root
ca13734bf0
Add kernel (Cortex-M0/M3/M4, Tricore, S32K, RISC-V ports), drivers, middleware (CAN stack, diagnostics, safety), applications, board support, build/test tooling, and documentation.
372 lines
11 KiB
C
372 lines
11 KiB
C
/**
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* @file board_init.c
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* @brief NXP S32K144 EVB board initialization
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*/
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#include "board.h"
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#include "kernel.h"
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#include "gpio_driver.h"
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#include "uart_driver.h"
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#include "can_driver.h"
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#include "spi_driver.h"
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#include "i2c_driver.h"
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#include "adc_driver.h"
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#include "pwm_driver.h"
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#include <string.h>
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static bool board_initialized = false;
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/* ============================================================================
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* Board Initialization
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* ============================================================================ */
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void board_init(void) {
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if (board_initialized) {
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return;
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}
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/* Initialize clock */
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board_clock_init();
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/* Initialize GPIO */
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board_gpio_init();
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/* Initialize UART */
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board_uart_init();
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/* Initialize CAN */
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board_can_init();
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/* Initialize SPI */
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board_spi_init();
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/* Initialize I2C */
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board_i2c_init();
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/* Initialize ADC */
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board_adc_init();
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/* Initialize PWM */
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board_pwm_init();
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/* Initialize watchdog */
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board_watchdog_init();
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board_initialized = true;
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}
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/* ============================================================================
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* Clock Initialization
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* ============================================================================ */
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void board_clock_init(void) {
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/* Configure system PLL */
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SCG->SPLLCSR = 0; /* Reset SPLL */
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SCG->SPLLDIV = SCG_SPLLDIV_SPLLDIV1(1) | SCG_SPLLDIV_SPLLDIV2(1);
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SCG->SPLLCFG = SCG_SPLLCFG_MULT(20); /* 8MHz * 20 = 160MHz */
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/* Enable SPLL */
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SCG->SPLLCSR |= SCG_SPLLCSR_SPLLEN_MASK;
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/* Wait for PLL lock */
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while (!(SCG->SPLLCSR & SCG_SPLLCSR_SPLLVLD_MASK));
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/* Switch to SPLL */
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SCG->RCCR = SCG_RCCR_DIVCORE(1) |
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SCG_RCCR_DIVBUS(4) | /* 160/4 = 40MHz */
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SCG_RCCR_DIVSLOW(8) | /* 160/8 = 20MHz */
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SCG_RCCR_SCS(6); /* SPLL */
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/* Wait for clock switch */
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while ((SCG->CSR & SCG_CSR_SCS_MASK) != SCG_CSR_SCS(6));
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/* Update SystemCoreClock */
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SystemCoreClock = SYSTEM_CLOCK;
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}
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/* ============================================================================
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* GPIO Initialization
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* ============================================================================ */
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void board_gpio_init(void) {
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/* Enable GPIO clocks */
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PCC->PCCn[PCC_PORTA_INDEX] |= PCC_PCCn_CGC_MASK;
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PCC->PCCn[PCC_PORTB_INDEX] |= PCC_PCCn_CGC_MASK;
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PCC->PCCn[PCC_PORTC_INDEX] |= PCC_PCCn_CGC_MASK;
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PCC->PCCn[PCC_PORTD_INDEX] |= PCC_PCCn_CGC_MASK;
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PCC->PCCn[PCC_PORTE_INDEX] |= PCC_PCCn_CGC_MASK;
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/* Configure LEDs */
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GpioPinConfig_t led_config = {
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.mode = GPIO_MODE_OUTPUT,
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.output_type = GPIO_OUTPUT_PUSH_PULL,
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.pull = GPIO_PULL_NONE,
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.speed = GPIO_SPEED_HIGH
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};
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led_config.port = 2; /* PTC */
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led_config.pin = 0;
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gpio_init(&led_config);
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led_config.pin = 1;
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gpio_init(&led_config);
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led_config.pin = 2;
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gpio_init(&led_config);
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/* Configure buttons */
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GpioPinConfig_t button_config = {
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.port = 2, /* PTC */
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.pin = 3,
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.mode = GPIO_MODE_INPUT,
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.pull = GPIO_PULL_UP
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};
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gpio_init(&button_config);
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button_config.pin = 4;
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gpio_init(&button_config);
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/* Turn off all LEDs */
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board_led_off(0);
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board_led_off(1);
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board_led_off(2);
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}
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/* ============================================================================
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* UART Initialization
