/************************************************************************ 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 "hwsetup.h" #include "syspar.h" #include "user.h" #include "can.h" #include "api_rt.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(); } /************************************************************************* 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 Exti hw_voInitEXTI(); // Initialize DMA hw_voInitDMA(); // Initialize ADC hw_voInitADC(); // Initialize Timer0 hw_voInitTim0(); // Initialize Timer1 hw_voInitTim1(); // Initialize Timer3 hw_voInitTim2(); // Initialize Timer4 hw_voInitTim3(); // Initialize Timer6 hw_voInitTim5(); // Initialize Timer16 hw_voInitTim6(); // Initialize USART hw_voInitUART3(); // Initialize SPI2 hw_voInitSPI2(); // Initialize I2C1 hw_voInitI2C0(); // 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 DMA0 clock */ rcu_periph_clock_enable(RCU_DMA0); /* Enable the DMA1 clock */ rcu_periph_clock_enable(RCU_DMA1); /* 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 GPIOD clock */ rcu_periph_clock_enable(RCU_GPIOD); /* Enable the GPIOF clock */ rcu_periph_clock_enable(RCU_GPIOF); /* Enable the ADC0 ADC1 clock */ rcu_periph_clock_enable(RCU_ADC0); rcu_periph_clock_enable(RCU_ADC1); rcu_adc_clock_config(RCU_CKADC_CKAPB2_DIV2); /* Enable the TIM1 clock */ rcu_periph_clock_enable(RCU_TIMER0); /* Enable the TIM2 clock */ rcu_periph_clock_enable(RCU_TIMER1); /* Enable the TIM3 clock */ rcu_periph_clock_enable(RCU_TIMER2); /* Enable the TIM4 clock */ rcu_periph_clock_enable(RCU_TIMER3); /* Enable the TIM6 clock */ rcu_periph_clock_enable(RCU_TIMER5); /* Enable the TIM16 clock */ rcu_periph_clock_enable(RCU_TIMER6); /* Enable the UART3 clock */ rcu_periph_clock_enable(RCU_UART3); /* Enable the SPI2 clock */ rcu_periph_clock_enable(RCU_SPI2); /* Enable the I2C0 clock */ rcu_periph_clock_enable(RCU_I2C0); /* 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_AIN,GPIO_OSPEED_50MHZ, GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3); /* ADC01_IN0,1,2,3: Iu, Iv, Iw, Torque*/ gpio_init(GPIOA,GPIO_MODE_AIN,GPIO_OSPEED_50MHZ, GPIO_PIN_4|GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7); /* ADC01_IN4,5,6,7: Ibus Ubus U_6V U_5V*/ gpio_init(GPIOA,GPIO_MODE_AF_PP,GPIO_OSPEED_50MHZ, GPIO_PIN_8|GPIO_PIN_9|GPIO_PIN_10); /* TIM0_CH0,1,2: UH, VH, WH */ gpio_init(GPIOA,GPIO_MODE_AF_PP,GPIO_OSPEED_50MHZ, GPIO_PIN_11); /* TIM0_CH3: ADC Trigger */ //gpio_init(GPIOA,GPIO_MODE_OUT_PP,GPIO_OSPEED_50MHZ, GPIO_PIN_11); 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_12); /*======================================================================= GPIO B =======================================================================*/ gpio_init(GPIOB,GPIO_MODE_IPD,GPIO_OSPEED_50MHZ,GPIO_PIN_0|GPIO_PIN_1); /* Position Sensor Magnet Error Detect: LO, HI*/ gpio_init(GPIOB,GPIO_MODE_IN_FLOATING,GPIO_OSPEED_50MHZ,GPIO_PIN_2); /* Cadence direction */ /* JTAG-DP disabled and SW-DP enabled, so SPI2 can use PB3 and PB4*/ gpio_pin_remap_config(GPIO_SWJ_SWDPENABLE_REMAP,ENABLE); gpio_init(GPIOB, GPIO_MODE_AF_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_3 | GPIO_PIN_5); /* SPI2_SCK, SPI2_MOSI*/ gpio_init(GPIOB, GPIO_MODE_IN_FLOATING, GPIO_OSPEED_50MHZ, GPIO_PIN_4); /* SPI2_MISO */ gpio_init(GPIOB, GPIO_MODE_AF_OD, GPIO_OSPEED_50MHZ, GPIO_PIN_6 | GPIO_PIN_7); /* I2C0_SCL, I2C0_SDA*/ /* 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*/ /* Remap Timer1 GPIO */ gpio_pin_remap_config(GPIO_TIMER1_FULL_REMAP,ENABLE); gpio_init(GPIOB,GPIO_MODE_IN_FLOATING,GPIO_OSPEED_50MHZ,GPIO_PIN_10); /* TIM1_CH2: Capture For Candence Frequency */ gpio_init(GPIOB,GPIO_MODE_IN_FLOATING,GPIO_OSPEED_50MHZ,GPIO_PIN_11); /* TIM1_CH3: Capture For Bike Speed */ gpio_init(GPIOB,GPIO_MODE_IN_FLOATING,GPIO_OSPEED_50MHZ,GPIO_PIN_12); /* TIM0_BRKIN */ gpio_init(GPIOB,GPIO_MODE_AF_PP,GPIO_OSPEED_50MHZ, GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15); /* TIM0_CH0N,1N,2N: UL, VL, WL */ /*======================================================================= GPIO C =======================================================================*/ gpio_init(GPIOC,GPIO_MODE_IPD,GPIO_OSPEED_50MHZ,GPIO_PIN_0); /* Switch State */ gpio_init(GPIOC,GPIO_MODE_OUT_PP,GPIO_OSPEED_50MHZ,GPIO_PIN_1); /* Power Lock */ gpio_init(GPIOC,GPIO_MODE_AIN,GPIO_OSPEED_50MHZ, GPIO_PIN_2|GPIO_PIN_3|GPIO_PIN_4|GPIO_PIN_5); /* ADC01_IN12,13,14,15: U_12V, Throttle, PCB_Temp, Motor_Temp */ gpio_init(GPIOC,GPIO_MODE_OUT_PP,GPIO_OSPEED_50MHZ, GPIO_PIN_6|GPIO_PIN_7|GPIO_PIN_8); /* Test Pins*/ //gpio_init(GPIOC,GPIO_MODE_IN_FLOATING,GPIO_OSPEED_50MHZ, GPIO_PIN_6|GPIO_PIN_7|GPIO_PIN_8); /* TIM2_CH0,1,2: HallA, HallB, HallC */ gpio_pin_remap_config(GPIO_TIMER2_FULL_REMAP,ENABLE); gpio_init(GPIOC,GPIO_MODE_AF_PP,GPIO_OSPEED_50MHZ, GPIO_PIN_9); /* TIM2_CH3: 70KHz For Torque Sensor*/ gpio_init(GPIOC,GPIO_MODE_AF_PP,GPIO_OSPEED_50MHZ,GPIO_PIN_10); /* UART3_TX*/ gpio_init(GPIOC,GPIO_MODE_IN_FLOATING,GPIO_OSPEED_50MHZ,GPIO_PIN_11); /* UART3_RX */ // gpio_init(GPIOC,GPIO_MODE_OUT_PP,GPIO_OSPEED_50MHZ, GPIO_PIN_10); // test // // gpio_init(GPIOC,GPIO_MODE_OUT_PP,GPIO_OSPEED_50MHZ, GPIO_PIN_11); // test gpio_init(GPIOC,GPIO_MODE_OUT_PP,GPIO_OSPEED_50MHZ, GPIO_PIN_12); /* I2C0 Write Protect*/ gpio_init(GPIOC,GPIO_MODE_IPD,GPIO_OSPEED_50MHZ,GPIO_PIN_14); /* Bike Brake */ gpio_init(GPIOC,GPIO_MODE_OUT_PP,GPIO_OSPEED_50MHZ, GPIO_PIN_13|GPIO_PIN_15); /* Light Enable */ /*======================================================================= GPIO D =======================================================================*/ gpio_init(GPIOD,GPIO_MODE_OUT_PP,GPIO_OSPEED_50MHZ, GPIO_PIN_2); /* SPI Chip Select */ gpio_bit_set(GPIOD, GPIO_PIN_2); } /************************************************************************* Function: Description: Call by: Input Variables: Output/Return Variables: Subroutine Call: Reference:E:\General Software Platform\GD32F30x_Firmware_Library_V2.1.4\Examples\I2C\I2C_EEPROM_dma\at24cxx.c E:\General Software Platform\GD32F30x_Firmware_Library_V2.1.4\Examples\EXTI\Key_external_interrupt_mode\gd32f30x_it.c ***************************************E:\General Software Platform\GD32F30x_Firmware_Library_V2.1.4\Examples\I2C\I2C_EEPROM_dma\at24cxx.c E:\General Software Platform\GD32F30x_Firmware_Library_V2.1.4\Examples\EXTI\Key_external_interrupt_mode\gd32f30x_it.c**********************************/ void hw_voInitEXTI(void) { // EXTI_InitTypeDef EXTI_InitStructure; // // SYSCFG_EXTILineConfig(EXTI_PortSourceGPIOC, EXTI_PinSource14); // Break extern interrupt extern interrupt trigger source PIN // EXTI_InitStructure.EXTI_Line = EXTI_Line14; // EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt; // EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling; // EXTI_InitStructure.EXTI_LineCmd = ENABLE; // EXTI_Init(&EXTI_InitStructure); } /************************************************************************* Function: Description: Call by: Input Variables: Output/Return Variables: Subroutine Call: Reference: *************************************************************************/ void hw_voInitDMA(void) { dma_parameter_struct dma_init_struct; /*======================================================================= DMA0 Ch4 for Timer0 =======================================================================*/ dma_deinit(DMA0,DMA_CH4); dma_init_struct.periph_addr = (uint32_t)(&TIMER_DMATB(TIMER0)); dma_init_struct.periph_inc = DMA_PERIPH_INCREASE_DISABLE; dma_init_struct.memory_addr = (uint32_t)(Pwms[0].ActiveCompareValues); dma_init_struct.memory_inc = DMA_MEMORY_INCREASE_ENABLE; dma_init_struct.periph_width = DMA_PERIPHERAL_WIDTH_16BIT; dma_init_struct.memory_width = DMA_MEMORY_WIDTH_16BIT; dma_init_struct.direction = DMA_MEMORY_TO_PERIPHERAL; dma_init_struct.number = TIM1_DMA_NUM; dma_init_struct.priority = DMA_PRIORITY_ULTRA_HIGH; dma_init(DMA0,DMA_CH4,&dma_init_struct); dma_circulation_enable(DMA0,DMA_CH4); /* enable DMA0 channel4 */ //dma_channel_enable(DMA0,DMA_CH4); /*======================================================================= DMA0 Ch0 for ADC0 =======================================================================*/ dma_deinit(DMA0, DMA_CH0); /* initialize DMA single data mode */ dma_init_struct.periph_addr = (uint32_t)(&ADC_RDATA(ADC0)); dma_init_struct.periph_inc = DMA_PERIPH_INCREASE_DISABLE; dma_init_struct.memory_addr = (uint32_t)(Adcs[0].Results); dma_init_struct.memory_inc = DMA_MEMORY_INCREASE_ENABLE; dma_init_struct.periph_width = DMA_PERIPHERAL_WIDTH_16BIT; dma_init_struct.memory_width = DMA_MEMORY_WIDTH_16BIT; dma_init_struct.direction = DMA_PERIPHERAL_TO_MEMORY; dma_init_struct.number = ADC0_DMA_NUM; dma_init_struct.priority = DMA_PRIORITY_HIGH; dma_init(DMA0, DMA_CH0, &dma_init_struct); dma_circulation_enable(DMA0, DMA_CH0); /* enable DMA0 channel0 */ dma_channel_enable(DMA0, DMA_CH0); /*======================================================================= DMA1 