hand_acid_mainboard_bak/uappbase/apphal/apphal.cpp

#include "apphal.hpp"
using namespace iflytop;

void AppHal::MX_TIM6_Init(void) {
  __HAL_RCC_TIM6_CLK_ENABLE();

  TIM_MasterConfigTypeDef sMasterConfig = {0};
  htim6.Instance                        = TIM6;
  htim6.Init.Prescaler                  = 71;
  htim6.Init.CounterMode                = TIM_COUNTERMODE_UP;
  htim6.Init.Period                     = 65535;
  htim6.Init.AutoReloadPreload          = TIM_AUTORELOAD_PRELOAD_DISABLE;
  if (HAL_TIM_Base_Init(&htim6) != HAL_OK) {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode     = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim6, &sMasterConfig) != HAL_OK) {
    Error_Handler();
  }

  /* TIM6 interrupt Init */
  HAL_NVIC_SetPriority(TIM6_DAC_IRQn, 5, 0);
  HAL_NVIC_EnableIRQ(TIM6_DAC_IRQn);
}
/* TIM7 init function */
void AppHal::MX_TIM7_Init(void) {
  __HAL_RCC_TIM7_CLK_ENABLE();

  TIM_MasterConfigTypeDef sMasterConfig = {0};
  htim7.Instance                        = TIM7;
  htim7.Init.Prescaler                  = 81;
  htim7.Init.CounterMode                = TIM_COUNTERMODE_UP;
  htim7.Init.Period                     = 65535;
  htim7.Init.AutoReloadPreload          = TIM_AUTORELOAD_PRELOAD_DISABLE;
  if (HAL_TIM_Base_Init(&htim7) != HAL_OK) {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode     = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim7, &sMasterConfig) != HAL_OK) {
    Error_Handler();
  }

  /* TIM7 interrupt Init */
  HAL_NVIC_SetPriority(TIM7_IRQn, 5, 0);
  HAL_NVIC_EnableIRQ(TIM7_IRQn);
}

#define EARLY_ASSERT(exptr) \
  if (!(exptr)) {           \
    while (true) {          \
    }                       \
  }

void AppHal::DEBUG_UART_INIT(Pin_t tx, Pin_t rx, int32_t baudrate) {
  GPIO_InitTypeDef GPIO_InitStruct = {0};

  EARLY_ASSERT(PA9 == tx);
  EARLY_ASSERT(PA10 == rx);

  /***********************************************************************************************************************
   *                                                      IO初�?�化                                                       *
   ***********************************************************************************************************************/
  __HAL_RCC_USART1_CLK_ENABLE();
  __HAL_RCC_GPIOA_CLK_ENABLE();
  __HAL_RCC_DMA2_CLK_ENABLE();

  GPIO_InitStruct.Pin       = GPIO_PIN_9 | GPIO_PIN_10;
  GPIO_InitStruct.Mode      = GPIO_MODE_AF_PP;
  GPIO_InitStruct.Pull      = GPIO_NOPULL;
  GPIO_InitStruct.Speed     = GPIO_SPEED_FREQ_VERY_HIGH;
  GPIO_InitStruct.Alternate = GPIO_AF7_USART1;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  huart1.Instance          = USART1;
  huart1.Init.BaudRate     = baudrate;
  huart1.Init.WordLength   = UART_WORDLENGTH_8B;
  huart1.Init.StopBits     = UART_STOPBITS_1;
  huart1.Init.Parity       = UART_PARITY_NONE;
  huart1.Init.Mode         = UART_MODE_TX_RX;
  huart1.Init.HwFlowCtl    = UART_HWCONTROL_NONE;
  huart1.Init.OverSampling = UART_OVERSAMPLING_16;
  if (HAL_UART_Init(&huart1) != HAL_OK) {
    Error_Handler();
  }

