WolfieMouse

/*
 * quadcopter_init.c
 *
 *  Created on: Aug 18, 2015
 *      Author: kbums
 */



#include "board_init.h"

/* Global variables ----------------------------------------------------------*/
I2C_HandleTypeDef hi2c1;
I2C_HandleTypeDef hi2c2;

SPI_HandleTypeDef hspi2;
SPI_HandleTypeDef hspi3;

TIM_HandleTypeDef htim1;
TIM_HandleTypeDef htim3;

UART_HandleTypeDef huart2;

osThreadId defaultTaskHandle;

/* Private variables ---------------------------------------------------------*/


/* private functions */
static void LED_Init(void);
static void MX_GPIO_Init(void);
static void MX_I2C1_Init(void);
static void MX_I2C2_Init(void);
static void MX_SPI2_Init(void);
static void MX_TIM1_Init(void);
static void MX_TIM3_Init(void);

void board_Init(void)
{
  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* Init Timer */
  timer_init();

  /* Configure the system clock */
  SystemClock_Config();

  /* Initialize all configured peripherals */
  LED_Init();
  MX_GPIO_Init();
  //MX_I2C1_Init(); /* TODO: Init */
  MX_I2C2_Init();
  MX_SPI2_Init();
  MX_TIM1_Init();
  MX_TIM3_Init();
  eUARTInit(&xUARTHandle, uartUARTx);
}

/** System Clock Configuration
*/
void SystemClock_Config(void)
{

  RCC_OscInitTypeDef RCC_OscInitStruct;
  RCC_ClkInitTypeDef RCC_ClkInitStruct;

  __PWR_CLK_ENABLE();

  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = 16;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
  RCC_OscInitStruct.PLL.PLLM = 16;
  RCC_OscInitStruct.PLL.PLLN = 360;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV4; /* FIXME: change the freq */
  RCC_OscInitStruct.PLL.PLLQ = 4;
  RCC_OscInitStruct.PLL.PLLR = 2;
  HAL_RCC_OscConfig(&RCC_OscInitStruct);

  HAL_PWREx_ActivateOverDrive();

  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1
      | RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV4;
  HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_8);

  HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);

  HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq() / 1000);

  /* SysTick_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
}

/* I2C1 init function */
void MX_I2C1_Init(void)
{

  hi2c1.Instance = I2C1;
  hi2c1.Init.ClockSpeed = 100000;
  hi2c1.Init.DutyCycle = I2C_DUTYCYCLE_2;
  hi2c1.Init.OwnAddress1 = 0;
  hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
  hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLED;
  hi2c1.Init.OwnAddress2 = 0;
  hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLED;
  hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLED;
  HAL_I2C_Init(&hi2c1);

}

/* I2C2 init function */
void MX_I2C2_Init(void)
{

  hi2c2.Instance = I2C2;
  hi2c2.Init.ClockSpeed = 100000;
  hi2c2.Init.DutyCycle = I2C_DUTYCYCLE_2;
  hi2c2.Init.OwnAddress1 = 0;
  hi2c2.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
  hi2c2.Init.DualAddressMode = I2C_DUALADDRESS_DISABLED;
  hi2c2.Init.OwnAddress2 = 0;
  hi2c2.Init.GeneralCallMode = I2C_GENERALCALL_DISABLED;
  hi2c2.Init.NoStretchMode = I2C_NOSTRETCH_DISABLED;
  HAL_I2C_Init(&hi2c2);

}

/* SPI2 init function */
void MX_SPI2_Init(void)
{

  hspi2.Instance = SPI2;
  hspi2.Init.Mode = SPI_MODE_MASTER;
  hspi2.Init.Direction = SPI_DIRECTION_2LINES;
  hspi2.Init.DataSize = SPI_DATASIZE_8BIT;
  hspi2.Init.CLKPolarity = SPI_POLARITY_LOW;
  hspi2.Init.CLKPhase = SPI_PHASE_1EDGE;
  hspi2.Init.NSS = SPI_NSS_SOFT;
  hspi2.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_2;
  hspi2.Init.FirstBit = SPI_FIRSTBIT_MSB;
  hspi2.Init.TIMode = SPI_TIMODE_DISABLED;
  hspi2.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLED;
  hspi2.Init.CRCPolynomial = 10;
  HAL_SPI_Init(&hspi2);