Ch4 for ADC1 =======================================================================*/ /////////// !!!no dma for adc1 // dma_deinit(DMA1, DMA_CH4); // // /* initialize DMA single data mode */ // dma_init_struct.periph_addr = (ULONG)(&ADC_RDATA(ADC1)); // dma_init_struct.periph_inc = DMA_PERIPH_INCREASE_DISABLE; // dma_init_struct.memory_addr = (ULONG)(hw_uwADC2); // dma_init_struct.memory_inc = DMA_MEMORY_INCREASE_ENABLE; // dma_init_struct.periph_width = DMA_PERIPHERAL_WIDTH_16BIT; // dma_init_struct.memory_width = DMA_MEMORY_WIDTH_16BIT; // dma_init_struct.direction = DMA_PERIPHERAL_TO_MEMORY; // dma_init_struct.number = ADC2_DMA_NUM; // dma_init_struct.priority = DMA_PRIORITY_HIGH; // dma_init(DMA1, DMA_CH4, &dma_init_struct); // // dma_circulation_enable(DMA1, DMA_CH4); // // /* enable DMA1 channel4 */ // dma_channel_enable(DMA1, DMA_CH4); /*======================================================================= DMA0 Ch5 for I2C0 transmission =======================================================================*/ dma_deinit(DMA0, DMA_CH5); dma_init_struct.periph_addr = (uint32_t)(&I2C_DATA(I2C0)); dma_init_struct.periph_inc = DMA_PERIPH_INCREASE_DISABLE; dma_init_struct.memory_addr = (uint32_t)(I2C_ubWriteBuffer); dma_init_struct.memory_inc = DMA_MEMORY_INCREASE_ENABLE; dma_init_struct.periph_width = DMA_PERIPHERAL_WIDTH_8BIT; dma_init_struct.memory_width = DMA_MEMORY_WIDTH_8BIT; dma_init_struct.direction = DMA_MEMORY_TO_PERIPHERAL; dma_init_struct.number = I2C1_TX_DMA_NUM; dma_init_struct.priority = DMA_PRIORITY_HIGH; dma_init(DMA0, DMA_CH5, &dma_init_struct); dma_circulation_disable(DMA0, DMA_CH5); /* enable DMA0 channel5 */ //dma_channel_enable(DMA0, DMA_CH5); /*======================================================================= DMA0 Ch6 for I2C0 receive =======================================================================*/ dma_deinit(DMA0, DMA_CH6); dma_init_struct.periph_addr = (uint32_t)(&I2C_DATA(I2C0)); dma_init_struct.periph_inc = DMA_PERIPH_INCREASE_DISABLE; dma_init_struct.memory_addr = (uint32_t)(I2C_ubReadBuffer[0]); dma_init_struct.memory_inc = DMA_MEMORY_INCREASE_ENABLE; dma_init_struct.periph_width = DMA_PERIPHERAL_WIDTH_8BIT; dma_init_struct.memory_width = DMA_MEMORY_WIDTH_8BIT; dma_init_struct.direction = DMA_PERIPHERAL_TO_MEMORY; dma_init_struct.number = I2C1_RX_DMA_NUM; dma_init_struct.priority = DMA_PRIORITY_HIGH; dma_init(DMA0, DMA_CH6, &dma_init_struct); dma_circulation_disable(DMA0, DMA_CH6); /* enable DMA0 channel6 */ //dma_channel_enable(DMA0, DMA_CH6); /*======================================================================= DMA1 Ch4 for UART3 transmission =======================================================================*/ dma_deinit(DMA1, DMA_CH4); dma_init_struct.periph_addr = (uint32_t)(&USART_DATA(UART3)); dma_init_struct.periph_inc = DMA_PERIPH_INCREASE_DISABLE; dma_init_struct.memory_addr = (uint32_t)(0x20000000); dma_init_struct.memory_inc = DMA_MEMORY_INCREASE_ENABLE; dma_init_struct.periph_width = DMA_PERIPHERAL_WIDTH_8BIT; dma_init_struct.memory_width = DMA_MEMORY_WIDTH_8BIT; dma_init_struct.direction = DMA_MEMORY_TO_PERIPHERAL; dma_init_struct.number = 64; dma_init_struct.priority = DMA_PRIORITY_HIGH; dma_init(DMA1, DMA_CH4, &dma_init_struct); dma_circulation_disable(DMA1, DMA_CH4); /* enable DMA1 channel4 */ //dma_channel_enable(DMA1, DMA_CH4); // /*======================================================================= // DMA1 Ch2 for UART3 receive // =======================================================================*/ // dma_deinit(DMA1, DMA_CH2); // // dma_init_struct.periph_addr = (uint32_t)(&USART_DATA(UART3)); // dma_init_struct.periph_inc = DMA_PERIPH_INCREASE_DISABLE; // dma_init_struct.memory_addr = (uint32_t)(UART_ubReadBuffer); // dma_init_struct.memory_inc = DMA_MEMORY_INCREASE_ENABLE; // dma_init_struct.periph_width = DMA_PERIPHERAL_WIDTH_8BIT; // dma_init_struct.memory_width = DMA_MEMORY_WIDTH_8BIT; // dma_init_struct.direction = DMA_PERIPHERAL_TO_MEMORY; // dma_init_struct.number = 22; // dma_init_struct.priority = DMA_PRIORITY_HIGH; // dma_init(DMA1, DMA_CH2, &dma_init_struct); // // dma_circulation_disable(DMA1, DMA_CH2); // // /* enable DMA1 channel2 */ // dma_channel_enable(DMA1, DMA_CH2); } /************************************************************************* Function: Description: Call by: Input Variables: Output/Return Variables: Subroutine Call: Reference: *************************************************************************/ void hw_voInitADC(void) { /*======================================================================= ADC0 =======================================================================*/ /* ADC reset */ adc_deinit(ADC0); /* ADC mode config */ adc_mode_config(ADC_MODE_FREE); /* ADC special function config */ adc_special_function_config(ADC0, ADC_SCAN_MODE, ENABLE); adc_special_function_config(ADC0, ADC_CONTINUOUS_MODE, DISABLE); /* ADC data alignment config */ adc_data_alignment_config(ADC0, ADC_DATAALIGN_RIGHT); /* ADC channel length config */ adc_channel_length_config(ADC0, ADC_REGULAR_CHANNEL, 8); adc_channel_length_config(ADC0, ADC_INSERTED_CHANNEL, 3); /* ADC regular channel config */ adc_regular_channel_config(ADC0, 0, ADC_CHANNEL_5, ADC_SAMPLETIME_7POINT5); //PA5 Ubus adc_regular_channel_config(ADC0, 1, ADC_CHANNEL_6, ADC_SAMPLETIME_7POINT5); //PA6 U_6V adc_regular_channel_config(ADC0, 2, ADC_CHANNEL_7, ADC_SAMPLETIME_7POINT5); //PA7 U_5V adc_regular_channel_config(ADC0, 3, ADC_CHANNEL_14, ADC_SAMPLETIME_7POINT5); //PC4 PCB_Temp adc_regular_channel_config(ADC0, 4, ADC_CHANNEL_15, ADC_SAMPLETIME_7POINT5); //PC5 Motor_Temp adc_regular_channel_config(ADC0, 5, ADC_CHANNEL_12, ADC_SAMPLETIME_7POINT5); //PC2 U_12V adc_regular_channel_config(ADC0, 6, ADC_CHANNEL_13, ADC_SAMPLETIME_7POINT5); //PC3 Throtttle adc_regular_channel_config(ADC0, 7, ADC_CHANNEL_3, ADC_SAMPLETIME_7POINT5); //PA3 Torque /* 8· = 0.55*8 = 4.44us */ /* ADC inserted channel config */ adc_inserted_channel_config(ADC0, 0, ADC_CHANNEL_0, ADC_SAMPLETIME_7POINT5); //PA0 Iu adc_inserted_channel_config(ADC0, 1, ADC_CHANNEL_1, ADC_SAMPLETIME_7POINT5); //PA1 Iv adc_inserted_channel_config(ADC0, 2, ADC_CHANNEL_2, ADC_SAMPLETIME_7POINT5); //PA2 Iw /* ADC trigger config */ adc_external_trigger_source_config(ADC0, ADC_REGULAR_CHANNEL, ADC0_1_2_EXTTRIG_REGULAR_NONE); adc_external_trigger_source_config(ADC0, ADC_INSERTED_CHANNEL, ADC0_1_EXTTRIG_INSERTED_T0_CH3); /* ADC external trigger enable */ adc_external_trigger_config(ADC0, ADC_REGULAR_CHANNEL, ENABLE); adc_external_trigger_config(ADC0, ADC_INSERTED_CHANNEL, ENABLE); /* ADC DMA function enable */ adc_dma_mode_enable(ADC0); /* enable ADC interface */ adc_enable(ADC0); /* ADC calibration and reset calibration */ adc_calibration_enable(ADC0); /* ADC software trigger enable */ adc_software_trigger_enable(ADC0, ADC_REGULAR_CHANNEL); /*======================================================================= ADC1 =======================================================================*/ /* ADC reset */ adc_deinit(ADC1); /* ADC special function config */ adc_special_function_config(ADC1, ADC_SCAN_MODE, ENABLE); adc_special_function_config(ADC1, ADC_CONTINUOUS_MODE, DISABLE); /* ADC data alignment config */ adc_data_alignment_config(ADC1, ADC_DATAALIGN_RIGHT); /* ADC channel length config */ adc_channel_length_config(ADC1, ADC_INSERTED_CHANNEL, 1); /* ADC inserted channel config */ adc_inserted_channel_config(ADC1, 0, ADC_CHANNEL_4, ADC_SAMPLETIME_7POINT5); //PA4 Ibus /* ADC trigger config */ adc_external_trigger_source_config(ADC1, ADC_INSERTED_CHANNEL, ADC0_1_EXTTRIG_INSERTED_T0_CH3); /* ADC external trigger enable */ adc_external_trigger_config(ADC1, ADC_INSERTED_CHANNEL, ENABLE); /* enable ADC interface */ adc_enable(ADC1); /* ADC calibration and reset calibration */ adc_calibration_enable(ADC1); } /************************************************************************* Function: Description: Call by: Input Variables: Output/Return Variables: Subroutine Call: Reference: *************************************************************************/ void hw_voInitTim0(void) { timer_oc_parameter_struct timer_ocintpara; timer_parameter_struct timer_initpara; timer_break_parameter_struct timer_breakpara; /* Timer reset */ timer_deinit(TIMER0); timer_struct_para_init(&timer_initpara); // must init, or timer_initpara.counterdirection will be arbitrary /* TIMER0 configuration */ timer_initpara.prescaler = 0; timer_initpara.alignedmode = TIMER_COUNTER_CENTER_BOTH; timer_initpara.period = HW_HPWM_PERIOD; timer_initpara.clockdivision = TIMER_CKDIV_DIV1; timer_initpara.repetitioncounter = 0; timer_init(TIMER0,&timer_initpara); /* CH0, CH1 and CH2 configuration as PWM complementary output */ timer_ocintpara.outputstate = TIMER_CCX_ENABLE; timer_ocintpara.outputnstate = TIMER_CCXN_ENABLE; timer_ocintpara.ocpolarity = TIMER_OC_POLARITY_HIGH; timer_ocintpara.ocnpolarity = TIMER_OCN_POLARITY_HIGH; timer_ocintpara.ocidlestate = TIMER_OC_IDLE_STATE_LOW; timer_ocintpara.ocnidlestate = TIMER_OCN_IDLE_STATE_LOW; timer_channel_output_config(TIMER0, TIMER_CH_0, &timer_ocintpara); timer_channel_output_config(TIMER0, TIMER_CH_1, &timer_ocintpara); timer_channel_output_config(TIMER0, TIMER_CH_2, &timer_ocintpara); timer_channel_output_pulse_value_config(TIMER0, TIMER_CH_0, HW_HHPWM_PERIOD); timer_channel_output_mode_config(TIMER0, TIMER_CH_0, TIMER_OC_MODE_PWM1); timer_channel_output_shadow_config(TIMER0, TIMER_CH_0, TIMER_OC_SHADOW_DISABLE); timer_channel_output_pulse_value_config(TIMER0, TIMER_CH_1, HW_HHPWM_PERIOD); timer_channel_output_mode_config(TIMER0, TIMER_CH_1, TIMER_OC_MODE_PWM1); timer_channel_output_shadow_config(TIMER0, TIMER_CH_1, TIMER_OC_SHADOW_DISABLE); timer_channel_output_pulse_value_config(TIMER0, TIMER_CH_2, HW_HHPWM_PERIOD); timer_channel_output_mode_config(TIMER0, TIMER_CH_2, TIMER_OC_MODE_PWM1); timer_channel_output_shadow_config(TIMER0, TIMER_CH_2, TIMER_OC_SHADOW_DISABLE); /* CH3 configuration as ADC trigger signal */ timer_ocintpara.outputstate = TIMER_CCX_ENABLE; timer_ocintpara.ocpolarity = TIMER_OC_POLARITY_HIGH; timer_ocintpara.ocidlestate = TIMER_OC_IDLE_STATE_LOW; timer_channel_output_config(TIMER0, TIMER_CH_3, &timer_ocintpara); timer_channel_output_pulse_value_config(TIMER0, TIMER_CH_3, 200); timer_channel_output_mode_config(TIMER0, TIMER_CH_3, TIMER_OC_MODE_PWM1); //timer_channel_output_shadow_config(TIMER0, TIMER_CH_3, TIMER_OC_SHADOW_DISABLE); timer_channel_output_shadow_config(TIMER0, TIMER_CH_3, TIMER_OC_SHADOW_ENABLE); /* automatic output enable, break, dead time and lock configuration*/ timer_breakpara.runoffstate = TIMER_ROS_STATE_ENABLE; timer_breakpara.ideloffstate = TIMER_IOS_STATE_ENABLE ; timer_breakpara.deadtime = cp_stControlPara.swIPMDeadTimeNs / 100 * TIM0CLK_KHZ / 1000 / 10;; timer_breakpara.breakpolarity = TIMER_BREAK_POLARITY_LOW; timer_breakpara.outputautostate = TIMER_OUTAUTO_DISABLE; timer_breakpara.protectmode = TIMER_CCHP_PROT_OFF; timer_breakpara.breakstate = TIMER_BREAK_ENABLE; timer_break_config(TIMER0,&timer_breakpara); /* TIMER0 primary output enable */ timer_primary_output_config(TIMER0,ENABLE); /* TIMER0 update DMA request enable */ timer_dma_transfer_config(TIMER0,TIMER_DMACFG_DMATA_CH0CV,TIMER_DMACFG_DMATC_3TRANSFER); //timer_dma_enable(TIMER0,TIMER_DMA_UPD); /* auto-reload preload enable */ timer_auto_reload_shadow_enable(TIMER0); /* select the master slave mode */ timer_master_slave_mode_config(TIMER0, TIMER_MASTER_SLAVE_MODE_ENABLE); /* Update event is used as trigger output */ timer_master_output_trigger_source_select(TIMER0, TIMER_TRI_OUT_SRC_UPDATE); /* TIMER0 counter enable */ ////timer_enable(TIMER0); } /************************************************************************* Function: Description: Call by: Input Variables: Output/Return Variables: Subroutine Call: Reference: *************************************************************************/ void hw_voInitTim1(void) { timer_ic_parameter_struct timer_icinitpara; timer_parameter_struct timer_initpara; timer_deinit(TIMER1); /* TIMER1 configuration */ timer_initpara.prescaler = 99; timer_initpara.alignedmode = TIMER_COUNTER_EDGE; timer_initpara.counterdirection = TIMER_COUNTER_UP; timer_initpara.period = TIM1CLK_KHZ * 1000 / (1000 / 25); // period = 25ms timer_initpara.clockdivision = TIMER_CKDIV_DIV1; timer_initpara.repetitioncounter = 0; timer_init(TIMER1,&timer_initpara); /* TIMER1 CH0 input capture configuration */ timer_icinitpara.icpolarity = TIMER_IC_POLARITY_RISING; timer_icinitpara.icselection = TIMER_IC_SELECTION_DIRECTTI; timer_icinitpara.icprescaler = TIMER_IC_PSC_DIV1; timer_icinitpara.icfilter = 0x0; timer_input_capture_config(TIMER1,TIMER_CH_2,&timer_icinitpara); timer_input_capture_config(TIMER1,TIMER_CH_3,&timer_icinitpara); /* auto-reload preload enable */ timer_auto_reload_shadow_enable(TIMER1); /* TIMER1 counter enable */ ////timer_enable(TIMER1); } /************************************************************************* Function: Description: Call by: Input Variables: Output/Return Variables: Subroutine Call: Reference: *************************************************************************/ void hw_voInitTim2(void) { timer_oc_parameter_struct timer_ocintpara; timer_parameter_struct timer_initpara; /* Timer reset */ timer_deinit(TIMER2); /* TIMER2 configuration */ timer_initpara.prescaler = 