motor_ctl-4/User project/4.BasicHardwSoftwLayer/1.BasicHardwLayer/Source/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 "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_15);
    
    /*=======================================================================
                                    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*/   

#if GEARSENSOR_ENABLE
    gpio_init(GPIOC,GPIO_MODE_IPU,GPIO_OSPEED_50MHZ,GPIO_PIN_10); /* Gear sensor*/    
    
    gpio_init(GPIOC,GPIO_MODE_IPU,GPIO_OSPEED_50MHZ,GPIO_PIN_11); 
#else
    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 */
#endif
//    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_12);  /* I2C0 Write Protect*/   
    
    gpio_init(GPIOC,GPIO_MODE_OUT_PP,GPIO_OSPEED_50MHZ, GPIO_PIN_13); /* F_6V_12V_Enable */

    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_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);
#if(GIANT_ENABLE == 1)    
    gpio_bit_set(GPIOC, GPIO_PIN_1);//Power On
#endif   
}

/*************************************************************************
 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         = 72;//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 = ENABLE;
    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 */
#if(GIANT_ENABLE == 1)
    can_parameter.prescaler = 12;  //36M/((1+4+1)*12)=500K
    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_FIFO1;
    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
    
    /* initialize filter 3 */ 
    can_filter.filter_number = 3;
    can_filter.filter_mode = CAN_FILTERMODE_MASK;
    can_filter.filter_bits = CAN_FILTERBITS_32BIT;
    can_filter.filter_list_high = 0x0000;
    can_filter.filter_list_low = 0x0000;
    can_filter.filter_mask_high = 0x0000;
    can_filter.filter_mask_low = 0x0000;
    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
#else
    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
#endif
}
/*************************************************************************
 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!
*************************************************************************/