hwinit.cpp

/*
 * This file is part of the tumanako_vc project.
 *
 * Copyright (C) 2010 Johannes Huebner <contact@johanneshuebner.com>
 * Copyright (C) 2010 Edward Cheeseman <cheesemanedward@gmail.com>
 * Copyright (C) 2009 Uwe Hermann <uwe@hermann-uwe.de>
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */
#include <libopencm3/cm3/common.h>
#include <libopencm3/cm3/nvic.h>
#include <libopencm3/cm3/scb.h>
#include <libopencm3/stm32/gpio.h>
#include <libopencm3/stm32/rcc.h>
#include <libopencm3/stm32/usart.h>
#include <libopencm3/stm32/adc.h>
#include <libopencm3/stm32/timer.h>
#include <libopencm3/stm32/dma.h>
#include <libopencm3/stm32/rtc.h>
#include <libopencm3/stm32/spi.h>
#include <libopencm3/stm32/exti.h>
#include <libopencm3/stm32/rtc.h>
#include "hwdefs.h"
#include "hwinit.h"

/**
* Start clocks of all needed peripherals
*/
void clock_setup(void)
{
   RCC_CLOCK_SETUP();

   rcc_set_adcpre(RCC_CFGR_ADCPRE_PCLK2_DIV6);

   //The reset value for PRIGROUP (=0) is not actually a defined
   //value. Explicitly set 16 preemtion priorities
   SCB_AIRCR = SCB_AIRCR_VECTKEY | SCB_AIRCR_PRIGROUP_GROUP16_NOSUB;

   rcc_periph_clock_enable(RCC_GPIOA);
   rcc_periph_clock_enable(RCC_GPIOB);
   rcc_periph_clock_enable(RCC_GPIOC);
   rcc_periph_clock_enable(RCC_GPIOD);
   rcc_periph_clock_enable(RCC_GPIOE);
   rcc_periph_clock_enable(RCC_USART3);
   rcc_periph_clock_enable(RCC_USART2);//GS450H Inverter Comms
   rcc_periph_clock_enable(RCC_TIM1); //GS450H oil pump pwm
   rcc_periph_clock_enable(RCC_TIM2); //GS450H 500khz usart clock
   rcc_periph_clock_enable(RCC_TIM3); //PWM outputs
   rcc_periph_clock_enable(RCC_TIM4); //Scheduler
   rcc_periph_clock_enable(RCC_DMA1);  //ADC, and UARTS
   // rcc_periph_clock_enable(RCC_DMA2);
   rcc_periph_clock_enable(RCC_ADC1);
   rcc_periph_clock_enable(RCC_CRC);
   rcc_periph_clock_enable(RCC_AFIO); //CAN AND USART3
   rcc_periph_clock_enable(RCC_CAN1); //CAN1
   rcc_periph_clock_enable(RCC_CAN2); //CAN2
   rcc_periph_clock_enable(RCC_SPI2);  //CAN3
   rcc_periph_clock_enable(RCC_SPI3);  //Digital POTS
}


void spi2_setup()   //spi 2 used for CAN3
{

   spi_init_master(SPI2, SPI_CR1_BAUDRATE_FPCLK_DIV_32, SPI_CR1_CPOL_CLK_TO_0_WHEN_IDLE,
                   SPI_CR1_CPHA_CLK_TRANSITION_1, SPI_CR1_DFF_8BIT, SPI_CR1_MSBFIRST);
   spi_set_standard_mode(SPI2,0);//set mode 0

   spi_enable_software_slave_management(SPI2);
   //spi_enable_ss_output(SPI2);
   spi_set_nss_high(SPI2);
   gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ, GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO15 | GPIO13);//MOSI , CLK
   gpio_set_mode(GPIOB, GPIO_MODE_INPUT, GPIO_CNF_INPUT_FLOAT, GPIO14);//MISO
   spi_enable(SPI2);
}

void spi3_setup()   //spi3 used for digi pots (fuel gauge etc)
{
   gpio_primary_remap(AFIO_MAPR_SWJ_CFG_JTAG_OFF_SW_ON, AFIO_MAPR_SPI3_REMAP);

