85 lines
2.6 KiB
C
85 lines
2.6 KiB
C
#ifdef STM32F4
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#include "stm32f4xx_hal_gpio_ex.h"
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#else
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#include "stm32f2xx_hal_gpio_ex.h"
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#endif
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// Common GPIO initialization
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void common_init_gpio(void){
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// TODO: Is this block actually doing something???
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// pull low to hold ESP in reset??
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// enable OTG out tied to ground
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GPIOA->ODR = 0;
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GPIOB->ODR = 0;
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GPIOA->PUPDR = 0;
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GPIOB->AFR[0] = 0;
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GPIOB->AFR[1] = 0;
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// C2: Voltage sense line
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set_gpio_mode(GPIOC, 2, MODE_ANALOG);
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// A11,A12: USB
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set_gpio_alternate(GPIOA, 11, GPIO_AF10_OTG_FS);
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set_gpio_alternate(GPIOA, 12, GPIO_AF10_OTG_FS);
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GPIOA->OSPEEDR = GPIO_OSPEEDER_OSPEEDR11 | GPIO_OSPEEDER_OSPEEDR12;
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// A9,A10: USART 1 for talking to the GPS
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set_gpio_alternate(GPIOA, 9, GPIO_AF7_USART1);
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set_gpio_alternate(GPIOA, 10, GPIO_AF7_USART1);
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// B8,B9: CAN 1
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#ifdef STM32F4
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set_gpio_alternate(GPIOB, 8, GPIO_AF8_CAN1);
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set_gpio_alternate(GPIOB, 9, GPIO_AF8_CAN1);
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#else
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set_gpio_alternate(GPIOB, 8, GPIO_AF9_CAN1);
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set_gpio_alternate(GPIOB, 9, GPIO_AF9_CAN1);
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#endif
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}
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// Peripheral initialization
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void peripherals_init(void){
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// enable GPIOB, UART2, CAN, USB clock
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RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
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RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN;
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RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
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RCC->AHB1ENR |= RCC_AHB1ENR_GPIODEN;
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RCC->AHB1ENR |= RCC_AHB1ENR_DMA2EN;
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RCC->APB1ENR |= RCC_APB1ENR_USART2EN;
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RCC->APB1ENR |= RCC_APB1ENR_USART3EN;
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#ifdef PANDA
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RCC->APB1ENR |= RCC_APB1ENR_UART5EN;
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#endif
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RCC->APB1ENR |= RCC_APB1ENR_CAN1EN;
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RCC->APB1ENR |= RCC_APB1ENR_CAN2EN;
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#ifdef CAN3
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RCC->APB1ENR |= RCC_APB1ENR_CAN3EN;
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#endif
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RCC->APB1ENR |= RCC_APB1ENR_DACEN;
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RCC->APB1ENR |= RCC_APB1ENR_TIM2EN; // main counter
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RCC->APB1ENR |= RCC_APB1ENR_TIM3EN; // pedal and fan PWM
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RCC->APB1ENR |= RCC_APB1ENR_TIM4EN; // gmlan_alt and IR PWM
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RCC->APB1ENR |= RCC_APB1ENR_TIM5EN; // k-line init
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RCC->APB1ENR |= RCC_APB1ENR_TIM6EN; // interrupt timer
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RCC->APB1ENR |= RCC_APB1ENR_PWREN; // for RTC config
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RCC->APB2ENR |= RCC_APB2ENR_USART1EN;
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RCC->AHB2ENR |= RCC_AHB2ENR_OTGFSEN;
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RCC->APB2ENR |= RCC_APB2ENR_TIM1EN; // clock source timer
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RCC->APB2ENR |= RCC_APB2ENR_ADC1EN;
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RCC->APB2ENR |= RCC_APB2ENR_SPI1EN;
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RCC->APB2ENR |= RCC_APB2ENR_SYSCFGEN;
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RCC->APB2ENR |= RCC_APB2ENR_TIM9EN; // slow loop
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}
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// Detection with internal pullup
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#define PULL_EFFECTIVE_DELAY 4096
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bool detect_with_pull(GPIO_TypeDef *GPIO, int pin, int mode) {
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set_gpio_mode(GPIO, pin, MODE_INPUT);
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set_gpio_pullup(GPIO, pin, mode);
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for (volatile int i=0; i<PULL_EFFECTIVE_DELAY; i++);
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bool ret = get_gpio_input(GPIO, pin);
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set_gpio_pullup(GPIO, pin, PULL_NONE);
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return ret;
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}
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