motor_bootloader/User/hwsetup.c

/************************************************************************
 Project:             Welling Motor Control Paltform
 Filename:            hwsetup.c
 Partner Filename:    hwsetup.h
 Description:         Hardware setup
 Complier:            IAR Embedded Workbench for ARM 8.40.2
 CPU TYPE :           GD32F30x
*************************************************************************
 Copyright (c) 2022 Welling Motor Technology(Shanghai) Co. Ltd.
 All rights reserved.
*************************************************************************
*************************************************************************
 Revising History (ECL of this file):
************************************************************************/
/************************************************************************
 Beginning of File, do not put anything above here except notes
 Compiler Directives:
*************************************************************************/
#ifndef _HWSETUP_C_
#define _HWSETUP_C_
#endif

/************************************************************************
 Included File
*************************************************************************/
/*#include "user.h"
#include "FuncLayerAPI.h"
#include "can.h"*/
#include "hwsetup.h"
/************************************************************************
 Constant Table (N/A)
*************************************************************************/

/*************************************************************************
 Exported Functions:
*************************************************************************/
/*************************************************************************
 Function: hw_voHardwareSetup;
 Description: Hardware Setup function.
 Call by: main();
 Input Variables: All HW registers
 Output/Return Variables: All HW registers
 Subroutine Call: ...;
 Reference: N/A
*************************************************************************/
void hw_voHardwareSetup1(void)
{
    // Initialize System Control registers, WatchDog to a know state
    hw_voInitSysCtrl();

    // Select GPIO for the device or for the specific application:
    hw_voInitGPIO();
}

void hw_voHardwareSetup2(void)
{
    // Initialize all the Device Peripherals to a known state:
    hw_voInitPeri();

    // Initialize interrupt priority of peripherals:
    hw_voInitInt();
    
    hw_voEnInt();
}

/*************************************************************************
 Local Functions (N/A)
*************************************************************************/
/*************************************************************************
 Function: hw_voInitPWM;
 Description: MTU Setup function.
 Call by: main();
 Input Variables: MTU HW registers
 Output/Return Variables: MTU HW registers
 Subroutine Call: ...;
 Reference: N/A
*************************************************************************/
void hw_voInitPeri(void)
{
    // Initialize SysTick
    hw_voInitSysTick();

    // Initialize CAN
    hw_voInitCAN();
    
}

/*************************************************************************
 Function:
 Description:
 Call by:
 Input Variables:
 Output/Return Variables:
 Subroutine Call:
 Reference:
*************************************************************************/
void hw_voInitSysCtrl(void)
{
    /* Enable the Alternate Function clock */
    rcu_periph_clock_enable(RCU_AF);
    
    /* Enable the GPIOA clock */
    rcu_periph_clock_enable(RCU_GPIOA);

    /* Enable the GPIOB clock */
    rcu_periph_clock_enable(RCU_GPIOB);
    
    /* Enable the GPIOC clock */
    rcu_periph_clock_enable(RCU_GPIOC);

    /* Enable the GPIOF clock */
    rcu_periph_clock_enable(RCU_GPIOF);
    
    /* Enable the CAN clock */
    rcu_periph_clock_enable(RCU_CAN0);
}

/*************************************************************************
 Function:
 Description:
 Call by:
 Input Variables:
 Output/Return Variables:
 Subroutine Call:
 Reference:
*************************************************************************/
void hw_voInitGPIO(void)
{
    /*=======================================================================
                                    GPIO A
    =======================================================================*/

    gpio_init(GPIOA,GPIO_MODE_OUT_PP,GPIO_OSPEED_50MHZ, GPIO_PIN_12);  /* CAN STB */   
    gpio_bit_reset(GPIOA, GPIO_PIN_12);
    
    /* Dont config PA13, for it is used for SWDIO  FOR DEBUG*/

    /* Dont config PA14, for it is used for SWCLK  FOR DEBUG*/

    gpio_init(GPIOA,GPIO_MODE_IPU,GPIO_OSPEED_50MHZ, GPIO_PIN_15);  /* ASSIST STATE IN */ 
    gpio_bit_reset(GPIOA, GPIO_PIN_15);
    