0; timer_initpara.alignedmode = TIMER_COUNTER_EDGE; timer_initpara.counterdirection = TIMER_COUNTER_UP; timer_initpara.period = TIM2CLK_KHZ / 70; // 70kHz for torque sensor timer_initpara.clockdivision = TIMER_CKDIV_DIV1; timer_initpara.repetitioncounter = 0; timer_init(TIMER2,&timer_initpara); /* CH3 configuration for 70kHz output */ timer_ocintpara.outputstate = TIMER_CCX_ENABLE; timer_ocintpara.outputnstate = TIMER_CCXN_ENABLE; timer_ocintpara.ocpolarity = TIMER_OC_POLARITY_HIGH; timer_ocintpara.ocnpolarity = TIMER_OCN_POLARITY_HIGH; timer_ocintpara.ocidlestate = TIMER_OC_IDLE_STATE_LOW; timer_ocintpara.ocnidlestate = TIMER_OCN_IDLE_STATE_LOW; timer_channel_output_config(TIMER2, TIMER_CH_3, &timer_ocintpara); timer_channel_output_pulse_value_config(TIMER2, TIMER_CH_3, (1028>>1)); timer_channel_output_mode_config(TIMER2, TIMER_CH_3, TIMER_OC_MODE_PWM1); timer_channel_output_shadow_config(TIMER2, TIMER_CH_3, TIMER_OC_SHADOW_DISABLE); /* TIMER2 primary output enable */ timer_primary_output_config(TIMER2,ENABLE); /* auto-reload preload enable */ timer_auto_reload_shadow_enable(TIMER2); /* TIMER2 counter enable */ ////timer_enable(TIMER2); } /************************************************************************* Function: Description: Call by: Input Variables: Output/Return Variables: Subroutine Call: Reference: *************************************************************************/ void hw_voInitTim3(void) { timer_parameter_struct timer_initpara; timer_deinit(TIMER3); /* TIMER configuration */ timer_initpara.prescaler = 0; timer_initpara.alignedmode = TIMER_COUNTER_EDGE; timer_initpara.counterdirection = TIMER_COUNTER_UP; timer_initpara.period = (FTBC_HZ<<2)/FTBS_HZ-1; timer_initpara.clockdivision = TIMER_CKDIV_DIV1; timer_initpara.repetitioncounter = 0; timer_init(TIMER3,&timer_initpara); /* auto-reload preload enable */ timer_auto_reload_shadow_enable(TIMER3); /* slave mode selection: TIMER3 */ timer_slave_mode_select(TIMER3, TIMER_SLAVE_MODE_EXTERNAL0); timer_input_trigger_source_select(TIMER3, TIMER_SMCFG_TRGSEL_ITI0); /* select the master slave mode */ timer_master_slave_mode_config(TIMER3, TIMER_MASTER_SLAVE_MODE_ENABLE); /* TIMER3 counter enable */ ////timer_enable(TIMER3); } /************************************************************************* Function: Description: Call by: Input Variables: Output/Return Variables: Subroutine Call: Reference: *************************************************************************/ void hw_voInitTim5(void) { timer_parameter_struct timer_initpara; /* Timer reset */ timer_deinit(TIMER5); /* TIMER5 configuration */ timer_initpara.prescaler = 1; timer_initpara.alignedmode = TIMER_COUNTER_EDGE; timer_initpara.counterdirection = TIMER_COUNTER_UP; timer_initpara.period = HW_1MS_PERIOD; timer_initpara.clockdivision = TIMER_CKDIV_DIV1; timer_initpara.repetitioncounter = 0; timer_init(TIMER5,&timer_initpara); /* auto-reload preload enable */ timer_auto_reload_shadow_enable(TIMER5); /* TIMER5 counter enable */ ////timer_enable(TIMER5); } /************************************************************************* Function: Description: Call by: Input Variables: Output/Return Variables: Subroutine Call: Reference: *************************************************************************/ void hw_voInitTim6(void) { timer_parameter_struct timer_initpara; /* Timer reset */ timer_deinit(TIMER6); /* configuration */ timer_initpara.prescaler = 0; timer_initpara.alignedmode = TIMER_COUNTER_EDGE; timer_initpara.counterdirection = TIMER_COUNTER_UP; timer_initpara.period = (HW_PWM_PERIOD << 1) - 1; timer_initpara.clockdivision = TIMER_CKDIV_DIV1; timer_initpara.repetitioncounter = 0; timer_init(TIMER6,&timer_initpara); /* auto-reload preload enable */ timer_auto_reload_shadow_enable(TIMER6); /* counter enable */ ////timer_enable(TIMER6); } /************************************************************************* Function: Description: Call by: Input Variables: Output/Return Variables: Subroutine Call: Reference: *************************************************************************/ void hw_voInitUART3(void) { /* reset USART */ usart_deinit(UART3); /* configure USART baud rate value */ usart_baudrate_set(UART3, 1500000U); /* configure USART parity function */ usart_parity_config(UART3, USART_PM_NONE); /* configure USART word length */ usart_word_length_set(UART3, USART_WL_8BIT); /* configure USART stop bit length */ usart_stop_bit_set(UART3, USART_STB_1BIT); /* configure USART transmitter */ usart_transmit_config(UART3, USART_TRANSMIT_ENABLE); /* configure USART receiver */ usart_receive_config(UART3, USART_RECEIVE_ENABLE); /* USART DMA enable for transmission and receive */ usart_dma_transmit_config(UART3, USART_DENT_ENABLE); usart_dma_receive_config(UART3, USART_DENR_ENABLE); /* enable USART */ usart_enable(UART3); } /************************************************************************* Function: Description: Call by: Input Variables: Output/Return Variables: Subroutine Call: Reference: *************************************************************************/ void hw_voInitSPI2(void) { spi_parameter_struct spi_init_struct; /* reset SPI */ spi_i2s_deinit(SPI2); /* SPI2 parameter config */ spi_init_struct.device_mode = SPI_MASTER; spi_init_struct.trans_mode = SPI_TRANSMODE_FULLDUPLEX; spi_init_struct.frame_size = SPI_FRAMESIZE_16BIT; spi_init_struct.nss = SPI_NSS_SOFT; spi_init_struct.endian = SPI_ENDIAN_MSB; spi_init_struct.clock_polarity_phase = SPI_CK_PL_HIGH_PH_2EDGE; spi_init_struct.prescale = SPI_PSC_8; // 36M/8=4.5Mhz spi_init(SPI2, &spi_init_struct); /* configure SPI CRC function */ spi_crc_polynomial_set(SPI2, 7); spi_crc_on(SPI2); /* SPI DMA enable */ // spi_dma_enable(SPI2, SPI_DMA_TRANSMIT); // spi_dma_enable(SPI2, SPI_DMA_RECEIVE); /* SPI enable */ spi_enable(SPI2); } /************************************************************************* Function: Description: Call by: Input Variables: Output/Return Variables: Subroutine Call: Reference: *************************************************************************/ void hw_voInitI2C0(void) { i2c_deinit(I2C0); /* configure I2C0 clock */ i2c_clock_config(I2C0, 100000, I2C_DTCY_2); /* configure I2C0 address */ i2c_mode_addr_config(I2C0, I2C_I2CMODE_ENABLE, I2C_ADDFORMAT_7BITS, I2C_SLAVEADDR_BLOCK3); /* enable acknowledge */ i2c_ack_config(I2C0, I2C_ACK_ENABLE); // /* enable I2C0 DMA */ // i2c_dma_config(I2C0, I2C_DMA_ON); /* enable I2C0 */ i2c_enable(I2C0); } /************************************************************************* Function: Description: Call by: Input Variables: Output/Return Variables: Subroutine Call: Reference: *************************************************************************/ void hw_voInitCAN(void) { 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 = DISABLE; can_parameter.rec_fifo_overwrite = DISABLE; can_parameter.trans_fifo_order = DISABLE; can_parameter.working_mode = CAN_NORMAL_MODE; can_parameter.resync_jump_width = CAN_BT_SJW_1TQ; can_parameter.time_segment_1 = CAN_BT_BS1_4TQ; can_parameter.time_segment_2 = CAN_BT_BS2_1TQ; /* baudrate 1Mbps */ can_parameter.prescaler = 24; //36M/((1+4+1)*24)=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) & 0xFFFF0000U) >> 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) & 0xFFFF0000U) >> 16); can_filter.filter_mask_low = (uint16_t)((((uint32_t)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) & 0xFFFF0000U) >> 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) & 0xFFFF0000U) >> 16); can_filter.filter_mask_low = (uint16_t)((((uint32_t)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); /* initialize filter 2 */ //配置过滤器2，Enviolo自动变速器 can_filter.filter_number = 2; can_filter.filter_mode = CAN_FILTERMODE_MASK; can_filter.filter_bits = CAN_FILTERBITS_32BIT; can_filter.filter_list_high = (uint16_t)((((uint32_t)ID_ENVIOLO_FILTER << 21) & 0xFFFF0000U) >> 16);// ((ulExtId<<3)>>16)&0xFFFF; can_filter.filter_list_low = (uint16_t)(((uint32_t)ID_ENVIOLO_FILTER << 21) | CAN_FF_STANDARD | CAN_FT_DATA) & 0xFFFF;//((ulExtId<<3)&0xFFFF)|CAN_ID_EXT|CAN_RTR_Data; can_filter.filter_mask_high = (uint16_t)((((uint32_t)ID_ENVIOLO_MASK << 21) & 0xFFFF0000U) >> 16); //((ulFilter<<3)>>16)&0xFFFF; can_filter.filter_mask_low = (uint16_t)((((uint32_t)ID_ENVIOLO_MASK << 21) & 0xFFFF) | CAN_FF_STANDARD | CAN_FT_DATA); can_filter.filter_fifo_number = CAN_FIFO1;//过滤器2关联到FIFO1 can_filter.filter_enable = ENABLE;//激活过滤器0 can_filter_init(&can_filter);//滤波器初始化 } /************************************************************************* Function: Description: Call by: Input Variables: Output/Return Variables: Subroutine Call: Reference: *************************************************************************/ void hw_voInitSysTick(void) { /* Setup systick timer interrupts */ /* Do not exceed 2^24-1=16777215 */ SysTick_Config(SystemCoreClock / FSYSTICK_HZ); } /************************************************************************* 