  /***********************************************************************************************************************
   *                                                      DMA初�?�化                                                       *
   ***********************************************************************************************************************/
  HAL_NVIC_SetPriority(DMA2_Stream2_IRQn, 5, 0);
  HAL_NVIC_EnableIRQ(DMA2_Stream2_IRQn);
  hdma2_stream2.Instance                 = DMA2_Stream2;
  hdma2_stream2.Init.Channel             = DMA_CHANNEL_4;
  hdma2_stream2.Init.Direction           = DMA_PERIPH_TO_MEMORY;
  hdma2_stream2.Init.PeriphInc           = DMA_PINC_DISABLE;
  hdma2_stream2.Init.MemInc              = DMA_MINC_ENABLE;
  hdma2_stream2.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
  hdma2_stream2.Init.MemDataAlignment    = DMA_MDATAALIGN_BYTE;
  hdma2_stream2.Init.Mode                = DMA_NORMAL;
  hdma2_stream2.Init.Priority            = DMA_PRIORITY_LOW;
  hdma2_stream2.Init.FIFOMode            = DMA_FIFOMODE_DISABLE;
  if (HAL_DMA_Init(&hdma2_stream2) != HAL_OK) {
    Error_Handler();
  }

  __HAL_LINKDMA(&huart1, hdmarx, hdma2_stream2);
  HAL_NVIC_SetPriority(USART1_IRQn, 5, 0);
  HAL_NVIC_EnableIRQ(USART1_IRQn);
}

void AppHal::MX_IWDG_Init(void) {
  hiwdg.Instance       = IWDG;
  hiwdg.Init.Prescaler = IWDG_PRESCALER_64;
  hiwdg.Init.Reload    = 4095;
  if (HAL_IWDG_Init(&hiwdg) != HAL_OK) {
    Error_Handler();
  }
}

void AppHal::UART3_Init() {
  GPIO_InitTypeDef GPIO_InitStruct = {0};

  __HAL_RCC_USART3_CLK_ENABLE();
  __HAL_RCC_GPIOB_CLK_ENABLE();
  __HAL_RCC_DMA1_CLK_ENABLE();

  huart3.Instance          = USART3;
  huart3.Init.BaudRate     = 115200;
  huart3.Init.WordLength   = UART_WORDLENGTH_8B;
  huart3.Init.StopBits     = UART_STOPBITS_1;
  huart3.Init.Parity       = UART_PARITY_NONE;
  huart3.Init.Mode         = UART_MODE_TX_RX;
  huart3.Init.HwFlowCtl    = UART_HWCONTROL_NONE;
  huart3.Init.OverSampling = UART_OVERSAMPLING_16;
  if (HAL_UART_Init(&huart3) != HAL_OK) {
    Error_Handler();
  }

  GPIO_InitStruct.Pin       = GPIO_PIN_10 | GPIO_PIN_11;
  GPIO_InitStruct.Mode      = GPIO_MODE_AF_PP;
  GPIO_InitStruct.Pull      = GPIO_NOPULL;
  GPIO_InitStruct.Speed     = GPIO_SPEED_FREQ_VERY_HIGH;
  GPIO_InitStruct.Alternate = GPIO_AF7_USART3;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

  hdma1_stream1.Instance                 = DMA1_Stream1;
  hdma1_stream1.Init.Channel             = DMA_CHANNEL_4;
  hdma1_stream1.Init.Direction           = DMA_PERIPH_TO_MEMORY;
  hdma1_stream1.Init.PeriphInc           = DMA_PINC_DISABLE;
  hdma1_stream1.Init.MemInc              = DMA_MINC_ENABLE;
  hdma1_stream1.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
  hdma1_stream1.Init.MemDataAlignment    = DMA_MDATAALIGN_BYTE;
  hdma1_stream1.Init.Mode                = DMA_NORMAL;
  hdma1_stream1.Init.Priority            = DMA_PRIORITY_LOW;
  hdma1_stream1.Init.FIFOMode            = DMA_FIFOMODE_DISABLE;
  if (HAL_DMA_Init(&hdma1_stream1) != HAL_OK) {
    Error_Handler();
  }

  __HAL_LINKDMA(&huart3, hdmarx, hdma1_stream1);

  hdma1_stream3.Instance                 = DMA1_Stream3;
  hdma1_stream3.Init.Channel             = DMA_CHANNEL_4;
  hdma1_stream3.Init.Direction           = DMA_MEMORY_TO_PERIPH;
  hdma1_stream3.Init.PeriphInc           = DMA_PINC_DISABLE;
  hdma1_stream3.Init.MemInc              = DMA_MINC_ENABLE;
  hdma1_stream3.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
  hdma1_stream3.Init.MemDataAlignment    = DMA_MDATAALIGN_BYTE;
  hdma1_stream3.Init.Mode                = DMA_NORMAL;
  hdma1_stream3.Init.Priority            = DMA_PRIORITY_LOW;
  hdma1_stream3.Init.FIFOMode            = DMA_FIFOMODE_DISABLE;
  if (HAL_DMA_Init(&hdma1_stream3) != HAL_OK) {
    Error_Handler();
  }