    /*=======================================================================
                                    GPIO B
    =======================================================================*/

    /* Remap CAN0 GPIO */
    gpio_pin_remap_config(GPIO_CAN0_PARTIAL_REMAP,ENABLE);
    
    gpio_init(GPIOB,GPIO_MODE_IN_FLOATING,GPIO_OSPEED_50MHZ,GPIO_PIN_8); /* CAN_RX */
    
    gpio_init(GPIOB,GPIO_MODE_AF_PP,GPIO_OSPEED_50MHZ,GPIO_PIN_9); /* CAN_TX*/

    /*=======================================================================
                                    GPIO C
    =======================================================================*/
    
    gpio_init(GPIOC,GPIO_MODE_OUT_PP,GPIO_OSPEED_50MHZ,GPIO_PIN_1); /* IO control*/
    gpio_bit_set(GPIOC, GPIO_PIN_1);
   
    gpio_init(GPIOC,GPIO_MODE_OUT_PP,GPIO_OSPEED_50MHZ, GPIO_PIN_15|GPIO_PIN_8); /* Light Enable */
}

/*************************************************************************
 Function:
 Description:
 Call by:
 Input Variables:
 Output/Return Variables:
 Subroutine Call:
 Reference:
*************************************************************************/
void hw_voInitCAN()
{
    can_parameter_struct            can_parameter;
    can_filter_parameter_struct     can_filter;
  
    can_struct_para_init(CAN_INIT_STRUCT, &can_parameter);
    can_struct_para_init(CAN_INIT_STRUCT, &can_filter);
    
    /* initialize CAN register */
    can_deinit(CAN0);
    
    /* initialize CAN */
    can_parameter.time_triggered = DISABLE;
    can_parameter.auto_bus_off_recovery = ENABLE;
    can_parameter.auto_wake_up = DISABLE;
    can_parameter.auto_retrans = ENABLE;
    can_parameter.rec_fifo_overwrite = DISABLE;
    can_parameter.trans_fifo_order = ENABLE;
    can_parameter.working_mode = CAN_NORMAL_MODE;
    can_parameter.resync_jump_width = CAN_BT_SJW_1TQ;
    can_parameter.time_segment_1 = CAN_BT_BS1_6TQ;
    can_parameter.time_segment_2 = CAN_BT_BS2_1TQ;
    /* baudrate 1Mbps */
    can_parameter.prescaler = 18;  //36M/((1+6+1)*18)=250K
    can_init(CAN0, &can_parameter);
    
     /* initialize filter 0 */ 
    can_filter.filter_number = 0;
    can_filter.filter_mode = CAN_FILTERMODE_MASK;
    can_filter.filter_bits = CAN_FILTERBITS_32BIT;
    can_filter.filter_list_high = (uint16_t)((((uint32_t)ID_TO_MC_FILTER << 21) & 0xFFFF0000) >> 16);
    can_filter.filter_list_low = (uint16_t)(((uint32_t)ID_TO_MC_FILTER << 21) | CAN_FF_STANDARD | CAN_FT_DATA) & 0xFFFF;
    can_filter.filter_mask_high = (uint16_t)((((uint32_t)ID_TO_MC_MASK << 21) & 0xFFFF0000) >> 16);
    can_filter.filter_mask_low = ((ID_TO_MC_MASK << 21) & 0xFFFF) | CAN_FF_STANDARD | CAN_FT_DATA;
    can_filter.filter_fifo_number = CAN_FIFO0;
    can_filter.filter_enable = ENABLE;
    can_filter_init(&can_filter);    
  
