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161 lines
3.4 KiB
161 lines
3.4 KiB
#include "hw_init.h"
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#include "com/iface_usart.h"
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#include "com/com_fileio.h"
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#include "com/datalink.h"
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#include "utils/debounce.h"
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#include "utils/timebase.h"
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#include "bus/event_queue.h"
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#include "com/debug.h"
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// ---- Private prototypes --------
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static void conf_gpio(void);
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static void conf_usart(void);
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static void conf_spi(void);
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static void conf_systick(void);
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static void conf_subsystems(void);
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static void conf_irq_prios(void);
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// ---- Public functions ----------
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/**
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* @brief Initialize hardware resources
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*/
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void hw_init(void)
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{
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conf_gpio();
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conf_usart();
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conf_systick();
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conf_spi();
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conf_irq_prios();
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conf_subsystems();
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}
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// ---- Private functions ---------
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static void conf_irq_prios(void)
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{
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NVIC_SetPriorityGrouping(0); // 0 bits for sub-priority
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// SysTick - highest prio, used for timeouts
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NVIC_SetPriority(SysTick_IRQn, 0); // SysTick - for timeouts
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NVIC_SetPriority(USART2_IRQn, 6); // USART - datalink
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NVIC_SetPriority(USART1_IRQn, 10); // USART - debug
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// FIXME check , probably bad ports
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}
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/**
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* @brief Configure SW subsystems
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*/
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static void conf_subsystems(void)
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{
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// task scheduler subsystem
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timebase_init(15, 15);
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// event and task queues
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queues_init(15, 15);
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// initialize SBMP for ESP8266
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dlnk_init();
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}
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/**
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* @brief Configure GPIOs
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*/
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static void conf_gpio(void)
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{
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GPIO_InitTypeDef gpio_cnf;
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GPIO_StructInit(&gpio_cnf);
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE);
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
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// Red LED
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gpio_cnf.GPIO_Pin = GPIO_Pin_13;
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gpio_cnf.GPIO_Mode = GPIO_Mode_Out_PP;
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gpio_cnf.GPIO_Speed = GPIO_Speed_10MHz;
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GPIO_Init(GPIOC, &gpio_cnf);
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// colorled | sonar trig
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gpio_cnf.GPIO_Pin = GPIO_Pin_12|GPIO_Pin_13;
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gpio_cnf.GPIO_Mode = GPIO_Mode_Out_PP;
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gpio_cnf.GPIO_Speed = GPIO_Speed_10MHz;
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GPIO_Init(GPIOB, &gpio_cnf);
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gpio_cnf.GPIO_Pin = GPIO_Pin_14;
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gpio_cnf.GPIO_Mode = GPIO_Mode_IPD;
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gpio_cnf.GPIO_Speed = GPIO_Speed_10MHz;
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GPIO_Init(GPIOB, &gpio_cnf);
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// A0-sonar trig | UART2 - debug, UART1 - esp
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gpio_cnf.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_3 | GPIO_Pin_9 | GPIO_Pin_10;
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gpio_cnf.GPIO_Mode = GPIO_Mode_AF_PP;
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gpio_cnf.GPIO_Speed = GPIO_Speed_10MHz;
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GPIO_Init(GPIOA, &gpio_cnf);
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// SPI
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gpio_cnf.GPIO_Pin = GPIO_Pin_5 | GPIO_Pin_7;
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gpio_cnf.GPIO_Mode = GPIO_Mode_AF_PP;
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gpio_cnf.GPIO_Speed = GPIO_Speed_10MHz;
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GPIO_Init(GPIOA, &gpio_cnf);
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// SPI NSS out
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gpio_cnf.GPIO_Pin = GPIO_Pin_4;
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gpio_cnf.GPIO_Mode = GPIO_Mode_Out_PP;
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gpio_cnf.GPIO_Speed = GPIO_Speed_10MHz;
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GPIO_Init(GPIOA, &gpio_cnf);
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}
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/**
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* @brief Configure USARTs
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*/
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static void conf_usart(void)
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{
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// Debug interface, working as stdout/stderr.
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debug_iface = usart_iface_init(USART2, 115200, 256, 256);
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setvbuf(stdout, NULL, _IONBF, 0);
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setvbuf(stderr, NULL, _IONBF, 0);
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debug_iface->file = stdout;
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// Datalink iface
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data_iface = usart_iface_init(USART1, 460800, 256, 256);
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}
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/**
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* @brief Configure SPI
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*/
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static void conf_spi(void)
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{
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RCC_APB2PeriphClockCmd(RCC_APB2ENR_SPI1EN, ENABLE);
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SPI_InitTypeDef spi_cnf;
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SPI_StructInit(&spi_cnf);
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spi_cnf.SPI_Direction = SPI_Direction_1Line_Tx;
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spi_cnf.SPI_Mode = SPI_Mode_Master;
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spi_cnf.SPI_NSS = SPI_NSS_Soft;
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spi_cnf.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8;
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SPI_Init(SPI1, &spi_cnf);
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SPI_Cmd(SPI1, ENABLE);
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}
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/**
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* @brief Configure 1 kHz SysTick w/ interrupt
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*/
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static void conf_systick(void)
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{
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SysTick_Config(F_CPU / 1000);
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}
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