  __HAL_LINKDMA(&huart3, hdmatx, hdma1_stream3);

  HAL_NVIC_SetPriority(DMA1_Stream1_IRQn, 5, 0);
  HAL_NVIC_EnableIRQ(DMA1_Stream1_IRQn);

  HAL_NVIC_SetPriority(DMA1_Stream3_IRQn, 5, 0);
  HAL_NVIC_EnableIRQ(DMA1_Stream3_IRQn);

  HAL_NVIC_SetPriority(USART3_IRQn, 5, 0);
  HAL_NVIC_EnableIRQ(USART3_IRQn);
}

/**
 * @brief
 */
void AppHal::UART4_Init() {
  GPIO_InitTypeDef GPIO_InitStruct = {0};

  __HAL_RCC_UART4_CLK_ENABLE();
  __HAL_RCC_GPIOC_CLK_ENABLE();

  huart4.Instance          = UART4;
  huart4.Init.BaudRate     = 256000;
  huart4.Init.WordLength   = UART_WORDLENGTH_8B;
  huart4.Init.StopBits     = UART_STOPBITS_1;
  huart4.Init.Parity       = UART_PARITY_NONE;
  huart4.Init.Mode         = UART_MODE_TX_RX;
  huart4.Init.HwFlowCtl    = UART_HWCONTROL_NONE;
  huart4.Init.OverSampling = UART_OVERSAMPLING_16;
  if (HAL_UART_Init(&huart4) != HAL_OK) {
    Error_Handler();
  }

  /**UART4 GPIO Configuration
  PC10     ------> UART4_TX
  PC11     ------> UART4_RX
  */
  GPIO_InitStruct.Pin       = GPIO_PIN_10 | GPIO_PIN_11;
  GPIO_InitStruct.Mode      = GPIO_MODE_AF_PP;
  GPIO_InitStruct.Pull      = GPIO_PULLDOWN;
  GPIO_InitStruct.Speed     = GPIO_SPEED_FREQ_VERY_HIGH;
  GPIO_InitStruct.Alternate = GPIO_AF8_UART4;
  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);

  /* UART4 interrupt Init */
  HAL_NVIC_SetPriority(UART4_IRQn, 5, 0);
  HAL_NVIC_EnableIRQ(UART4_IRQn);

  /***********************************************************************************************************************
   *                                                      DMA_INIT                                                       *
   ***********************************************************************************************************************/

  /* UART4 DMA Init */
  /* UART4_RX Init */
  hdma1_stream2.Instance                 = DMA1_Stream2;
  hdma1_stream2.Init.Channel             = DMA_CHANNEL_4;
  hdma1_stream2.Init.Direction           = DMA_PERIPH_TO_MEMORY;
  hdma1_stream2.Init.PeriphInc           = DMA_PINC_DISABLE;
  hdma1_stream2.Init.MemInc              = DMA_MINC_ENABLE;
  hdma1_stream2.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
  hdma1_stream2.Init.MemDataAlignment    = DMA_MDATAALIGN_BYTE;
  hdma1_stream2.Init.Mode                = DMA_NORMAL;
  hdma1_stream2.Init.Priority            = DMA_PRIORITY_LOW;
  hdma1_stream2.Init.FIFOMode            = DMA_FIFOMODE_DISABLE;
  if (HAL_DMA_Init(&hdma1_stream2) != HAL_OK) {
    Error_Handler();
  }