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* ============================================================================ */
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void board_uart_init(void) {
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/* Configure UART0 */
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UartConfig_t uart_config = {
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.baudrate = UART0_BAUDRATE,
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.data_bits = UART_DATA_BITS_8,
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.stop_bits = UART_STOP_BITS_1,
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.parity = UART_PARITY_NONE,
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.flow_control = UART_FLOW_CONTROL_NONE,
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.enable_rx = true,
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.enable_tx = true,
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.use_dma = false
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};
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uart_init(UART0_INSTANCE, &uart_config);
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}
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/* ============================================================================
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* CAN Initialization
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* ============================================================================ */
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void board_can_init(void) {
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/* Configure CAN0 */
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CanConfig_t can_config = {
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.nominal_baudrate = CAN0_BAUDRATE,
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.data_baudrate = CAN0_BAUDRATE,
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.frame_type = CAN_FRAME_CLASSIC,
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.enable_fd = true, /* S32K144 supports CAN FD */
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.enable_automatic_retransmission = true,
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.filter_count = 0
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};
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can_init(CAN0_INSTANCE, &can_config);
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}
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/* ============================================================================
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* SPI Initialization
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* ============================================================================ */
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void board_spi_init(void) {
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/* Configure SPI0 */
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SpiConfig_t spi_config = {
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.mode = SPI_MODE_0,
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.clock_speed = SPI_CLOCK_8MHZ,
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.data_order = SPI_DATA_ORDER_MSB_FIRST,
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.data_size = 8,
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.use_dma = false,
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.enable_hardware_cs = false,
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.cs_polarity = SPI_CS_ACTIVE_LOW,
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.cs_port = 1,
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.cs_pin = 0
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};
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spi_init(SPI0_INSTANCE, &spi_config);
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}
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/* ============================================================================
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* I2C Initialization
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* ============================================================================ */
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void board_i2c_init(void) {
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/* Configure I2C0 */
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I2cConfig_t i2c_config = {
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.speed = I2C_SPEED_FAST,
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.addressing_mode = I2C_ADDRESSING_7BIT,
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.own_address = 0x50,
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.enable_general_call = false,
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.enable_clock_stretching = true,
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.use_dma = false
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};
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i2c_init(I2C0_INSTANCE, &i2c_config);
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}
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/* ============================================================================
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* ADC Initialization
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* ============================================================================ */
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void board_adc_init(void) {
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/* Configure ADC0 */
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AdcConfig_t adc_config = {
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.resolution = ADC_RESOLUTION_12BIT,
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.mode = ADC_MODE_SCAN,
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.trigger_source = ADC_TRIGGER_SOFTWARE,
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.reference = ADC_REFERENCE_VDD,
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.enable_dma = false,
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.conversion_frequency = 1000,
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.channel_count = 8,
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.channels = {
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{.channel = 0, .sampling_time = ADC_SAMPLING_13_5_CYCLES},
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{.channel = 1, .sampling_time = ADC_SAMPLING_13_5_CYCLES},
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{.channel = 2, .sampling_time = ADC_SAMPLING_13_5_CYCLES},
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{.channel = 3, .sampling_time = ADC_SAMPLING_13_5_CYCLES},
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{.channel = 4, .sampling_time = ADC_SAMPLING_13_5_CYCLES},
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{.channel = 5, .sampling_time = ADC_SAMPLING_13_5_CYCLES},
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{.channel = 6, .sampling_time = ADC_SAMPLING_13_5_CYCLES},
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{.channel = 7, .sampling_time = ADC_SAMPLING_13_5_CYCLES}
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}
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};
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adc_init(ADC0_INSTANCE, &adc_config);
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}
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/* ============================================================================
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* PWM Initialization
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* ============================================================================ */
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void board_pwm_init(void) {
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/* Configure PWM */
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PwmConfig_t pwm_config = {
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.frequency_hz = PWM_TIMER_FREQUENCY,
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.alignment = PWM_ALIGNMENT_EDGE,
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.period_ticks = 10000,
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.prescaler = PWM_TIMER_PRESCALER,
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.channel_count = 4,
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.channels = {
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{.channel = 0, .duty_cycle = 0},
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{.channel = 1, .duty_cycle = 0},
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{.channel = 2, .duty_cycle = 0},
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{.channel = 3, .duty_cycle = 0}
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},
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.enable_fault_protection = true,
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.fault_action = PWM_FAULT_DISABLE
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};
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pwm_init(PWM_INSTANCE, &pwm_config);
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}
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/* ============================================================================
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* Watchdog Initialization
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* ============================================================================ */
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void board_watchdog_init(void) {
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/* Configure WDOG */
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WDOG->CNT = 0x1000; /* Timeout value */
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WDOG->TOVAL = 0x1000;
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WDOG->CS = WDOG_CS_EN_MASK |
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WDOG_CS_CLK(1) |
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WDOG_CS_WIN_MASK |
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WDOG_CS_UPDATE_MASK;
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}
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void board_watchdog_service(void) {
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/* Service WDOG */
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WDOG->CNT = 0xB480;
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WDOG->CNT = 0x4B80;
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}
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/* ============================================================================
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* LED Functions
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* ============================================================================ */
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void board_led_on(uint8_t led) {
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switch (led) {
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case 0:
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gpio_write(2, 0, false); /* Active low */
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break;
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case 1:
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gpio_write(2, 1, false);
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break;
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case 2:
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gpio_write(2, 2, false);
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break;
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}
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}
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void board_led_off(uint8_t led) {
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switch (led) {
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case 0:
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gpio_write(2, 0, true);
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break;
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case 1:
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gpio_write(2, 1, true);
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break;
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case 2:
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gpio_write(2, 2, true);
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break;
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}
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}
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void board_led_toggle(uint8_t led) {
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switch (led) {
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case 0:
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gpio_toggle(2, 0);
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break;
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case 1:
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gpio_toggle(2, 1);
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break;
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case 2:
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gpio_toggle(2, 2);
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break;
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}
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}
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/* ============================================================================
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* Button Functions
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* ============================================================================ */
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bool board_button_read(uint8_t button) {
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switch (button) {
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case 0:
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return !gpio_read(2, 3); /* Active low */
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case 1:
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return !gpio_read(2, 4);
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default:
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return false;
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}
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}
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/* ============================================================================
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* Delay Functions
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* ============================================================================ */
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void board_delay_ms(uint32_t ms) {
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kernel_delay(ms);
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}
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void board_delay_us(uint32_t us) {
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uint32_t count = us * (SystemCoreClock / 1000000) / 5;
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while (count--) {
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__NOP();
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}
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}
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/* ============================================================================
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* Sensor Functions
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* ============================================================================ */
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float board_get_temperature(void) {
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/* Read internal temperature sensor */
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uint16_t adc_value = 0;
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adc_read_channel(ADC0_INSTANCE, 26, &adc_value, 10); /* Internal temp sensor */
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/* Convert to temperature (S32K144 specific formula) */
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float voltage = adc_convert_to_voltage(adc_value, ADC_RESOLUTION_12BIT, 3.3f);
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float temperature = 25.0f - ((voltage - 0.716f) / 0.00162f);
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return temperature;
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}
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float board_get_voltage(void) {
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/* Read bandgap reference */
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uint16_t adc_value = 0;
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adc_read_channel(ADC0_INSTANCE, 27, &adc_value, 10); /* Bandgap */
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float voltage = adc_convert_to_voltage(adc_value, ADC_RESOLUTION_12BIT, 3.3f);
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return voltage;
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}
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