   spi_init_master(SPI3, SPI_CR1_BAUDRATE_FPCLK_DIV_32, SPI_CR1_CPOL_CLK_TO_0_WHEN_IDLE,
                   SPI_CR1_CPHA_CLK_TRANSITION_1, SPI_CR1_DFF_8BIT, SPI_CR1_MSBFIRST);

   spi_enable_software_slave_management(SPI3);
   spi_set_nss_high(SPI3);
   gpio_set_mode(GPIOC, GPIO_MODE_OUTPUT_50_MHZ, GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO12 | GPIO10);//MOSI , CLK
   gpio_set_mode(GPIOC, GPIO_MODE_INPUT, GPIO_CNF_INPUT_FLOAT, GPIO11);//MISO
   spi_enable(SPI3);
}

/**
* Setup USART2 500000 8N1 for Toyota inverter comms
*/
void usart2_setup(void)
{
   /* Setup GPIO pin GPIO_USART2_TX and GPIO_USART2_RX. */
   gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ,
                 GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_USART2_TX);
   gpio_set_mode(GPIOA, GPIO_MODE_INPUT,
                 GPIO_CNF_INPUT_FLOAT, GPIO_USART2_RX);
   usart_set_baudrate(USART2, 500000);
   usart_set_databits(USART2, 8);
   usart_set_stopbits(USART2, USART_STOPBITS_1);
   usart_set_mode(USART2, USART_MODE_TX_RX);
   usart_set_parity(USART2, USART_PARITY_NONE);
   usart_set_flow_control(USART2, USART_FLOWCONTROL_NONE);
   usart_enable(USART2);
}

/**
* Enable Timer refresh and break interrupts
*/
void nvic_setup(void)
{
   nvic_enable_irq(NVIC_DMA1_CHANNEL7_IRQ);
   nvic_set_priority(NVIC_DMA1_CHANNEL7_IRQ, 0xf0);//usart2_TX

   nvic_enable_irq(NVIC_DMA1_CHANNEL6_IRQ);
   nvic_set_priority(NVIC_DMA1_CHANNEL6_IRQ, 0xf0);//usart2_RX low priority int

   // nvic_enable_irq(NVIC_DMA1_CHANNEL3_IRQ);
   //nvic_set_priority(NVIC_DMA1_CHANNEL3_IRQ, 0x20);//usart3_RX high priority int

   nvic_enable_irq(NVIC_TIM4_IRQ); //Scheduler on tim4
   nvic_set_priority(NVIC_TIM4_IRQ, 0); //Highest priority

   nvic_enable_irq(NVIC_USB_LP_CAN_RX0_IRQ); //CAN RX
   nvic_set_priority(NVIC_USB_LP_CAN_RX0_IRQ, 0xe << 4); //second lowest priority

   nvic_enable_irq(NVIC_USB_HP_CAN_TX_IRQ); //CAN TX
   nvic_set_priority(NVIC_USB_HP_CAN_TX_IRQ, 0xe << 4); //second lowest priority

   /* Enable MCP2526 IRQ on PE15 */
   nvic_enable_irq(NVIC_EXTI15_10_IRQ);
   exti_enable_request(EXTI15);
   exti_set_trigger(EXTI15, EXTI_TRIGGER_FALLING);
   exti_select_source(EXTI15,GPIOE);
   /* Without this the RTC interrupt routine will never be called. */
   nvic_enable_irq(NVIC_RTC_IRQ);
   nvic_set_priority(NVIC_RTC_IRQ, 0x20);

