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.
389 lines
11 KiB
C
389 lines
11 KiB
C
/**
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* @file board_init.c
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* @brief STM32F407 Discovery 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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/* Board state */
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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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/* Reset RCC */
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RCC->CR |= RCC_CR_HSION;
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while (!(RCC->CR & RCC_CR_HSIRDY));
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/* Configure PLL */
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RCC->PLLCFGR = (PLL_M << RCC_PLLCFGR_PLLM_Pos) |
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(PLL_N << RCC_PLLCFGR_PLLN_Pos) |
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(((PLL_P >> 1) - 1) << RCC_PLLCFGR_PLLP_Pos) |
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(PLL_Q << RCC_PLLCFGR_PLLQ_Pos);
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/* Enable PLL */
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RCC->CR |= RCC_CR_PLLON;
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while (!(RCC->CR & RCC_CR_PLLRDY));
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/* Configure flash latency */
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FLASH->ACR = FLASH_ACR_LATENCY_5WS | FLASH_ACR_PRFTEN | FLASH_ACR_ICEN | FLASH_ACR_DCEN;
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/* Configure AHB, APB1, APB2 prescalers */
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RCC->CFGR = RCC_CFGR_HPRE_DIV1 | RCC_CFGR_PPRE1_DIV4 | RCC_CFGR_PPRE2_DIV2;
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/* Switch to PLL */
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RCC->CFGR |= RCC_CFGR_SW_PLL;
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while ((RCC->CFGR & RCC_CFGR_SWS) != RCC_CFGR_SWS_PLL);
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/* Update SystemCoreClock variable */
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SystemCoreClockUpdate();
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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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__HAL_RCC_GPIOA_CLK_ENABLE();
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__HAL_RCC_GPIOB_CLK_ENABLE();
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__HAL_RCC_GPIOC_CLK_ENABLE();
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__HAL_RCC_GPIOD_CLK_ENABLE();
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__HAL_RCC_GPIOE_CLK_ENABLE();
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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 = 3; /* GPIOD */
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led_config.pin = 12;
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gpio_init(&led_config);
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led_config.pin = 13;
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gpio_init(&led_config);
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led_config.pin = 14;
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gpio_init(&led_config);
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led_config.pin = 15;
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gpio_init(&led_config);
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/* Configure button */
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GpioPinConfig_t button_config = {
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.port = 0, /* GPIOA */
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.pin = 0,
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.mode = GPIO_MODE_INPUT,
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.pull = GPIO_PULL_DOWN
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};
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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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board_led_off(3);
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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 UART1 */
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UartConfig_t uart1_config = {
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.baudrate = UART1_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(UART1_INSTANCE, &uart1_config);
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/* Configure UART2 */
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UartConfig_t uart2_config = uart1_config;
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uart_init(UART2_INSTANCE, &uart2_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 CAN1 */
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CanConfig_t can1_config = {
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.nominal_baudrate = CAN1_BAUDRATE,
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.data_baudrate = CAN1_BAUDRATE,
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.frame_type = CAN_FRAME_CLASSIC,
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.enable_fd = false,
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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(&can1_config);
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/* Configure CAN2 */
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CanConfig_t can2_config = can1_config;
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can_init(&can2_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 SPI1 */
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SpiConfig_t spi1_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 = 0,
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.cs_pin = 4
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};
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spi_init(SPI1_INSTANCE, &spi1_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 I2C1 */
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I2cConfig_t i2c1_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(I2C1_INSTANCE, &i2c1_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 ADC1 */
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AdcConfig_t adc1_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_TIMER,
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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 = 6,
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.channels = {
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{.channel = 0, .sampling_time = ADC_SAMPLING_28_5_CYCLES},
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{.channel = 1, .sampling_time = ADC_SAMPLING_28_5_CYCLES},
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{.channel = 2, .sampling_time = ADC_SAMPLING_28_5_CYCLES},
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{.channel = 3, .sampling_time = ADC_SAMPLING_28_5_CYCLES},
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{.channel = 4, .sampling_time = ADC_SAMPLING_28_5_CYCLES},
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{.channel = 5, .sampling_time = ADC_SAMPLING_28_5_CYCLES}
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}
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};
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adc_init(ADC1_INSTANCE, &adc1_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 timer */
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PwmConfig_t pwm_config = {
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.frequency_hz = 1000,
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.alignment = PWM_ALIGNMENT_EDGE,
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.period_ticks = 1000,
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.prescaler = 168,
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.channel_count = 4,
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.channels = {
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{.channel = 0, .duty_cycle = 0, .polarity = PWM_POLARITY_ACTIVE_HIGH},
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{.channel = 1, .duty_cycle = 0, .polarity = PWM_POLARITY_ACTIVE_HIGH},
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{.channel = 2, .duty_cycle = 0, .polarity = PWM_POLARITY_ACTIVE_HIGH},
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{.channel = 3, .duty_cycle = 0, .polarity = PWM_POLARITY_ACTIVE_HIGH}
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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_TIMER_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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/* Enable IWDG */
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IWDG->KR = 0x5555; /* Enable write access */
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IWDG->PR = 0x06; /* Prescaler: 256 */
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IWDG->RLR = 0x0FFF; /* Reload value */
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IWDG->KR = 0xCCCC; /* Start watchdog */
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}
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void board_watchdog_service(void) {
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/* Service IWDG */
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IWDG->KR = 0xAAAA;
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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(3, 12, true);
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break;
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case 1:
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gpio_write(3, 13, true);
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break;
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case 2:
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gpio_write(3, 14, true);
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break;
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case 3:
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gpio_write(3, 15, true);
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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(3, 12, false);
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break;
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case 1:
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gpio_write(3, 13, false);
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break;
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case 2:
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gpio_write(3, 14, false);
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break;
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case 3:
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gpio_write(3, 15, false);
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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(3, 12);
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break;
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case 1:
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gpio_toggle(3, 13);
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break;
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case 2:
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gpio_toggle(3, 14);
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break;
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case 3:
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gpio_toggle(3, 15);
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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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if (button == 0) {
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return gpio_read(0, 0);
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}
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return false;
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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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/* Simple busy-wait delay */
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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(ADC1_INSTANCE, 16, &adc_value, 10);
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/* Convert to temperature */
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float voltage = adc_convert_to_voltage(adc_value, ADC_RESOLUTION_12BIT, 3.3f);
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float temperature = ((voltage - 0.76f) / 0.0025f) + 25.0f;
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return temperature;
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}
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float board_get_voltage(void) {
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/* Read VREFINT */
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uint16_t adc_value = 0;
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adc_read_channel(ADC1_INSTANCE, 17, &adc_value, 10);
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/* Convert to voltage */
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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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