}

/* TIM1 init function */
void MX_TIM1_Init(void)
{

  TIM_ClockConfigTypeDef sClockSourceConfig;
  TIM_MasterConfigTypeDef sMasterConfig;
  TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig;
  TIM_OC_InitTypeDef sConfigOC;

  htim1.Instance = TIM1;
  htim1.Init.Prescaler = 0;
  htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim1.Init.Period = 0;
  htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim1.Init.RepetitionCounter = 0;
  HAL_TIM_Base_Init(&htim1);

  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
  HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig);

  HAL_TIM_PWM_Init(&htim1);

  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig);

  sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
  sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
  sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
  sBreakDeadTimeConfig.DeadTime = 0;
  sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
  sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
  sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
  HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig);

  sConfigOC.OCMode = TIM_OCMODE_PWM1;
  sConfigOC.Pulse = 0;
  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
  sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
  sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
  sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
  HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1);

  HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2);

}

/* TIM3 init function */
void MX_TIM3_Init(void)
{

  TIM_ClockConfigTypeDef sClockSourceConfig;
  TIM_MasterConfigTypeDef sMasterConfig;
  TIM_OC_InitTypeDef sConfigOC;

  htim3.Instance = TIM3;
  htim3.Init.Prescaler = 0;
  htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim3.Init.Period = 0;
  htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  HAL_TIM_Base_Init(&htim3);

  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
  HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig);

  HAL_TIM_PWM_Init(&htim3);

  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig);

  sConfigOC.OCMode = TIM_OCMODE_PWM1;
  sConfigOC.Pulse = 0;
  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
  HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_1);

}

/** Configure pins as
        * Analog
        * Input
        * Output
        * EVENT_OUT
        * EXTI
*/
void MX_GPIO_Init(void)
{

  GPIO_InitTypeDef GPIO_InitStruct;

  /* GPIO Ports Clock Enable */
  __GPIOC_CLK_ENABLE();
  __GPIOH_CLK_ENABLE();
  __GPIOA_CLK_ENABLE();
  __GPIOB_CLK_ENABLE();

  /*Configure GPIO pin : rotaryPIN_CH2_A_INT_Pin */
  GPIO_InitStruct.Pin = rotaryPIN_CH2_A_INT_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING_FALLING;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(rotaryPIN_CH2_A_INT_GPIO_Port, &GPIO_InitStruct);

  /*Configure GPIO pin : rotaryPIN_CH2_B_Pin */
  GPIO_InitStruct.Pin = rotaryPIN_CH2_B_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(rotaryPIN_CH2_B_GPIO_Port, &GPIO_InitStruct);

  /*Configure GPIO pin : rotaryPIN_CH1_A_INT_Pin */
  GPIO_InitStruct.Pin = rotaryPIN_CH1_A_INT_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING_FALLING;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(rotaryPIN_CH1_A_INT_GPIO_Port, &GPIO_InitStruct);

  /*Configure GPIO pin : rotaryPIN_CH1_B_Pin */
  GPIO_InitStruct.Pin = rotaryPIN_CH1_B_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
  HAL_GPIO_Init(rotaryPIN_CH1_B_GPIO_Port, &GPIO_InitStruct);

}


static void LED_Init(void)
{
  __GPIOC_CLK_ENABLE();
  __GPIOB_CLK_ENABLE();

    GPIO_InitTypeDef GPIO_InitStruct;

	  GPIO_InitStruct.Pin = portLED_1_PIN;
	  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
	  GPIO_InitStruct.Pull = GPIO_NOPULL;
	  GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
	  HAL_GPIO_Init(portLED_1_PORT, &GPIO_InitStruct);

	  GPIO_InitStruct.Pin = portLED_2_PIN;
	  HAL_GPIO_Init(portLED_2_PORT, &GPIO_InitStruct);

    GPIO_InitStruct.Pin = portLED_3_PIN;
    HAL_GPIO_Init(portLED_3_PORT, &GPIO_InitStruct);

    GPIO_InitStruct.Pin = portLED_4_PIN;
    HAL_GPIO_Init(portLED_4_PORT, &GPIO_InitStruct);
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */