(ADC0);
	/* ADC模式配置 */
	adc_mode_config(ADC_MODE_FREE);
	/* 使能ADC连续转换功能 */
	adc_special_function_config(ADC0, ADC_CONTINUOUS_MODE, ENABLE);
	/* 使能ADC扫描模式 */
	adc_special_function_config(ADC0, ADC_SCAN_MODE, ENABLE);
	/* ADC数据右对齐配置 */
	adc_data_alignment_config(ADC0, ADC_DATAALIGN_RIGHT);
	/* 使能ADC温度传感器和内部参考电压 */
	adc_tempsensor_vrefint_enable();

	/* 配置ADC通道长度 */
	adc_channel_length_config(ADC0, ADC_REGULAR_CHANNEL, 6);
	/* 配置ADC规则通道 */
	adc_regular_channel_config(ADC0, 0, ADC_CHANNEL_16,
							   ADC_SAMPLETIME_239POINT5);
	adc_regular_channel_config(ADC0, 1, ADC_CHANNEL_9, ADC_SAMPLETIME_55POINT5);
	adc_regular_channel_config(ADC0, 2, ADC_CHANNEL_3, ADC_SAMPLETIME_55POINT5);
	adc_regular_channel_config(ADC0, 3, ADC_CHANNEL_4, ADC_SAMPLETIME_55POINT5);
	adc_regular_channel_config(ADC0, 4, ADC_CHANNEL_5, ADC_SAMPLETIME_55POINT5);
	adc_regular_channel_config(ADC0, 5, ADC_CHANNEL_6, ADC_SAMPLETIME_55POINT5);

	/* ADC触发配置 */
	adc_external_trigger_source_config(ADC0, ADC_REGULAR_CHANNEL,
									   ADC0_1_EXTTRIG_REGULAR_NONE);
	adc_external_trigger_config(ADC0, ADC_REGULAR_CHANNEL, ENABLE);

	/* 使能ADC接口 */
	adc_enable(ADC0);
	/* ADC校准 */
	adc_calibration_enable(ADC0);

	/* 使能ADC DMA功能 */
	adc_dma_mode_enable(ADC0);

	/* 使能ADC软件触发 */
	adc_software_trigger_enable(ADC0, ADC_REGULAR_CHANNEL);
}

void GPIO_config(void) {
	// 使能GPIOB时钟
	rcu_periph_clock_enable(RCU_GPIOB);
	// 配置PB2为输入引脚，用于读取电机状态
	gpio_init(GPIOB, GPIO_MODE_IN_FLOATING, GPIO_OSPEED_50MHZ, GPIO_PIN_2);
}

/* retarget the C library printf function to the USART */
u8 USART0_init() {
	gd_eval_com_init(EVAL_COM0);
	return 1;
}

/*!
	\brief      configure the watchdog peripheral
	\param[in]  none
	\param[out] none
	\retval     none
*/
u8 watchdog_init(u32 time) {
	u8 status = 0;
	/* configure FWDGT counter clock: 40KHz(IRC40K) / 64 = 0.625 KHz */
	/* time = reload_value / clock_frequency */
	status = fwdgt_config(time * 0.625, FWDGT_PSC_DIV64);
	fwdgt_enable();
	return status;
}

int fputc(int ch, FILE *f) throw() {
	usart_data_transmit(EVAL_COM0, (uint8_t)ch);
	while (RESET == usart_flag_get(EVAL_COM0, USART_FLAG_TBE))
		;
	return ch;
}