}

void rtc_setup()
{
   //Base clock is HSE/128 = 8MHz/128 = 62.5kHz
   //62.5kHz / (62499 + 1) = 1Hz
   rtc_auto_awake(RCC_HSE, 62499); //1s tick
   rtc_set_counter_val(0);
   //* Enable the RTC interrupt to occur off the SEC flag.
   rtc_clear_flag(RTC_SEC);
   rtc_interrupt_enable(RTC_SEC);
}

void tim_setup()
{
   //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
   //Code for timer 1 to create oil pump control pwm for Toyota hybrid gearbox
   //Needs to be 1khz
   ////////////////////////////////////////////////////////////////////////
   gpio_set_mode(GPIOE,GPIO_MODE_OUTPUT_2_MHZ,	// Low speed (only need 1khz)
                 GPIO_CNF_OUTPUT_ALTFN_PUSHPULL,GPIO9);	// GPIOE9=TIM1.CH1 Alt

   timer_disable_counter(TIM1);
   timer_set_mode(TIM1, TIM_CR1_CKD_CK_INT, TIM_CR1_CMS_CENTER_1,
                  TIM_CR1_DIR_UP);
   timer_set_prescaler(TIM1,16);
   timer_set_oc_mode(TIM1, TIM_OC1, TIM_OCM_PWM2);
   timer_enable_oc_output(TIM1, TIM_OC1);
   timer_enable_break_main_output(TIM1);
   timer_set_oc_value(TIM1, TIM_OC1, 1000);//duty. 1000 = 52% , 500 = 76% , 1500=28%
   timer_set_period(TIM1, 2100);
   timer_enable_counter(TIM1);
//////////////////////////////////////////////////////////////////////////////////////////////////////////////

}

void tim2_setup()
{
   //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
   //Code for timer 2 to create usart 2 clock for Toyota hybrid comms
   ////////////////////////////////////////////////////////////////////////
   gpio_set_mode(GPIOA,GPIO_MODE_OUTPUT_50_MHZ,	// High speed
                 GPIO_CNF_OUTPUT_ALTFN_PUSHPULL,GPIO1);	// GPIOA1=TIM2.CH2 clock for usart2

   // TIM2:
   timer_disable_counter(TIM2);
//	timer_reset(TIM2);

   timer_set_mode(TIM2,
                  TIM_CR1_CKD_CK_INT,
                  TIM_CR1_CMS_EDGE,
                  TIM_CR1_DIR_UP);
   timer_set_prescaler(TIM2,0);
   timer_enable_preload(TIM2);
   timer_continuous_mode(TIM2);
   timer_set_period(TIM2,143);//500khz

   timer_disable_oc_output(TIM2,TIM_OC2);
   timer_set_oc_mode(TIM2,TIM_OC2,TIM_OCM_PWM1);
   timer_enable_oc_output(TIM2,TIM_OC2);

   timer_set_oc_value(TIM2,TIM_OC2,72);//50% duty
   timer_enable_counter(TIM2);
//////////////////////////////////////////////////////////////////////////////////////////////////////////////
}


void tim3_setup()
{
   timer_disable_counter(TIM3);
   //edge aligned PWM
   timer_set_alignment(TIM3, TIM_CR1_CMS_EDGE);
   timer_enable_preload(TIM3);
   /* PWM mode 1 and preload enable */
   timer_set_oc_mode(TIM3, TIM_OC1, TIM_OCM_PWM1);
   timer_set_oc_mode(TIM3, TIM_OC2, TIM_OCM_PWM1);
   timer_set_oc_mode(TIM3, TIM_OC3, TIM_OCM_PWM1);
   timer_enable_oc_preload(TIM3, TIM_OC1);
   timer_enable_oc_preload(TIM3, TIM_OC2);
   timer_enable_oc_preload(TIM3, TIM_OC3);

   timer_set_oc_polarity_high(TIM3, TIM_OC1);
   timer_set_oc_polarity_high(TIM3, TIM_OC2);
   timer_set_oc_polarity_high(TIM3, TIM_OC3);
   timer_enable_oc_output(TIM3, TIM_OC1);
   timer_enable_oc_output(TIM3, TIM_OC2);
   timer_enable_oc_output(TIM3, TIM_OC3);
   timer_set_period(TIM3, 7200); //default to 10 kHz
   timer_generate_event(TIM3, TIM_EGR_UG);
   timer_set_prescaler(TIM3, 0);
   timer_enable_counter(TIM3);

   gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ, GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO6 | GPIO7);
   gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ, GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO0);
}