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); /* ADC, CMP0 and CMP1 interrupts */ nvic_irq_enable((uint8_t)ADC0_1_IRQn, 0, 3); /* TIMER0 break, update, trigger and commutation interrupts */ nvic_irq_enable((uint8_t)TIMER0_UP_TIMER9_IRQn, 1, 1); /* TIMER1 interrupt: CAP */ nvic_irq_enable((uint8_t)TIMER1_IRQn, 2, 1); /* TIMER3 interrupt: TBS */ nvic_irq_enable((uint8_t)TIMER3_IRQn, 3, 2); /* TIMER5 interrupt: 1ms */ nvic_irq_enable((uint8_t)TIMER5_IRQn, 2, 3); //nvic_irq_enable(DMA0_Channel4_IRQn, 0, 1); // test /* DMA1 CH2 interrupt: Uart */ nvic_irq_enable((uint8_t)DMA1_Channel2_IRQn, 3, 3); /* DMA1 CH4 interrupt: Uart */ nvic_irq_enable((uint8_t)DMA1_Channel4_IRQn, 3, 3); /* CAN0 RX0 interrupt */ nvic_irq_enable((uint8_t)CAN0_RX0_IRQn, 3, 3); /* CAN0 RX1 interrupt */ nvic_irq_enable((uint8_t)CAN0_RX1_IRQn, 3, 3); nvic_irq_enable((uint8_t)EXTI10_15_IRQn, 3, 3); } /************************************************************************* Function: Description: Call by: Input Variables: Output/Return Variables: Subroutine Call: Reference: *************************************************************************/ void hw_voEnInt(void) { /* ADC group conversion Interrupts enable */ if(cp_stFlg.CurrentSampleModelSelect == COMBINATION) { adc_interrupt_enable(ADC0 , ADC_INT_EOIC); adc_interrupt_enable(ADC1 , ADC_INT_EOIC); //adc_interrupt_enable(ADC1 , ADC_INT_EOC); } else { //do nothing } /* TIM0 Interrupts enable */ timer_interrupt_enable(TIMER0,TIMER_INT_UP); /* TIM1 Interrupts enable */ timer_interrupt_enable(TIMER1,TIMER_INT_UP); timer_interrupt_enable(TIMER1,TIMER_INT_CH2); timer_interrupt_enable(TIMER1,TIMER_INT_CH3); /* TIM3 Interrupts enable */ timer_interrupt_enable(TIMER3,TIMER_INT_UP); /* TIM5 Interrupts enable */ timer_interrupt_enable(TIMER5,TIMER_INT_UP); //dma_interrupt_enable(DMA0, DMA_CH4, DMA_INT_FTF);/* test */ /* DMA1 channel2 full transfer finish interrupt */ dma_interrupt_enable(DMA1, DMA_CH2, DMA_INT_FTF); /* DMA1 channel4 full transfer finish interrupt */ dma_interrupt_enable(DMA1, DMA_CH4, DMA_INT_FTF); /* 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_ITConfig(CAN1, CAN_IT_FMP0, ENABLE); // FIFO 0 message pending Interrupt // CAN_ITConfig(CAN1, CAN_IT_FOV0, ENABLE); // FIFO 0 overrun Interrupt // CAN_ITConfig(CAN1, CAN_IT_FMP1, ENABLE); // FIFO 1 message pending Interrupt // CAN_ITConfig(CAN1, CAN_IT_FOV1, ENABLE); // FIFO 1 overrun Interrupt // //CAN_ITConfig(CAN1, CAN_IT_ERR, ENABLE); // Error Interrupt // CAN_ITConfig(CAN1, CAN_IT_LEC, ENABLE); // Last error code Interrupt // //CAN_ITConfig(CAN1, CAN_IT_BOF, ENABLE); // Bus-off Interrupt // //CAN_ITConfig(CAN1, CAN_IT_EPV, ENABLE); // Error passive Interrupt // //CAN_ITConfig(CAN1, CAN_IT_EWG, ENABLE); // Error warning Interrupt } /************************************************************************* Function: Description: Call by: Input Variables: Output/Return Variables: Subroutine Call: Reference: *************************************************************************/ void hw_voTimEn(void) { /* TIMER0 counter enable */ timer_enable(TIMER0); /* TIMER1 counter enable */ timer_enable(TIMER1); /* TIMER2 counter enable */ timer_enable(TIMER2); /* TIMER3 counter enable */ timer_enable(TIMER3); /* TIMER5 counter enable */ timer_enable(TIMER5); /* counter enable */ timer_enable(TIMER6); } /************************************************************************* Function Description: Initialize UART Call by: ; Input Variables: N/A Output/Return Variables: N/A Subroutine Call: ...; Reference: N/A ****************************************************************/ void hw_voIWDGInit(UWORD prer, UWORD rlr) { /* enable RCU_IRC40K */ rcu_osci_on(RCU_IRC40K); /* wait till RCU_IRC40K is ready */ rcu_osci_stab_wait(RCU_IRC40K); fwdgt_write_enable(); fwdgt_prescaler_value_config(prer); fwdgt_reload_value_config(rlr); fwdgt_counter_reload(); fwdgt_enable(); } /************************************************************************* Copyright (c) 2022 Welling Motor Technology(Shanghai) Co. Ltd. All rights reserved. *************************************************************************/ #ifdef _HWSETUP_C_ #undef _HWSETUP_C_ /* parasoft-suppress MISRA2004-19_6 "本项目中无法更改，后续避免使用" */ #endif /************************************************************************ End of this File (EOF)! Do not put anything after this part! *************************************************************************/