  __HAL_LINKDMA(&huart4, hdmarx, hdma1_stream2);

  /* UART4_TX Init */
  hdma1_stream4.Instance                 = DMA1_Stream4;
  hdma1_stream4.Init.Channel             = DMA_CHANNEL_4;
  hdma1_stream4.Init.Direction           = DMA_MEMORY_TO_PERIPH;
  hdma1_stream4.Init.PeriphInc           = DMA_PINC_DISABLE;
  hdma1_stream4.Init.MemInc              = DMA_MINC_ENABLE;
  hdma1_stream4.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
  hdma1_stream4.Init.MemDataAlignment    = DMA_MDATAALIGN_BYTE;
  hdma1_stream4.Init.Mode                = DMA_NORMAL;
  hdma1_stream4.Init.Priority            = DMA_PRIORITY_LOW;
  hdma1_stream4.Init.FIFOMode            = DMA_FIFOMODE_DISABLE;
  if (HAL_DMA_Init(&hdma1_stream4) != HAL_OK) {
    Error_Handler();
  }
  __HAL_LINKDMA(&huart4, hdmatx, hdma1_stream4);
}

void AppHal::MX_I2C1_Init(void) {
  __HAL_RCC_GPIOB_CLK_ENABLE();
  __HAL_RCC_I2C1_CLK_ENABLE();

  hi2c1.Instance             = I2C1;
  hi2c1.Init.ClockSpeed      = 400000;
  hi2c1.Init.DutyCycle       = I2C_DUTYCYCLE_2;
  hi2c1.Init.OwnAddress1     = 0;
  hi2c1.Init.AddressingMode  = I2C_ADDRESSINGMODE_7BIT;
  hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
  hi2c1.Init.OwnAddress2     = 0;
  hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
  hi2c1.Init.NoStretchMode   = I2C_NOSTRETCH_DISABLE;
  if (HAL_I2C_Init(&hi2c1) != HAL_OK) {
    Error_Handler();
  }

  GPIO_InitTypeDef GPIO_InitStruct = {0};

  /**I2C1 GPIO Configuration
  PB8     ------> I2C1_SCL
  PB9     ------> I2C1_SDA
  */
  GPIO_InitStruct.Pin       = GPIO_PIN_8 | GPIO_PIN_9;
  GPIO_InitStruct.Mode      = GPIO_MODE_AF_OD;
  GPIO_InitStruct.Pull      = GPIO_NOPULL;
  GPIO_InitStruct.Speed     = GPIO_SPEED_FREQ_VERY_HIGH;
  GPIO_InitStruct.Alternate = GPIO_AF4_I2C1;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
}
void AppHal::MX_HSPI1_Init() {
  __HAL_RCC_SPI1_CLK_ENABLE();
  __HAL_RCC_GPIOA_CLK_ENABLE();

  // static_assert(MOTOR_SPI == SPI1);
  // static_assert(&MOTOR_SPI_INS == &hspi1);

  hspi1.Instance               = SPI1;
  hspi1.Init.Mode              = SPI_MODE_MASTER;
  hspi1.Init.Direction         = SPI_DIRECTION_2LINES;
  hspi1.Init.DataSize          = SPI_DATASIZE_8BIT;
  hspi1.Init.CLKPolarity       = SPI_POLARITY_LOW;
  hspi1.Init.CLKPhase          = SPI_PHASE_1EDGE;
  hspi1.Init.NSS               = SPI_NSS_SOFT;
  hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32;
  hspi1.Init.FirstBit          = SPI_FIRSTBIT_MSB;
  hspi1.Init.TIMode            = SPI_TIMODE_DISABLE;
  hspi1.Init.CRCCalculation    = SPI_CRCCALCULATION_DISABLE;
  hspi1.Init.CRCPolynomial     = 10;
  if (HAL_SPI_Init(&hspi1) != HAL_OK) {
    Error_Handler();
  }

  // static_assert(MOTOR_SPI_SCK == PA5);
  // static_assert(MOTOR_SPI_SDO == PA6);
  // static_assert(MOTOR_SPI_SDI == PA7);

  GPIO_InitTypeDef GPIO_InitStruct = {0};
  GPIO_InitStruct.Pin              = GPIO_PIN_5 | GPIO_PIN_6 | GPIO_PIN_7;
  GPIO_InitStruct.Mode             = GPIO_MODE_AF_PP;
  GPIO_InitStruct.Pull             = GPIO_NOPULL;
  GPIO_InitStruct.Speed            = GPIO_SPEED_FREQ_VERY_HIGH;
  GPIO_InitStruct.Alternate        = GPIO_AF5_SPI1;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
}