     /* initialize filter 1 */ 
//    can_filter.filter_number = 1;
//    can_filter.filter_mode = CAN_FILTERMODE_MASK;
//    can_filter.filter_bits = CAN_FILTERBITS_32BIT;
//    can_filter.filter_list_high = (uint16_t)((((uint32_t)ID_BC_FILTER << 21) & 0xFFFF0000) >> 16); 
//    can_filter.filter_list_low = (uint16_t)(((uint32_t)ID_BC_FILTER << 21) | CAN_FF_STANDARD | CAN_FT_DATA) & 0xFFFF;
//    can_filter.filter_mask_high = (uint16_t)((((uint32_t)ID_BC_MASK << 21) & 0xFFFF0000) >> 16);
//    can_filter.filter_mask_low =  ((ID_BC_MASK << 21) & 0xFFFF) | CAN_FF_STANDARD | CAN_FT_DATA; 
//    can_filter.filter_fifo_number = CAN_FIFO0;
//    can_filter.filter_enable = ENABLE;
//    can_filter_init(&can_filter);

}
/*************************************************************************
 Function:
 Description:
 Call by:
 Input Variables:
 Output/Return Variables:
 Subroutine Call:
 Reference:
*************************************************************************/
#define FSYSTICK_HZ    1000
void hw_voInitSysTick(void)
{
    /* Setup systick timer interrupts */
    /* Do not exceed 2^24-1=16777215 */
    SysTick_Config(SystemCoreClock / FSYSTICK_HZ);
}

volatile static uint32_t delay;

/*!
    \brief      delay a time in milliseconds
    \param[in]  count: count in milliseconds
    \param[out] none
    \retval     none
*/
void delay_1ms(uint32_t count)
{
    delay = count;

    while(0U != delay){
    }
}

/*!
    \brief      delay decrement
    \param[in]  none
    \param[out] none
    \retval     none
*/
void delay_decrement(void)
{
    if (0U != delay){
        delay--;
    }
}

extern void Period_Stick(void);
/*!
    \brief      this function handles SysTick exception
    \param[in]  none
    \param[out] none
    \retval     none
*/
void SysTick_Handler(void)
{
    delay_decrement();
    Period_Stick();
}



/*************************************************************************
 Function:
 Description:
 Call by:
 Input Variables:
 Output/Return Variables:
 Subroutine Call:
 Reference:
*************************************************************************/
void hw_voInitInt(void)
{
    /* Set the priority group */
    nvic_priority_group_set(NVIC_PRIGROUP_PRE2_SUB2);

    /* CAN0 RX0 interrupt */
    nvic_irq_enable(CAN0_RX0_IRQn, 3, 0); 
//    NVIC->ISER[1]=0xFFFF;
    /* CAN0 RX1 interrupt */
    nvic_irq_enable(CAN0_RX1_IRQn, 3, 0); 
    
}
/*************************************************************************
 Function:
 Description:
 Call by:
 Input Variables:
 Output/Return Variables:
 Subroutine Call:
 Reference:
*************************************************************************/
void hw_voEnInt(void)
{  
  
    /* CAN0 receive FIFO0 not empty interrupt */
    can_interrupt_enable(CAN0, CAN_INT_RFNE0);
    
    /* CAN0 receive FIFO0 overfull interrupt */
    can_interrupt_enable(CAN0, CAN_INT_RFO0);
    
    /* CAN0 receive FIFO1 not empty interrupt */
    can_interrupt_enable(CAN0, CAN_INT_RFNE1);
    
    /* CAN0 receive FIFO1 overfull interrupt */
    can_interrupt_enable(CAN0, CAN_INT_RFO1); 
    
    /* CAN0  error interrupt */
    can_interrupt_enable(CAN0, CAN_INT_ERR);
    
    /* CAN0  bus-off interrupt */
    can_interrupt_enable(CAN0, CAN_INT_BO);
    
    /* CAN0  warning error interrupt */
    can_interrupt_enable(CAN0, CAN_INT_WERR);
    
    /* CAN0  passive error interrupt */
    can_interrupt_enable(CAN0, CAN_INT_PERR);
    
//    can_interrupt_enable(CAN0, CAN_INT_RFF0);
}

/*************************************************************************
 Copyright (c) 2022 Welling Motor Technology(Shanghai) Co. Ltd.
 All rights reserved.
*************************************************************************/
#ifdef _HWSETUP_C_
#undef _HWSETUP_C_
#endif
/************************************************************************
 End of this File (EOF)!
 Do not put anything after this part!
*************************************************************************/